CN120422832A - Vehicle crawling control method and device - Google Patents

Abstract

The application relates to the field of vehicle crawling control, in particular to a method and a device for vehicle crawling control, wherein the method comprises the steps of determining whether a vehicle meets crawling conditions, wherein the crawling conditions comprise that a key state of the vehicle is started, a power system of the vehicle is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state; when the vehicle is determined to meet the crawling condition, the vehicle is controlled to enter a crawling activation state, the crawling torque and a torque distribution strategy of the vehicle are obtained according to the operation states of a brake pedal and an accelerator pedal operated by a driver, and when the vehicle is controlled to crawl, the torque is distributed to an engine and a BSG motor of the integrated machine which takes both start and power generation into consideration according to the torque distribution strategy. The method can achieve the effects of accurately acquiring the crawling torque of the vehicle power system and effectively controlling the torque output of the power source.

Description

Vehicle crawling control method and device

Technical Field

The application relates to the field of vehicle crawling control, in particular to a vehicle crawling control method and device.

Background

The mild hybrid electric vehicle has the advantages of good fuel saving effect, low cost and the like, can be redesigned, and can also be modified by mixing on the basis of the traditional fuel oil vehicle. The BSG motor and a controller MCU thereof, a power battery and a battery management system BMS thereof, a DCDC (direct current converter) and the like are added on the traditional fuel automobile, the power battery supplies power to the BSG motor to output torque, and the torque capacity of the engine is added, so that the total output capacity of the driving torque of the whole automobile can be ensured, meanwhile, the coordination control of the HCU of the whole automobile controller is combined, the working area of the engine can be further optimized, the oil consumption and the emission are reduced, and the aims of energy conservation and emission reduction are achieved.

For a mild hybrid electric vehicle, after a driver operates a key to power on, creep control of the vehicle is involved, and at the moment, how to distribute torque among power sources and control output so as to ensure that the vehicle can creep at a low speed and stably run without being in a jerk is one of the important problems to be solved at present. In this process, it is necessary to accurately calculate the creep torque of the vehicle, and if the creep torque of the vehicle cannot be accurately calculated, torque distribution between the engine and the motor cannot be effectively performed, which affects the whole vehicle running control and the vehicle low speed performance.

Therefore, how to accurately acquire the creep torque of the vehicle power system and effectively control the torque output of the power source is a technical problem to be solved.

Disclosure of Invention

The embodiment of the application aims to provide a vehicle crawling control method, and the technical scheme of the embodiment of the application can achieve the effects of accurately acquiring the crawling torque of a vehicle power system and effectively controlling the torque output of a power source.

In a first aspect, an embodiment of the present application provides a method for controlling crawling of a vehicle, where the crawling condition includes that a key state of the vehicle is turned on, a power system of the vehicle is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state, when the crawling condition is determined to be satisfied, the vehicle is controlled to enter a crawling activated state, and according to an operation state of a brake pedal and an accelerator pedal operated by a driver, crawling torque of the vehicle and a torque distribution strategy are obtained, and when crawling of the vehicle is controlled, torque is distributed to an engine and a BSG motor of an integrated machine that is compatible with starting and generating according to the torque distribution strategy.

In the embodiment of the application, the running state of the vehicle is obtained, and the corresponding torque is obtained according to different running operation conditions of a driver by combining the parameters of the accelerator pedal and the brake pedal, so that the torque can be reasonably distributed to the engine and the BSG motor under different actual operations of the driver, the starting smoothness and the comfort of the vehicle are improved, and the effects of accurately obtaining the crawling torque of a vehicle power system and effectively controlling the torque output of a power source are achieved.

In some embodiments, the vehicle creep torque and torque distribution strategy is obtained according to the operation states of an accelerator pedal and a brake pedal operated by a driver, and the vehicle creep torque and torque distribution strategy comprises the steps of controlling vehicle hybrid power to creep at a specified vehicle speed and obtaining the vehicle creep torque and torque distribution strategy when the accelerator pedal is not depressed by the driver, judging the coordination relationship between the accelerator pedal and the brake pedal and obtaining the vehicle creep torque and torque distribution strategy when the brake pedal is depressed by the driver and fully released by the driver, and obtaining the accelerator opening and the vehicle speed through a graph of an accelerator opening and a vehicle speed signal or through a preset control model when the accelerator pedal is depressed by the driver and not fully released by the driver.

In the embodiment of the application, according to the corresponding torque acquired by the driver under different operation conditions, an allocation strategy can be reasonably formulated for the engine and the BSG motor under different actual operations of the driver.

In some embodiments, the vehicle creep torque and torque distribution strategy is obtained according to the operating states of a brake pedal and an accelerator pedal operated by a driver, and the vehicle creep torque is obtained according to the operating states of the brake pedal and the accelerator pedal operated by the driver, the torque demand of a transmission input end is calculated according to the speed ratio of the transmission, the speed ratio of a speed reducer and the efficiency of a transmission mechanism system of the vehicle, the torque demand of the transmission input end is smoothed to obtain the torque demand of an engine, and the torque demand of a BSG motor is calculated according to the vehicle creep torque and the torque demand of the engine.

In the above-described embodiment of the present application, the total torque can be calculated by the operation states of the brake pedal and the accelerator pedal by the driver, and the torque demand values of the engine and the BSG motor can be accurately obtained after a series of calculations by the vehicle transmission speed ratio, the speed reducer speed ratio, and the transmission mechanism system efficiency.

In some embodiments, after determining whether the vehicle meets the crawling condition, the method further comprises controlling the vehicle to enter a vehicle crawling standby state when the crawling flag is displayed in the controller to be identified as 0, and controlling the vehicle to enter a sender crawling driving state and a BSG motor power generation activating state when the battery power sent by the battery management system is judged to be smaller than the preset power.

In the above embodiment of the present application, the state of the vehicle can be dynamically adjusted according to the state display of the controller and the battery power of the battery management system.

In some embodiments, when controlling the vehicle to climb, torque is distributed to an engine and a BSG motor of the integrated machine, which takes both start and power generation into account according to a torque distribution strategy.

In the embodiment of the application, the torque can be reasonably distributed for the engine and the BSG motor by designing the vehicle crawling control function interface and the vehicle crawling control network interface.

In a second aspect, an embodiment of the present application provides an apparatus for controlling crawling of a vehicle, including:

The system comprises a determining module, a control module and a control module, wherein the determining module is used for determining whether a vehicle meets a crawling condition, wherein the crawling condition comprises that a key state of the vehicle is started, a power system of the vehicle is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state;

the calculation module is used for controlling the vehicle to enter a crawling activation state when the vehicle is determined to meet the crawling condition, and acquiring the crawling torque and the torque distribution strategy of the vehicle according to the operation states of a brake pedal and an accelerator pedal operated by a driver;

And the distribution module is used for distributing torque to the engine and the BSG motor of the integrated machine taking both start and power generation into consideration according to a torque distribution strategy when controlling the vehicle to climb.

Optionally, the computing module is specifically configured to:

When the driver does not press the accelerator pedal and the brake pedal, controlling the vehicle hybrid power to creep the vehicle at a specified vehicle speed, and acquiring the vehicle creep torque and a torque distribution strategy;

when a driver presses a brake pedal and the accelerator pedal is completely released, judging the coordination relationship between the accelerator pedal and the brake pedal, and acquiring the crawling torque and the torque distribution strategy of the vehicle;

when a driver presses a brake pedal and the accelerator pedal is not completely released, the accelerator opening and the vehicle speed are obtained through a chart of the accelerator opening and a vehicle speed signal or through a preset control model, and the vehicle crawling torque and the torque distribution strategy are obtained.

Optionally, the computing module is specifically configured to:

According to the operation states of a brake pedal and an accelerator pedal operated by a driver, obtaining the crawling torque of the vehicle;

calculating a torque demand at an input of the gearbox according to a vehicle gearbox speed ratio, a speed reducer speed ratio and a transmission mechanism system efficiency;

Performing smoothing treatment on a torque demand value of an input end of the gearbox to obtain a torque demand value of an engine;

a torque demand of the BSG motor is calculated based on the vehicle creep torque and the torque demand of the engine.

Optionally, the apparatus further comprises:

The control module is used for controlling the vehicle to enter a vehicle crawling standby state when the crawling mark is displayed in the controller to be identified as 0 after the determining module determines whether the vehicle meets the crawling condition;

When the battery power sent by the battery management system is less than the preset power, controlling the vehicle to enter a state of crawling driving of the transmitter and power generation activation of the BSG motor.

Optionally, the allocation module is specifically configured to:

Designing a vehicle crawling control function interface and a vehicle crawling control network interface;

And distributing torque to the engine and the BSG motor according to the relation between the vehicle crawling control function interface and the connection hardware of the vehicle crawling control network interface.

In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of the method as provided in the first aspect above.

In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method as provided in the first aspect above.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for vehicle creep control provided by an embodiment of the present application;

FIG. 2 is a schematic configuration of a powertrain system for a mild hybrid vehicle according to an embodiment of the application;

FIG. 3 is a schematic diagram of hardware connection of a control system according to an embodiment of the present application;

Fig. 4 is a signal flow direction structure block diagram of a CAN network according to an embodiment of the present application;

FIG. 5 is a schematic block diagram of an apparatus for vehicle creep control according to an embodiment of the present application;

Fig. 6 is a schematic block diagram of a device for controlling crawling of a vehicle according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

Some of the terms involved in the embodiments of the present application will be described first to facilitate understanding by those skilled in the art.

The BSG is named as a Belt-DRIVEN STARTER Generator, namely an integrated machine which utilizes Belt transmission to take account of starting and generating electricity. The BSG motor is positioned at the front end of the engine, and the BSG motor is positioned at the P0 position according to the naming of motors at different positions in the engineering world.

MCU (MotorControlUnit, motor controller), be a controller for controlling motor drive operation, can control motor output rotational speed and moment of torsion to satisfy the vehicle demand of traveling.

BMS (battery management system) is an electronic system for intelligently managing and maintaining battery cells, and core functions include monitoring battery states (e.g., voltage, current, temperature), preventing overcharge and overdischarge, extending battery life, and optimizing battery pack performance through balancing techniques.

DCDC (direct current-direct current converter) is an electronic device or circuit for converting direct current from a certain voltage level to another voltage level, and is widely used in the fields of power electronics, new energy automobiles, communication systems, and the like.

Creep torque is the torque output by an engine at low rotational speeds and is generally used to describe the power behavior of a vehicle when traveling at low speeds or climbing a slope. It determines the stability of the vehicle during low speed travel and the ability to climb a hill. The larger the creeping torque is, the better the vehicle performs in low-speed running and climbing, the resistance can be overcome more easily, and the stable running can be maintained

The application is applied to a scene of vehicle crawling control, and the specific scene is to consider the running state of a vehicle power system, combine the parameters of an accelerator pedal and a brake pedal, and reasonably distribute torque for an engine and a BSG motor under different actual operations of a driver according to different driving operation conditions of the driver.

The mild hybrid electric vehicle has the advantages of good fuel saving effect, low cost and the like, can be redesigned, and can also be modified by mixing on the basis of the traditional fuel oil vehicle. The motor and the controller MCU thereof, the power battery and the battery management system BMS thereof, the DCDC direct current converter and the like are added on the traditional fuel automobile, the power battery supplies power to the BSG motor to output torque, and the torque capacity of the engine is added, so that the total output capacity of the driving torque of the whole automobile can be ensured, meanwhile, the coordination control of the HCU of the whole automobile controller is combined, the working area of the engine can be further optimized, the oil consumption and the emission are reduced, and the aims of energy conservation and emission reduction are achieved. For a mild hybrid electric vehicle, after a driver operates a key to power on, creep control of the vehicle is involved, and at the moment, how to distribute torque among power sources and control output so as to ensure that the vehicle can creep at a low speed and stably run without being in a jerk is one of the important problems to be solved at present. In this process, it is necessary to accurately calculate the creep torque of the vehicle, and if the creep torque of the vehicle cannot be accurately calculated, torque distribution between the engine and the motor cannot be effectively performed, which affects the whole vehicle running control and the vehicle low speed performance.

The method comprises the steps of determining whether a vehicle meets a crawling condition or not, wherein the crawling condition comprises the steps that a vehicle key state is started, a vehicle power system is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state, controlling the vehicle to enter a crawling activation state when the vehicle is determined to meet the crawling condition, acquiring a crawling torque of the vehicle and a torque distribution strategy according to the operation states of a brake pedal and an accelerator pedal operated by a driver, and distributing torque to an engine and a BSG motor of an integrated machine taking both start and power generation into consideration according to the torque distribution strategy when the vehicle is controlled to climb. The running state of the vehicle is obtained, and the corresponding torque is obtained according to different running operation conditions of a driver by combining the parameters of the accelerator pedal and the brake pedal, so that the torque can be reasonably distributed to the engine and the BSG motor under different actual operations of the driver, the starting smoothness and the comfort of the vehicle are improved, and the effects of accurately obtaining the crawling torque of a power system of the vehicle and effectively controlling the torque output of a power source are achieved.

In the embodiment of the present application, the execution body may be a vehicle crawling control device in a vehicle crawling control system, and in practical application, the vehicle crawling control device may be electronic devices such as a terminal device and a server, which is not limited herein.

A method of vehicle creep control according to an embodiment of the present application will be described in detail with reference to fig. 1.

Referring to fig. 1, fig. 1 is a flowchart of a method for controlling vehicle crawling according to an embodiment of the present application, where the method for controlling vehicle crawling shown in fig. 1 includes:

step 110, determining whether the vehicle satisfies a creep condition.

The crawling conditions comprise that the key state of the vehicle is started, the power system of the vehicle is normal, and the gear state of the vehicle is a driving gear state or a reverse gear state. And the method can also comprise normal operation of an engine, normal operation of a BSG motor, normal power operation of a power battery, normal operation of other electrical appliances and the like.

Alternatively, the vehicle design light hybrid vehicle power system of the present application may be specifically described in detail by a schematic configuration of the light hybrid vehicle power system shown in fig. 2.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a configuration scheme of a power system of a mild hybrid vehicle according to the present application, including:

An engine, a transmission, a BSG motor (BSG: belt-DRIVEN STARTER Generator), a power battery, a motor controller, a DCDC direct current converter (DCDC: direct Current Direct Current Converter), a clutch, a 12V storage battery, an accelerator pedal, a brake pedal and the like, and other related controllers of the vehicle powertrain.

The related controllers, specifically, an engine control system (EMS, engine Management System), a hybrid controller (HCU, hybrid Control Unit), a motor controller (MCU, motor Control Unit), a Battery management system (BMS, battery MANAGEMENT SYSTEM), a transmission controller (TCU, transmission Control Unit), an electronic stability system (ESP, electronic Stability Program) and the like are connected through a CAN network.

In some embodiments of the present application, after determining whether the vehicle satisfies the creep condition, the method shown in fig. 1 further includes controlling the vehicle to enter a vehicle creep standby state when the controller internal display creep flag is identified as 0, and controlling the vehicle to enter a transmitter creep drive and BSG motor power generation activation state when it is determined that the battery power transmitted from the battery management system is less than a preset power.

In the process, the state of the vehicle can be dynamically adjusted according to the state display of the controller and the battery power of the battery management system.

Wherein the crawling sign comprises 0 and 1,0 represents a non-crawling state or a crawling standby state, and 1 represents a crawling state. The preset power can be set according to the requirements.

For example, after key KeyStart, the vehicle is powered up at high voltage, the power system is ready, the HCU judges whether the conditions of the vehicle and each assembly meet the conditions of starting the engine or not, if yes, the engine is controlled to start the engine, the vehicle is in a crawling control standby state after the engine is started, the HCU judges whether the conditions of the vehicle is met or not, the engine and the BSG motor are in drivable power, the internal crawling flag position is 1, the vehicle is controlled to enter a crawling activation state, if the internal crawling flag position of the HCU is identified as 0, the vehicle is controlled to enter the crawling standby state from the crawling activation state, if the HCU judges that the SOC of a power battery sent by the BMS is not less than a specified value (for example, 30% and can be calibrated), the vehicle is controlled to enter an engine crawling driving state and a BSG motor power generation activation state from the crawling activation state, if the SOC of the power battery sent by the HCU is judged to be sufficient (for example, 35% and can be calibrated), the vehicle is controlled to enter the crawling activation state, and the vehicle is controlled to enter the crawling activation state according to the torque value calculation result and the allocation strategy described in section 3, if the internal crawling flag position of the HCU is identified as 0, the vehicle is controlled to enter the crawling activation state from the engine and the motor is controlled to enter the crawling activation state.

And 120, controlling the vehicle to enter a crawling activation state when the vehicle is determined to meet the crawling condition, and acquiring the crawling torque and the torque distribution strategy of the vehicle according to the operation states of the brake pedal and the accelerator pedal operated by a driver.

In some embodiments of the application, the vehicle creep torque and torque distribution strategy is obtained according to the operation states of an accelerator pedal and a brake pedal operated by a driver, and comprises the steps of controlling the vehicle hybrid power to creep at a specified vehicle speed and obtaining the vehicle creep torque and torque distribution strategy when the accelerator pedal and the brake pedal are not depressed by the driver, judging the coordination relation between the accelerator pedal and the brake pedal and obtaining the vehicle creep torque and torque distribution strategy when the brake pedal is depressed by the driver and the brake pedal is completely released, and obtaining the accelerator opening and the vehicle speed through a graph of an accelerator opening and a vehicle speed signal or through a preset control model and obtaining the vehicle creep torque and the vehicle torque distribution strategy when the brake pedal is depressed by the driver and the accelerator pedal is not completely released.

In the process, corresponding torque is obtained according to different operation conditions of a driver, and allocation strategies can be reasonably formulated for the engine and the BSG motor under different actual operations of the driver.

In some embodiments of the present application, a vehicle creep torque and torque distribution strategy is obtained based on the operating states of a driver operating a brake pedal and an accelerator pedal, including obtaining a vehicle creep torque based on the operating states of the driver operating the brake pedal and the accelerator pedal, calculating a torque demand at an input of the transmission based on a transmission ratio of the vehicle, a speed reducer ratio, and a transmission system efficiency, smoothing the torque demand at the input of the transmission to obtain a torque demand at the engine, and calculating a torque demand at the BSG motor based on the vehicle creep torque and the torque demand at the engine.

In the process, the total torque can be calculated through the operation states of the brake pedal and the accelerator pedal operated by a driver, and the torque demand values of the engine and the BSG motor can be accurately obtained after a series of calculation through the speed ratio of the vehicle gearbox, the speed ratio of the speed reducer and the efficiency of the transmission mechanism system.

When the vehicle is determined to meet the crawling condition, controlling the vehicle to enter a crawling activation state, and acquiring the crawling torque of the vehicle and a torque distribution strategy according to the operation states of a brake pedal and an accelerator pedal operated by a driver, wherein the crawling torque and the torque distribution strategy are specifically as follows:

The vehicle creep torque demand calculation is marked with the start of operating the key power-up, and when the driver operates the key, the key state is changed from Keyoff to KeyOn to KeyStart, and the vehicle creep torque demand calculation indicates that the vehicle is operated to be powered up for starting. At this time, the HCU determines whether the vehicle powertrain is malfunctioning, and if any of the BSG motor, power battery, or engine is malfunctioning, the HCU should control the vehicle not to be driven, setting the creep torque demand to 0Nm.

When the vehicle key KeyStart is electrified and started and the HCU judges that the state of the vehicle power system is normal, the BSG motor is utilized to pull up the engine for starting, then the TCU sends a gear signal to the HCU, the HCU starts to judge the vehicle gear, if the vehicle gear is the P gear or the N gear, the HCU controls the vehicle to be incapable of driving, and the crawling torque demand is set to be 0Nm.

Further, if the HCU determines that the gear is D or R, the HCU should enter a corresponding creep torque demand calculation module according to the gear state, and the corresponding control and calculation algorithm is as follows:

When the driver does not depress the accelerator pedal and the brake pedal, it is necessary to control the hybrid vehicle to creep at a predetermined vehicle speed. The vehicle creep target speed is 8km/h (set as V1, the general creep speed value is smaller than 10km/h, and the vehicle creep target speed can be calibrated), and the HCU reversely calculates an accelerator pedal opening virtual value (set as Pe 1) based on the target speed signal. The calculation method comprises the following steps:

The resistance force applied by the vehicle during running is rolling resistance force F _f, air resistance force F _w, gradient resistance force F _i and acceleration resistance force F _j, and the driving force of the vehicle is equal to the sum of the above resistance forces, unlike the conventional vehicle, the driving force F _t of the new energy hybrid vehicle is the total torque T _AL generated by the power source (the integrated engine and BSG motor) and transmitted to the wheels through the transmission mechanism, thereby driving the vehicle.

The kinetic equation of the vehicle is:

F_t＝F_f+F_w+F_i+F_j;

Further deduction results in:

In the above formula, i _g is the gearbox speed ratio, i ₀ is the final drive speed ratio, η _T is the drive train efficiency, r is the wheel radius, m is the vehicle mass, f is the rolling resistance coefficient, C _D is the air resistance coefficient, a is the windward area, α is the road gradient, δ is the vehicle rotational mass conversion coefficient, and v is the vehicle speed.

The target driving torque T0 can be obtained by substituting the creep target vehicle speed v1=8km/h into the above equation except for the vehicle speed, which is a known value.

At this time, according to the relation between the accelerator pedal and the driving torque, t0=f1 (Pe 1), the curve relation is calibrated in advance and preset in the control model of the HCU, that is, the relation MAP1 chart between the accelerator pedal and the driving torque of the vehicle (calibrated in advance and preset in the HCU control model), further, based on the MAP1 chart curve, a corresponding virtual accelerator pedal opening value Pe1 can be obtained, that is, a corresponding accelerator pedal opening value can be searched and found through a target driving torque output of a vehicle power system.

In order to control the vehicle to stably creep at the target vehicle speed v1=8 km/h and maintain the vehicle speed, it is necessary to detect the current vehicle speed signal V2 in real time, and the vehicle speed signal V2 is transmitted to the HCU through the ESP controller. Further, the HCU queries a two-dimensional MAP2 chart (calibrated in advance and preset in the HCU control model) of the accelerator pedal opening and the vehicle speed signal based on the vehicle speed signal V2 and the accelerator pedal opening Pe1, and obtains a vehicle creep torque demand value (set as TA), and the calculation method of TA is as follows:

TA=f2(Pe1,V2);

When entering the creeping mode after the vehicle is electrified and started, if the driver presses the brake pedal at the moment, the HCU needs to perform the coordination judgment of the relationship between the accelerator pedal and the brake pedal. If the accelerator pedal is fully released when the driver depresses the brake pedal (i.e., the accelerator pedal opening pe2=0 at this time), the HCU queries for a creep torque demand value (set to TB) when the vehicle is braked based on a two-dimensional MAP3 chart (calibrated earlier and preset into the HCU control model) between the brake pedal stroke position (Br 1) and the vehicle speed signal (V2), the calculation method of TB being as follows:

TB=f3(Br1,V2);

After the vehicle is electrified and started, when the vehicle enters a creeping mode, if a driver presses a brake pedal at the moment and the accelerator pedal is not completely released (namely, the accelerator pedal opening Pe3>0 at the moment), the HCU inquires and obtains a vehicle creeping torque requirement value (set as TC) based on a two-dimensional MAP2 chart of the accelerator opening and a vehicle speed signal (calibrated in advance and preset in an HCU control model), and the calculation method of the TC is as follows:

TC=f3(Pe3,V2);

Based on the above-described different situations, the calculation method is also different, and the creep torque demand value Tecp of the vehicle is assigned to one of TA, TB, or TC. The creep torque demand Tecp for the vehicle is divided by the transmission speed ratio i _g and the reduction speed ratio i ₀, and by the transmission system efficiency ηt, to yield the torque demand Tsin =tecp/(i _g*i₀*η_T) at the transmission input. And filtering and smoothing the torque demand value Tsin of the input end of the gearbox to obtain the torque demand Teng of the output end of the engine, namely, tsin is filtered to obtain the torque evaluation of the Teng engine end. And comparing the processed engine end torque demand value Teng with the maximum bearable torque capacity Tger of the transmission shaft of the power system, and taking a small value as a target torque tdis=min (Teng, tger) of the torque distribution module. Tger are related to the powertrain of the vehicle, typically known values, and can be obtained directly and substituted into the above equation. The HCU calls a torque distribution control module to distribute the target torque Tdis of the output end of the engine, and distributes the target torque value to the engine and the BSG motor.

In the process of the torque distribution of the HCU, the MCU sends a minimum value Tbsg and a maximum value Tbsg of available torque signals of the BSG motor to the HCU, wherein the available torque signals of the BSG motor are obtained through comprehensive calculation of the temperature of a motor body and the power state of a battery. When the HCU torque is distributed, the judgment needs to be carried out that if the Tdis is smaller than the maximum value Tbsg of the BSG available torque capacity, the distributed torque of the BSG motor is output according to the Tdis. The torque distribution calculation method at the moment when the torque distributed by the HCU to the BSG motor is set as TM and the torque distributed to the engine is set as TE is as follows:

TM=Tdis;

TE=0;

in the above formula, TM is a specific value of a BSG motor torque command sent to the MCU by the HCU, and TE is a specific value of an engine torque command sent to the EMS by the HCU.

Judging that if Tdis is larger than the maximum value Tbsg of the BSG available torque capacity, the torque distributed by the BSG motor is output according to Tbsg, and the torque distribution calculation method at the moment is as follows:

TM=Tbsg2;

TE=Tdis-Tbsg2;

In the above formula, TM is a specific value of a BSG motor torque command sent to the MCU by the HCU, and TE is a specific value of an engine torque command sent to the EMS by the HCU. According to the torque distribution result, the HCU sends a torque distribution request value to the MCU to be TM, the HCU sends a torque request value to the EMS to be TE, the MCU controls the BSG motor to output corresponding torque according to a torque distribution instruction, the EMS controls the engine to output corresponding torque according to the torque distribution instruction, and meanwhile the HCU controls the clutch to be closed. That is, the engine and the BSG motor output torque in accordance with the torque distribution command to meet the creep torque demand of the vehicle.

And 130, distributing torque to the engine and the BSG motor of the integrated machine which takes the starting and the power generation into consideration according to a torque distribution strategy when the vehicle is controlled to climb.

In some embodiments of the application, when controlling the vehicle to climb, torque is distributed to an engine and a BSG motor of an integrated machine which takes both start and power generation into account according to a torque distribution strategy.

In the process, the torque can be reasonably distributed for the engine and the BSG motor by designing the vehicle crawling control function interface and the vehicle crawling control network interface.

The design of the vehicle crawling control function interface is shown in fig. 3, and the design of the vehicle crawling control network interface is shown in fig. 4.

Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a control system hardware connection provided by the present application, where each piece of hardware is connected through a control function interface, and specifically includes:

The control method comprises the steps of responding to control instructions, torque instructions and the like sent by an HCU through an EMS, feeding back signals such as an operation state and torque output of an engine to the HCU through a hybrid CAN, responding to the control instructions, the torque instructions and the like sent by the HCU through an MCU, feeding back signals such as the operation state and the torque output of a BSG motor to the HCU through the MCU, sending available torque range values of the BSG motor to the HCU through the MCU, sending signals such as a power battery SOC and a power state to the HCU through the hybrid CAN through the BMS, sending power state signals of an electric appliance for an accessory vehicle to the HCU through a DCDC, sending a gear signal to the HCU through the TCU, sending a clutch opening or closing instruction to the TCU through a control request of the HCU to a clutch, controlling the separation or combination of the clutch through a plurality of pressure valves and flow valves, connecting a pressure sensor and a flow sensor with the HCU, sending a vehicle speed signal to the HCU through the power CAN, and connecting a throttle pedal and a brake pedal to a HCU controller through a hard wire.

The HCU judges whether to enter vehicle crawling control according to the vehicle state, the engine state, the BSG motor, the power battery state and the like, calculates a vehicle crawling torque request, further distributes crawling torque to the EMS and the MCU through an internal torque distribution module of the HCU, the EMS controls the engine to output according to a torque command sent by the HCU, and the MCU controls the BSG motor to output according to the torque command sent by the HCU.

Referring to fig. 4, fig. 4 is a block diagram of a signal flow direction of a CAN network according to the present application, which specifically includes:

The two CAN networks comprise a hybrid CAN network and a power CAN network, wherein EMS, MCU, BMS, DCDC is positioned on the hybrid CAN network, the TCU and the ESP are positioned on the power CAN network, the HCU is used as a core controller of the whole vehicle and is connected with the hybrid CAN network and the power CAN network, and the two CAN networks are spanned. The CAN network communication signals for specific signals 1-15 CAN be obtained as shown in table 1 below.

TABLE 1

In the process shown in the figure 1, the application determines whether the vehicle meets the crawling conditions, wherein the crawling conditions comprise that the key state of the vehicle is started, the power system of the vehicle is normal, and the gear state of the vehicle is a driving gear state or a reverse gear state, when the crawling conditions are determined to be met, the vehicle is controlled to enter a crawling activation state, the crawling torque of the vehicle and a torque distribution strategy are obtained according to the operation states of a brake pedal and an accelerator pedal operated by a driver, and when the crawling of the vehicle is controlled, the torque is distributed to an engine and a BSG motor of the integrated machine which takes account of starting and generating according to the torque distribution strategy. The running state of the vehicle is obtained, and the corresponding torque is obtained according to different running operation conditions of a driver by combining the parameters of the accelerator pedal and the brake pedal, so that the torque can be reasonably distributed to the engine and the BSG motor under different actual operations of the driver, the starting smoothness and the comfort of the vehicle are improved, and the effects of accurately obtaining the crawling torque of a power system of the vehicle and effectively controlling the torque output of a power source are achieved.

The method of vehicle creep control is described above by fig. 1, and the apparatus of vehicle creep control is described below with reference to fig. 5.

Referring to fig. 5, a schematic block diagram of an apparatus 500 for controlling crawling of a vehicle according to an embodiment of the present application is provided, where the apparatus 500 may be a module, a program segment, or a code on an electronic device. The apparatus 500 corresponds to the embodiment of the method of fig. 1 described above, and is capable of performing the steps involved in the embodiment of the method of fig. 1. Specific functions of the apparatus 500 may be found in the following description, and detailed descriptions thereof are omitted herein as appropriate to avoid redundancy.

Optionally, the apparatus 500 includes:

A determining module 510, configured to determine whether the vehicle meets a crawling condition, where the crawling condition includes that a key state of the vehicle is turned on, a power system of the vehicle is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state;

The calculation module 520 is configured to control the vehicle to enter a crawling activation state when it is determined that the vehicle meets a crawling condition, and obtain a crawling torque and a torque distribution strategy of the vehicle according to an operation state of a brake pedal and an accelerator pedal operated by a driver;

the distribution module 530 is configured to distribute torque to the engine and the BSG motor of the integrated machine that is compatible with starting and generating according to a torque distribution strategy when controlling the vehicle to climb.

Optionally, the computing module is specifically configured to:

When the driver does not press the accelerator pedal and the brake pedal, the vehicle hybrid power is controlled to creep at a specified speed, and the vehicle creep torque and the torque distribution strategy are obtained, when the driver presses the brake pedal and the accelerator pedal is completely released, the coordination relation between the accelerator pedal and the brake pedal is judged, and the vehicle creep torque and the torque distribution strategy are obtained, and when the driver presses the brake pedal and the accelerator pedal is not completely released, the accelerator opening and the speed are obtained through a graph of an accelerator opening and a speed signal or through a preset control model, and the vehicle creep torque and the torque distribution strategy are obtained.

Optionally, the computing module is specifically configured to:

The method comprises the steps of obtaining a vehicle creep torque according to the operation states of a brake pedal and an accelerator pedal operated by a driver, calculating a torque demand value of a gearbox input end according to the speed ratio of the gearbox, the speed ratio of a speed reducer and the efficiency of a transmission mechanism system of the vehicle, carrying out smoothing processing on the torque demand value of the gearbox input end to obtain a torque demand value of an engine, and calculating the torque demand value of a BSG motor according to the vehicle creep torque and the torque demand value of the engine.

Optionally, the apparatus further comprises:

And the control module is used for controlling the vehicle to enter a vehicle crawling standby state when the controller displays that the crawling mark is identified as 0 after the determination module determines whether the vehicle meets the crawling condition, and controlling the vehicle to enter a sender crawling driving and BSG motor power generation activating state when the battery power sent by the battery management system is less than the preset power.

Optionally, the allocation module is specifically configured to:

And distributing torque to the engine and the BSG motor according to the relation between the vehicle crawling control function interface and the connection hardware of the vehicle crawling control network interface.

Referring to fig. 6, a schematic block diagram of an apparatus for controlling crawling of a vehicle according to an embodiment of the present application may include a memory 610 and a processor 620. Optionally, the apparatus may further include a communication interface 630 and a communication bus 640. The apparatus corresponds to the embodiment of the method of fig. 1 described above, and is capable of performing the steps involved in the embodiment of the method of fig. 1, and specific functions of the apparatus may be found in the following description.

In particular, memory 610 is used to store computer readable instructions.

The processor 620, for processing the memory-stored readable instructions, is capable of performing the various steps in the method of fig. 1.

Communication interface 630 is used for signaling or data communication with other node devices. For example, for communication with a server or terminal, or with other device nodes, although embodiments of the application are not limited in this respect.

Communication bus 640 for implementing direct connection communication of the above components.

The communication interface 630 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The memory 610 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 610 may also optionally be at least one storage device located remotely from the aforementioned processor. The memory 610 has stored therein computer readable instructions which, when executed by the processor 620, perform the method process described above in fig. 1. Processor 620 may be used on apparatus 500 and to perform the functions of the present application. By way of example, the Processor 620 described above may be a general purpose Processor, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), an Application SPECIFIC INTEGRATED Circuit (ASIC), a field programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and embodiments of the present application are not limited in this respect.

Embodiments of the present application also provide a readable storage medium, which when executed by a processor, performs a method process performed by an electronic device in the method embodiment shown in fig. 1.

It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding procedure in the foregoing method for the specific working procedure of the apparatus described above, and this will not be repeated here.

In summary, the embodiment of the application provides a method and a device for controlling vehicle crawling, the method comprises the steps of determining whether a vehicle meets crawling conditions, wherein the crawling conditions comprise that a vehicle key state is started, a vehicle power system is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state, controlling the vehicle to enter a crawling activation state when the vehicle is determined to meet crawling conditions, acquiring vehicle crawling torque and a torque distribution strategy according to operation states of a brake pedal and an accelerator pedal by a driver, and distributing torque to an engine and a BSG motor of an integrated machine with both starting and generating according to the torque distribution strategy when the vehicle crawling is controlled. The method can achieve the effects of accurately acquiring the crawling torque of the vehicle power system and effectively controlling the torque output of the power source.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

Claims (10)

1. A method of vehicle creep control, comprising:

Determining whether a vehicle meets a crawling condition, wherein the crawling condition comprises that a key state of the vehicle is started, a power system of the vehicle is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state;

When the vehicle is determined to meet the crawling conditions, controlling the vehicle to enter a crawling activation state, and acquiring the crawling torque and a torque distribution strategy of the vehicle according to the operation states of a brake pedal and an accelerator pedal operated by a driver;

when the vehicle is controlled to climb, torque is distributed to an engine and a BSG motor of the integrated machine, which takes both start and power generation into consideration, according to the torque distribution strategy.

2. The method of claim 1, wherein the obtaining the vehicle creep torque and the torque distribution strategy according to the operation states of the brake pedal and the accelerator pedal operated by the driver comprises:

when the driver does not press the accelerator pedal and the brake pedal, controlling a vehicle hybrid power to creep at a specified vehicle speed, and acquiring the vehicle creep torque and the torque distribution strategy;

when the driver presses the brake pedal and the accelerator pedal is completely released, judging a coordination relationship between the accelerator pedal and the brake pedal, and acquiring the vehicle crawling torque and the torque distribution strategy;

And when the driver steps on the brake pedal and the accelerator pedal is not completely released, acquiring the accelerator opening and the vehicle speed through a chart of the accelerator opening and a vehicle speed signal or through a preset control model, and acquiring the vehicle crawling torque and the torque distribution strategy.

3. The method according to claim 1 or 2, wherein the obtaining the vehicle creep torque and the torque distribution strategy according to the operation states of the brake pedal and the accelerator pedal operated by the driver includes:

Acquiring the crawling torque of the vehicle according to the operation states of the brake pedal and the accelerator pedal operated by the driver;

calculating a torque demand at an input of the gearbox according to a vehicle gearbox speed ratio, a speed reducer speed ratio and a transmission mechanism system efficiency;

Performing smoothing on the torque demand value of the input end of the gearbox to obtain the torque demand value of the engine;

A torque demand of the BSG motor is calculated based on the vehicle creep torque and the torque demand of the engine.

4. The method according to claim 1 or 2, characterized in that after said determining whether the vehicle satisfies a creep condition, the method further comprises:

when the internal display crawling sign of the controller is identified as 0, controlling the vehicle to enter a vehicle crawling standby state;

When the battery power sent by the battery management system is less than the preset power, controlling the vehicle to enter a state of crawling driving of the transmitter and power generation activation of the BSG motor.

5. The method according to claim 1 or 2, wherein said distributing torque to the engine and the integrated BSG motor for both start and generate according to said torque distribution strategy when controlling the vehicle to climb, comprises:

Designing a vehicle crawling control function interface and a vehicle crawling control network interface;

And distributing torque to the engine and the BSG motor according to the relation between the vehicle crawling control function interface and the vehicle crawling control network interface connection hardware.

6. An apparatus for controlling creep of a vehicle, comprising:

The system comprises a determining module, a control module and a control module, wherein the determining module is used for determining whether a vehicle meets a crawling condition, wherein the crawling condition comprises that a key state of the vehicle is started, a power system of the vehicle is normal, and a gear state of the vehicle is a driving gear state or a reverse gear state;

The calculation module is used for controlling the vehicle to enter a crawling activation state when the vehicle is determined to meet the crawling condition, and acquiring the crawling torque and the torque distribution strategy of the vehicle according to the operation states of a brake pedal and an accelerator pedal operated by a driver;

And the distribution module is used for distributing torque to the engine and the BSG motor of the integrated machine taking both start and power generation into consideration according to the torque distribution strategy when controlling the vehicle to climb.

7. The apparatus of claim 6, wherein the computing module is specifically configured to:

when the driver does not press the accelerator pedal and the brake pedal, controlling a vehicle hybrid power to creep at a specified vehicle speed, and acquiring the vehicle creep torque and the torque distribution strategy;

when the driver presses the brake pedal and the accelerator pedal is completely released, judging a coordination relationship between the accelerator pedal and the brake pedal, and acquiring the vehicle crawling torque and the torque distribution strategy;

And when the driver steps on the brake pedal and the accelerator pedal is not completely released, acquiring the accelerator opening and the vehicle speed through a chart of the accelerator opening and a vehicle speed signal or through a preset control model, and acquiring the vehicle crawling torque and the torque distribution strategy.

8. The apparatus according to claim 6 or 7, wherein the computing module is specifically configured to:

Acquiring the crawling torque of the vehicle according to the operation states of the brake pedal and the accelerator pedal operated by the driver;

calculating a torque demand at an input of the gearbox according to a vehicle gearbox speed ratio, a speed reducer speed ratio and a transmission mechanism system efficiency;

Performing smoothing on the torque demand value of the input end of the gearbox to obtain the torque demand value of the engine;

A torque demand of the BSG motor is calculated based on the vehicle creep torque and the torque demand of the engine.

9. The apparatus according to claim 6 or 7, characterized in that the apparatus further comprises:

the control module is used for controlling the vehicle to enter a vehicle crawling standby state when the crawling sign is displayed in the controller to be identified as 0 after the determining module determines whether the vehicle meets the crawling condition;

When the battery power sent by the battery management system is less than the preset power, controlling the vehicle to enter a state of crawling driving of the transmitter and power generation activation of the BSG motor.

10. The apparatus according to claim 6 or 7, wherein the allocation module is specifically configured to:

Designing a vehicle crawling control function interface and a vehicle crawling control network interface;

And distributing torque to the engine and the BSG motor according to the relation between the vehicle crawling control function interface and the vehicle crawling control network interface connection hardware.