The invention discloses a single-pedal vehicle control method and device. According to the actual mass, the actual vehicle speed, the actual deceleration and the target vehicle speed of the single-pedal vehicle, a feed-forward item and a proportional-integral adjusting item of motor closed-loop torque are obtained, then according to the actual torque, the speed ratio, the tire radius and the actual deceleration of the motor, a road resistance item is obtained, and the sum of the three items serves as the required torque of the motor. And through comparison of the actual deceleration and the target deceleration and the actual vehicle speed, the vehicle is controlled in the mode that the actual torque of the motor is controlled to be the torque required by the motor or in the mode of mechanical auxiliary braking. Compared with the prior art, the method can better fit different states and different working conditions of the vehicle, and the obtained result is more accurate. And a mechanical braking auxiliary function is added aiming at part of working conditions, so that the braking torque is accurately controlled, and stable parking under various working conditions is realized.
本申请公开了一种单踏板车辆控制的方法及装置。根据单踏板车辆的实际质量、实际车速、实际减速度和目标车速,获取电机闭环扭矩的前馈项和比例积分调节项,再根据电机实际扭矩、速比、轮胎半径和实际减速度,获取道路阻力项,将三者之和作为电机需求扭矩。通过实际减速度与目标减速度的比较、实际车速的大小,以控制电机实际扭矩为电机需求扭矩的方式,或机械辅助制动的方式,对车辆进行控制。不使用固定参数获取电机的需求制动扭矩,相较现有技术,更能贴合车辆的不同状态、不同工况,获取结果更加准确。并且针对部分工况增加了机械制动辅助功能,从而对制动扭矩实现精准控制,在各种工况下平稳驻车。
Method and device for controlling single-pedal vehicle
一种单踏板车辆控制的方法及装置
29.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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