The invention discloses an intelligent driving vehicle driving torque control method and system and a storage medium, and the method comprises the steps: building a longitudinal dynamics model, and employing the speed feedback correction of a vehicle to calculate the actual acceleration of the vehicle; calculating the feedforward control quantity of the expected acceleration rotating wheel end torque according to the actual acceleration of the vehicle; calculating a wheel end torque feedback compensation amount based on PID torque feedback compensation; and the feedforward control quantity of the expected acceleration rotating wheel end torque and the wheel end torque feedback compensation quantity are summed, and the final torque control quantity of the power assembly at the gearbox input shaft is obtained through calculation. According to the method, the conversion relation between the vehicle acceleration and the driving torque is enhanced by establishing the accurate vehicle dynamics model, the tracking precision and robustness of the expected acceleration can be improved based on the torque feedforward and PID torque feedback compensation control method, the anti-disturbance capacity of a control system is enhanced, the longitudinal driving control performance of the vehicle is improved, and the vehicle driving stability is improved. Accurate control over the vehicle driving torque is achieved.
本发明公开了一种智能驾驶车辆驱动扭矩控制方法、系统及存储介质,所述智能驾驶车辆驱动扭矩控制方法,包括:建立纵向动力学模型采用自车速度反馈校正计算车辆实际加速度;根据车辆实际加速度计算期望加速度转轮端扭矩的前馈控制量;基于PID扭矩反馈补偿计算轮端扭矩反馈补偿量;对期望加速度转轮端扭矩的前馈控制量和轮端扭矩反馈补偿量求和,计算得到最终的变速箱输入轴处动力总成的扭矩控制量。本发明通过建立精确的车辆动力学模型强化车辆加速度和驱动扭矩的换算关系,以及基于扭矩前馈和PID扭矩反馈补偿控制方法可提高期望加速度的跟踪精度和鲁棒性,加强控制系统抗扰动能力,提升车辆纵向驱动控制性能,实现了对车辆驱动扭距的精确控制。
Intelligent driving vehicle driving torque control method and system and storage medium
智能驾驶车辆驱动扭矩控制方法、系统及存储介质
2024-03-22
Patent
Electronic Resource
Chinese
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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