The invention relates to a gradient-adaptive abrupt slope slow descent control method and a vehicle, and belongs to the field of vehicle control. According to the current actual rotating speed of the motor and the pre-obtained corresponding relation between the rotating speed of the motor and the torque of the motor, the feed-forward torque is obtained according to the torque of the motor, the feed-forward torque is superposed to a torque output value of vehicle speed closed-loop control, and the vehicle is controlled to reach the HDC target vehicle speed; the corresponding relation is in positive correlation within the peak torque range of the motor, and the motor rotating speed in the corresponding relation is divided into an acceleration interval, a gradient self-adaptive interval and a deceleration interval along with increase of the rotating speed; the gradient adaptive interval corresponds to an HDC target motor rotating speed interval; the minimum value of the motor torque corresponding to the gradient self-adaptive interval is obtained by the full-load mass, the minimum gradient of the HDC and the first-gear target vehicle speed, and the maximum value of the motor torque corresponding to the gradient self-adaptive interval is obtained by the full-load mass, the maximum gradient of the HDC and the highest-gear target vehicle speed; and the vehicle speed is ensured to be stably reduced or increased to the target vehicle speed along with the increase or decrease of the motor torque.
本发明涉及一种坡度自适应的陡坡缓降控制方法及车辆,属于整车控制领域。本发明根据电机当前实际转速与预先获得的电机转速与电机扭矩的对应关系,根据电机扭矩得到前馈扭矩,将前馈扭矩叠加到车速闭环控制的扭矩输出值,将车辆控制到HDC目标车速;对应关系在电机峰值扭矩范围内是正相关的,对应关系中的电机转速随转速升高分为加速区间、坡度自适应区间和减速区间;坡度自适应区间对应HDC目标电机转速区间;坡度自适应区间对应的电机扭矩最小值由满载质量、HDC最小坡度、一挡目标车速得到,坡度自适应区间对应的电机扭矩最大值由满载质量、HDC最大坡度、最高挡目标车速得到;保证了车速随电机扭矩的增大或减小而平稳的减小或增大至目标车速。
Slope-adaptive abrupt slope slow descent control method and vehicle
一种坡度自适应的陡坡缓降控制方法及车辆
2025-01-14
Patent
Electronic Resource
Chinese
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