CN108248448B - Constant-speed control method and control device for pure electric sanitation truck - Google Patents
Constant-speed control method and control device for pure electric sanitation truck Download PDFInfo
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- CN108248448B CN108248448B CN201611225298.1A CN201611225298A CN108248448B CN 108248448 B CN108248448 B CN 108248448B CN 201611225298 A CN201611225298 A CN 201611225298A CN 108248448 B CN108248448 B CN 108248448B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a constant speed control method and a control device for a pure electric sanitation vehicle, which comprises the steps of firstly detecting gear information, vehicle speed information, accelerator pedal opening information, brake pedal opening information and vehicle fault information of the vehicle; and then, when the vehicle speed is in the running working speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, gear shifting is not carried out within the set time, an effective brake pedal opening degree signal is not available within the set time, and the vehicle is controlled to run at the constant speed at the current vehicle speed when no fault that the vehicle cannot carry out constant speed control exists. The pure electric sanitation vehicle can be in a constant-speed running state and a low-speed stable-speed driving state through the control of the constant-speed control method, so that a driver does not need to operate an accelerator pedal for a long time any more, the accelerator pedal does not need to be accurately controlled, and the operation burden and the labor operation intensity of the driver are reduced.
Description
Technical Field
The invention relates to a method and a device for controlling a pure electric sanitation vehicle at a constant speed, and belongs to the technical field of the control of the pure electric sanitation vehicle at the constant speed.
Background
In 2014, the State Council pubs publishes 'directive opinions about accelerating popularization and application of new energy automobiles' in State Council offices, and the directive opinions are provided, pure electric drive is taken as a main strategic orientation for development of the new energy automobiles, and vehicles used in the public service field are taken as breakthrough for popularization and application of the new energy automobiles. The sanitation system is used as a part of the public service field, and each new energy automobile demonstration and popularization city government also buys and uses the pure electric sanitation automobile as a part of the new energy automobile popularization and application work plan. New forms of energy sanitation car, pure electric sanitation car promptly has that the technique is simple relatively and ripe, charges advantages such as convenient, zero release, small in noise, not only can reduce atmospheric pollutants content by a wide margin, but also can reduce the disturbing citizen problem when the operation.
The sanitation vehicle has the following operation characteristics: the working time is fixed, the working road is smooth, and the working speed is basically fixed. The sanitation vehicle is roughly divided into two types according to different operation types: the washing and sweeping vehicle and the cleaning vehicle generally have the working speed of 4-5km/h and the working speed of 15-20 km/h.
Most sanitation vehicles on the market at present are traditional internal combustion engine vehicles, gears are placed on a first gear or a second gear during operation, and vehicle speed control is stable. However, since most of the pure electric sanitation vehicles are primary or secondary speed reduction systems, the vehicle speed is inherently sensitive to the accelerator opening, the vehicle speed of the sanitation vehicle is generally low, and the change of the small accelerator opening may have a great influence on the vehicle speed in a low-speed environment, so that a driver is difficult to accurately control the accelerator pedal to enable the pure electric sanitation vehicle to be in a low-speed stable-speed driving state. Moreover, the traditional control mode of vehicle speed cruise is not suitable for the special vehicle type of sanitation vehicle.
Disclosure of Invention
The invention aims to provide a constant-speed control method for a pure electric sanitation vehicle, which is used for solving the problem that a driver is difficult to accurately control an accelerator pedal to enable the pure electric sanitation vehicle to be in a low-speed stable-speed driving state. The invention also provides a constant-speed control device of the pure electric sanitation vehicle.
In order to achieve the purpose, the scheme of the invention comprises a constant-speed control method of the pure electric sanitation truck, which comprises the following steps:
(1) detecting gear information, vehicle speed information, accelerator pedal opening information, brake pedal opening information and vehicle fault information of a vehicle;
(2) when the vehicle speed is in the operating speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, the gear is not shifted within the set time, an effective opening degree signal of a brake pedal is not available within the set time, and the vehicle is controlled to run at the constant speed when the vehicle has no fault that the constant speed control cannot be carried out.
When at least one of the following conditions is detected: the method comprises the steps of vehicle gear shifting, the error value of the wheel speeds of any two wheels is larger than a set error value, the change rate of the vehicle speed is larger than a set change rate threshold value, the vehicle speed is not in the running working speed interval of the vehicle, an effective opening degree signal is output again by an accelerator pedal, an effective opening degree signal is output by a brake pedal, and the vehicle is controlled to remove uniform speed control when a fault that the uniform speed control cannot be carried out occurs.
The detected information also comprises wheel speed information, and on the basis that all judgment conditions are met, if the error value of any two wheel speeds in the set time is smaller than or equal to a set error value, the vehicle is controlled to run at a constant speed according to the vehicle speed.
When the vehicle is controlled to remove the constant speed control, an alarm device arranged in the vehicle is controlled to give an alarm so as to remind a driver to take over the vehicle operation.
The set accelerator pedal opening range is divided into N sub-intervals, N is larger than or equal to 2, and the accelerator pedal opening is determined to be unchanged when the accelerator pedal opening is changed only in a certain sub-interval.
A pure electric sanitation vehicle uniform speed control device comprises:
the detection module is used for detecting gear information, vehicle speed information, accelerator pedal opening information, brake pedal opening information and vehicle fault information of a vehicle;
and the control module is used for controlling the vehicle to run at a constant speed when the vehicle speed is in a running working speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, the gear is not shifted within the set time, an effective brake pedal opening degree signal is not available within the set time, and the vehicle has no fault that the constant speed control cannot be carried out.
When at least one of the following conditions is detected: the method comprises the steps of vehicle gear shifting, the error value of the wheel speeds of any two wheels is larger than a set error value, the change rate of the vehicle speed is larger than a set change rate threshold value, the vehicle speed is not in the running working speed interval of the vehicle, an effective opening degree signal is output again by an accelerator pedal, an effective opening degree signal is output by a brake pedal, and the vehicle is controlled to remove uniform speed control when a fault that the uniform speed control cannot be carried out occurs.
The detected information also comprises wheel speed information, and on the basis that all judgment conditions are met, if the error value of any two wheel speeds in the set time is smaller than or equal to a set error value, the vehicle is controlled to run at a constant speed according to the vehicle speed.
The constant-speed control device also comprises a control device arranged in the vehicle, and when the vehicle is controlled to remove the constant-speed control, the alarm device is controlled to give an alarm to remind a driver to take over the vehicle operation.
The set accelerator pedal opening range is divided into N sub-intervals, N is larger than or equal to 2, and the accelerator pedal opening is determined to be unchanged when the accelerator pedal opening is changed only in a certain sub-interval.
The constant speed control method provided by the invention is specially used for the pure electric sanitation vehicle, and the pure electric sanitation vehicle can be in a constant speed running state and a low-speed stable-speed driving state through the control of the constant speed control method, so that a driver does not need to operate an accelerator pedal for a long time any more, the accelerator pedal does not need to be accurately controlled, and the operation burden and the labor operation intensity of the driver are reduced.
In the constant speed control method, certain data information of the vehicle is detected, the data information is closely related to constant speed control, such as gear information, vehicle speed information, accelerator pedal information and brake pedal information, the detected information is analyzed, and the vehicle can be subjected to the constant speed control only when the vehicle speed is in an operating working speed interval due to the fact that the working speed of the sanitation vehicle is low; the opening degree of the accelerator pedal is the most important factor for constant speed control and is the most intuitive judgment factor for the constant speed control, the vehicle can be controlled at the constant speed only if the opening degree of the accelerator pedal is stable at a certain opening degree for a certain time, and the vehicle cannot be controlled at the constant speed if the opening degree of the accelerator pedal changes frequently; when the gear signal of the vehicle is a forward gear and the gear is not shifted within the certain time, the vehicle is in a stable forward state; because the sanitation truck is controlled to be in a running state at a constant speed, the brake pedal can not output an effective opening signal within a certain time; of course, in order to ensure the safe operation of the vehicle, the vehicle cannot have a fault that the constant speed control cannot be carried out. Therefore, the constant-speed control method takes the pure electric sanitation vehicle as a control object, analyzes key factors influencing constant-speed running in the pure electric sanitation vehicle, analyzes conditions respectively met by the key factors, finds out conditions that the key factors meet the constant-speed running, and performs constant-speed control according to the conditions. Therefore, the constant speed control method can ensure the reliable control of the constant speed running of the pure electric sanitation vehicle.
Drawings
FIG. 1 is a block diagram of a hardware configuration of a constant speed control system;
FIG. 2 is an overall flowchart of the constant speed control method;
fig. 3 is a schematic diagram of an embodiment of a constant speed control method.
Detailed Description
Embodiment of method for controlling pure electric sanitation truck at constant speed
The constant speed control method provided by the invention is suitable for a pure electric sanitation vehicle, the sanitation vehicle is a special vehicle for clearing urban appearance, and the sanitation vehicle in the embodiment is as follows: the work vehicle that needs at the uniform velocity operation at during operation such as watering lorry, motor sweeper, cleaning cart, haze car. In order to implement the uniform speed control method in this embodiment, a control system of the pure electric sanitation vehicle is further provided in this embodiment, and each component of the system is a hardware device.
As shown in fig. 1, the control system comprises a gear detection module, a vehicle speed detection module, an accelerator pedal opening detection module and a brake pedal opening detection module, wherein the gear detection module is used for detecting gear information of the sanitation vehicle, the vehicle speed detection module is used for detecting vehicle speed information of the sanitation vehicle, the accelerator pedal opening detection module is used for detecting accelerator pedal opening information of the sanitation vehicle, and the brake pedal opening detection module is used for detecting brake pedal opening information of the sanitation vehicle. In addition, the control system further comprises other detection devices for detecting fault information of the vehicle, which can prevent the uniform speed control of the sanitation vehicle, and therefore, the faults are referred to as faults which can not perform the uniform speed control, such as: various faults such as ABS fault, motor overheating, battery overcurrent, and hardware, and the related devices for detecting these faults are no longer shown in fig. 1. The above detection devices are all conventional technologies, and the description of the devices itself is omitted in this embodiment.
In this embodiment, the vehicle control unit is used as a core component of the constant speed control, and is configured to analyze each related data and issue a constant speed control command.
The vehicle control unit is connected with the detection modules and relevant equipment for detecting faults which cannot be controlled at a constant speed in an input mode, and receives various data information detected by the detection equipment; the vehicle control unit is in control connection with the motor controller, analyzes received data information, outputs a control command to the motor controller when a uniform speed control condition is met, and the motor controller provides a constant torque (torque) for the driving motor to enable the driving motor to rotate at a uniform speed, so that the sanitation vehicle runs at a uniform speed.
Therefore, a constant speed control strategy is loaded in the vehicle control unit, and the vehicle control unit realizes the constant speed control through the strategy, which is a core step in the constant speed control method provided by the invention, and the control method is explained in detail below.
The first step of the constant speed control method is a detection step: the gear information, the speed information, the accelerator pedal information, the brake pedal information and the vehicle fault information of the vehicle are detected, and since the description is made on the corresponding detection equipment for detecting the information, the description is omitted here.
The second step of the constant speed control method is a control step, wherein the control step is a constant speed control strategy in the vehicle control unit and is loaded in the vehicle control unit in a software program mode. Fig. 2 is an overall flowchart of the constant speed control method.
And the vehicle control unit analyzes the received data information, wherein,
for the vehicle speed information, the sanitation vehicle is in a normal working state in the constant speed control range, so the speed in the constant speed control is in a running working speed interval. Because the working speed of the sanitation truck is low, and the working speed ranges of different working types of sanitation trucks are different, for example, the working speed of the washing and sweeping truck is basically 4-5km/h, the working speed of the washing truck is basically 15-20km/h, and the working speed range is not necessarily the above value range, different roads may need different sweeping speeds, for example: when the road is dirty, the cleaning is slow, and the road can be cleaned. Therefore, the operation speed interval of the sanitation vehicle is set in consideration of the above factors. In summary, in the constant speed control, the vehicle speed information satisfies the following conditions: the vehicle speed is in the operation working speed interval.
In order to realize the uniform speed control of the vehicle control unit, the accelerator pedal information needs to be unchanged within a set time (the set time is selected according to the actual control precision), namely, the accelerator pedal information does not change within the set time, and the set time is set for the purposes of: and the vehicle controller determines that the vehicle needs to run at a constant speed after the opening of the accelerator pedal is stable for a certain time. In addition, in an actual situation, due to vehicle running vibration and other factors, when the vehicle is controlled at a constant speed, a driver is difficult to control the opening degree of the accelerator pedal to be in an absolute unchanged state within a certain time, which may have about 2% deviation, and if the opening degree of the accelerator pedal is directly detected, it is difficult to judge whether the opening degree of the accelerator pedal is stable for a set time, so that the opening degree of the accelerator pedal needs to be processed, specifically: set for an accelerator pedal aperture scope, this scope is the aperture scope of the accelerator pedal of sanitation car normal driving, divide into two at least subintervals with this scope, when accelerator pedal aperture only changes in a certain subinterval, it is little to indicate accelerator pedal aperture change degree, and it does not change to think accelerator pedal aperture, only when accelerator pedal aperture changes to being in another subinterval in being in one of them subinterval, it is great to indicate accelerator pedal aperture change degree, just think accelerator pedal aperture and changed. The number of subinterval partitions is set according to actual requirements, and when the number of partitions is small, the control accuracy is not high, but the control complexity is low, and correspondingly, when the number of partitions is large, the control accuracy is high, but the control complexity is high. Since the range of the accelerator pedal opening is 0-100% in a general case, the range of the accelerator pedal opening is set to 0-100% and the precision is 1%, the range of the accelerator pedal opening is processed in a grading manner, the pedal signal is fuzzy processed to 3% precision (which can also be adjusted according to the actual vehicle condition), that is, the range of the accelerator pedal opening can be divided into 33 sub-sections approximately in the range of 0-100%, and the stable operation driving state of the driver is determined by identifying the stable condition of the pedal opening signal in each section, for example: if the opening degree of the accelerator pedal is only changed in the interval of [ 10%, 12% ] within the set time, the opening degree of the accelerator pedal is not changed within the set time; if the accelerator pedal opening is changed from the interval of [ 10%, 12% ] to the interval of [ 13%, 15% ] within the set time, the accelerator pedal opening is changed within the set time. Therefore, when the constant speed control is performed, the accelerator information satisfies the following conditions: the accelerator pedal opening does not change within a set time.
For the gear information, since the most basic factor of the sanitation vehicle in the uniform speed control is stable running along the forward direction, the gear information satisfies the following conditions in the uniform speed control: the gear information is a certain gear in the forward gears, and the gear is not changed in the set time.
For the braking information, in order to realize the uniform speed control of the vehicle controller, the brake pedal cannot output an effective opening degree signal. When the brake pedal is not pressed down, an effective opening signal cannot be output; when the brake pedal is only slightly pressed, the output opening signal is small and can be ignored, and the opening signal is considered to be invalid. Therefore, when the constant speed control is performed, the braking information satisfies the following conditions: the brake pedal does not output an effective opening signal within the set time.
For the fault information, in order to realize the uniform speed control of the vehicle controller, the sanitation vehicle cannot have the fault which cannot be controlled at the uniform speed, such as: ABS fault, motor overheating, battery overcurrent, hardware, and other various faults. Therefore, when performing the constant speed control, the fault information satisfies the following conditions: the vehicle does not have a failure that the constant speed control cannot be performed (it can be understood that the vehicle does not have a failure that the constant speed control cannot be performed within the above-described set time).
In addition, the sanitation vehicle sometimes needs to turn, and the vehicle cannot automatically turn, so that the vehicle does not need to be controlled at a constant speed during turning, and a driver needs to take over the vehicle. Therefore, further, turning detection is required during the constant speed control, a wheel speed detection module (not shown in fig. 1) for detecting the wheel speed of each wheel is further provided in the control system, and the vehicle control unit is connected to the wheel speed detection module in a sampling manner. Because the wheel speeds of the wheels on the left side and the right side are different when the vehicle turns, the wheel speeds of the two wheels on the same side are possibly different. Therefore, an error value of the wheel speeds of any two wheels is calculated, and if the error value of the rotation speeds of the two wheels is larger than a set error value (for example: 15r/min), the wheel speeds of the two wheels are greatly different, which indicates that the sanitation vehicle turns. Accordingly, if uniform speed control is required, the wheel speed information needs to satisfy the following conditions: and the error value of the wheel speeds of any two wheels in the set time is less than or equal to the set error value.
In summary, it can be seen that only the following conditions are satisfied: the vehicle speed is in the operating speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, the vehicle is not shifted within the set time, no effective opening degree signal of a brake pedal is available within the set time, the vehicle has no fault that the constant speed control cannot be carried out, the error value of the wheel speeds of any two wheels within the set time is smaller than or equal to a set error value, the vehicle control unit outputs a control command to the motor controller, and then the motor controller outputs a torque signal corresponding to the current vehicle speed to control the driving motor to carry out the constant speed running by the torque.
The control system can keep the current power output, and in order to reduce the operation complexity of a driver, the driver can release an accelerator pedal under the common condition, and the sanitation truck can still keep running at a constant speed.
When the vehicle controller detects the following conditions in the process of driving the sanitation vehicle at a constant speedWhen at least one occurs: the vehicle shifts gears (changes from a forward gear to other gears, or changes from one gear in the forward gear to other gears in the forward gear, for example, changes from the forward gear to a reverse gear, or changes from a 1 gear in the forward gear to a 2 gear in the forward gear), the error value of the wheel speeds of any two wheels is larger than a set error value, the vehicle speed has obvious change (namely the vehicle speed change rate is larger than a set change rate threshold value, such as 0.5 m/s)2) The vehicle speed is not in the running working speed interval of the vehicle (for example, the vehicle speed exceeds the working speed interval), the accelerator pedal is treaded again (namely, the accelerator pedal outputs an effective opening signal again to indicate that a driver needs acceleration), the brake pedal outputs an effective opening signal and the vehicle has a fault that the uniform speed control cannot be carried out, the vehicle controller controls to remove the uniform speed control, and the driver takes over the vehicle. In order to remind a driver to take over the vehicle in time, the vehicle control unit controls an alarm device on the vehicle to give an alarm at the same time.
Thus, the sanitation vehicle mainly includes two operation modes: a road operation constant speed control mode and a vehicle normal driving mode. Wherein the content of the first and second substances,
the road operation constant speed control mode is the constant speed control state, and the vehicle control unit determines the road torque (power) output requirement, so as to control the vehicle torque output and ensure the vehicle operation at the constant speed.
The normal running mode of the vehicle is a state that a driver normally controls the vehicle, for example, the sanitation vehicle is in a non-operation working condition, such as acceleration and deceleration operation, deceleration turning operation, or returning to a factory at a higher speed, and the driver can normally control the vehicle.
In addition, in order to realize seamless butt joint of vehicle control conversion and power output regulation, the sanitation vehicle further comprises a transition working condition control mode, and when the sanitation vehicle runs in the road operation constant speed control mode and receives the request information of taking over the vehicle by a driver or other faults and other conditions requiring the driver to take over the vehicle, the vehicle needs to be switched to the normal running mode from the constant speed automatic control mode through the transition working condition control mode.
Fig. 3 is a flowchart of a specific embodiment of the constant speed control method, which is, of course, only a specific embodiment and is not limited to the above constant speed control method.
As shown in fig. 3, during the driving process of the vehicle, the vehicle controller detects the flag bit state of the road operation constant speed control mode. The flag bit of the road operation constant speed control mode indicates whether the road operation constant speed control mode is started to work: when the flag bit is set to be 1, the vehicle enters the road operation constant speed control mode, and when the flag bit is reset to be 0, the vehicle does not enter the road operation constant speed control mode.
And determining a corresponding control mode according to the state of the flag bit.
When the flag bit state is in a reset state, the system can perform hierarchical identification processing according to the current driving operation condition of a driver, and determine a subsequent control mode of the vehicle. If the system detects that the vehicle running condition meets the road operation constant speed control mode condition, setting the flag bit, and meanwhile, the system enters the road operation constant speed control mode and takes over the vehicle running; and if the running condition of the vehicle cannot meet the starting condition of the constant speed control mode of the road operation, the vehicle normally runs according to the operation requirement of an actual driver.
When the flag bit state is in a set state, the system enters a road operation constant speed control mode, and the system takes over the running of the vehicle; and the system can detect the operation of a driver, the running state information of the vehicle, the fault information of the vehicle and the like, and judge whether the vehicle exits the road operation constant speed control mode: if the condition that the vehicle meets the condition of exiting the road operation constant speed control mode is detected, the system resets the zone bit, exits the constant speed control mode, enters a transition working condition control mode, and simultaneously prompts a driver to take over the vehicle; if the fact that the vehicle exits the road operation constant speed control mode is not detected, the system controls the vehicle to continuously operate in the road operation constant speed control mode, and meanwhile the state of the mark position bit is kept.
Embodiment of uniform speed control device of pure electric sanitation truck
In this embodiment, the control device includes the following modules:
the detection module is used for detecting gear information, vehicle speed information, accelerator pedal opening information, brake pedal opening information and vehicle fault information of a vehicle;
and the control module is used for controlling the vehicle to run at a constant speed according to the vehicle speed when the vehicle speed is in a running working speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, the gear is not shifted within the set time, an effective opening degree signal of a brake pedal is not available within the set time, and the vehicle has no fault that the constant speed control cannot be performed.
Through analysis, the two modules of the control device are essentially the same as the two main steps in the constant speed control method of the pure electric sanitation vehicle, so that the control device is essentially still the control method, and since the control method is described in detail in the control method embodiment, the detailed description is omitted here.
The specific embodiments are given above, but the present invention is not limited to the described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (10)
1. A constant-speed control method for a pure electric sanitation truck is characterized by comprising the following steps:
(1) detecting gear information, vehicle speed information, accelerator pedal opening information, brake pedal opening information and vehicle fault information of a vehicle;
(2) when the vehicle speed is in the operating speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, no gear shifting is performed within the set time, no effective opening degree signal of a brake pedal is available within the set time, and the vehicle is controlled to be changed from a manual control mode to a constant-speed automatic control mode for driving at a constant speed according to the vehicle speed when no fault that the vehicle cannot be controlled at the constant speed exists.
2. The method for controlling the uniform speed of the pure electric sanitation vehicle as claimed in claim 1, wherein when at least one of the following conditions is detected: the method comprises the steps of vehicle gear shifting, the error value of the wheel speeds of any two wheels is larger than a set error value, the change rate of the vehicle speed is larger than a set change rate threshold value, the vehicle speed is not in the running working speed interval of the vehicle, an effective opening degree signal is output again by an accelerator pedal, an effective opening degree signal is output by a brake pedal, and the vehicle is controlled to remove uniform speed control when a fault that the uniform speed control cannot be carried out occurs.
3. The method for controlling the uniform speed of the pure electric sanitation vehicle as claimed in claim 1, wherein the detected information further comprises wheel speed information, and on the basis that all judgment conditions are met, if an error value of the wheel speeds of any two wheels within the set time is less than or equal to a set error value, the vehicle is controlled to run at the uniform speed.
4. The constant-speed control method for the pure electric sanitation vehicle as claimed in claim 2, wherein when the vehicle is controlled to release the constant-speed control, an alarm device arranged in the vehicle is controlled to give an alarm to remind a driver to take over the operation of the vehicle.
5. A pure electric sanitation vehicle uniform speed control method as claimed in any one of claims 1 to 4, wherein the set range of the opening degree of the accelerator pedal is divided into N sub-intervals, N is larger than or equal to 2, and the opening degree of the accelerator pedal is determined to be unchanged when the opening degree of the accelerator pedal is changed only in a certain sub-interval.
6. The utility model provides a pure electric sanitation car controlling means at uniform velocity which characterized in that includes:
the detection module is used for detecting gear information, vehicle speed information, accelerator pedal opening information, brake pedal opening information and vehicle fault information of a vehicle;
and the control module is used for controlling the vehicle to be changed from a manual control mode to a constant-speed automatic control mode for driving at a constant speed by the vehicle speed when the vehicle speed is in a running working speed interval of the vehicle, the opening degree of an accelerator pedal is not changed within set time, a gear signal of the vehicle is a forward gear, no gear shifting is performed within the set time, no effective brake pedal opening degree signal is available within the set time, and the vehicle has no fault that the constant-speed control cannot be performed.
7. The electric sanitation vehicle uniform speed control device of claim 6, wherein when at least one of the following conditions is detected: the method comprises the steps of vehicle gear shifting, the error value of the wheel speeds of any two wheels is larger than a set error value, the change rate of the vehicle speed is larger than a set change rate threshold value, the vehicle speed is not in the running working speed interval of the vehicle, an effective opening degree signal is output again by an accelerator pedal, an effective opening degree signal is output by a brake pedal, and the vehicle is controlled to remove uniform speed control when a fault that the uniform speed control cannot be carried out occurs.
8. The electric sanitation vehicle uniform speed control device as claimed in claim 6, wherein the detected information further includes wheel speed information, and on the basis that each determination condition is satisfied, if an error value of any two wheel speeds within the set time is less than or equal to a set error value, the vehicle is controlled to run at the vehicle speed at a uniform speed.
9. The constant-speed control device for the pure electric sanitation vehicle as claimed in claim 7, wherein the constant-speed control device further comprises an alarm device arranged in the vehicle, and when the vehicle is controlled to release the constant-speed control, the alarm device is controlled to give an alarm to remind a driver to take over the operation of the vehicle.
10. A pure electric sanitation vehicle uniform speed control device according to any one of claims 6 to 9, wherein the set accelerator pedal opening range is divided into N sub-intervals, N is larger than or equal to 2, and the accelerator pedal opening is determined to be unchanged when the accelerator pedal opening is changed only in a certain sub-interval.
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| CN110422056A (en) * | 2019-09-02 | 2019-11-08 | 海汇新能源汽车有限公司 | Electric cleaning car travel controlling system and its control strategy |
| CN113511071A (en) * | 2020-04-09 | 2021-10-19 | 北京福田康明斯发动机有限公司 | Vehicle speed control method, system, device and storage medium |
| TWI766369B (en) * | 2020-09-18 | 2022-06-01 | 光陽工業股份有限公司 | Gear shifting system and method for electric locomotive |
| CN112606851B (en) * | 2020-12-30 | 2022-02-18 | 江西昌河汽车有限责任公司 | Automatic driving vehicle control method based on drive-by-wire electric vehicle |
| CN112706863B (en) * | 2021-01-07 | 2022-05-27 | 上海钧正网络科技有限公司 | Handle turning abnormality detection method, device and equipment |
| CN115246417B (en) * | 2021-07-29 | 2023-08-25 | 上海仙途智能科技有限公司 | Job execution method, apparatus, device, and computer-readable storage medium |
| CN113752855B (en) * | 2021-10-11 | 2023-05-23 | 珠海格力电器股份有限公司 | Electric vehicle control method, device, storage medium and electric vehicle controller |
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