CN110877535A - Single-pedal control method for urban low-speed following road condition of pure electric vehicle - Google Patents
Single-pedal control method for urban low-speed following road condition of pure electric vehicle Download PDFInfo
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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
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a single-pedal control method for urban low-speed following road conditions of a pure electric vehicle, which comprises the following steps of: (1) the whole vehicle control system judges that the current vehicle enters a sliding working condition according to an accelerator pedal, a brake pedal and a vehicle speed signal; (2) the whole vehicle control system calculates the target braking force of the whole vehicle according to the vehicle speed and the set sliding recovery intensity level, and the driving motor can output a negative torque T at the momentnThe method comprises the steps of (1) carrying out braking energy recovery, (3) calculating the acceleration value of the vehicle in real time by the whole vehicle control system, carrying out operation of stepping on an accelerator pedal when a driver judges that the acceleration is too small in the following process, and judging whether to stop outputting negative torque T or not by the whole vehicle control system according to the opening degree α of the accelerator pedaln. The invention realizes better driving feeling and whole vehicle economy of the pure electric vehicle in the process of loosening/stepping on the accelerator pedal under the urban low-speed vehicle following condition, and improves the driving feelingCausing sexual disorder.
Description
Technical Field
The invention belongs to the technical field of pure electric vehicles, and particularly relates to a single-pedal control method for urban low-speed vehicle following road conditions of a pure electric vehicle.
Background
With the increasing emphasis on energy safety and environmental protection, the requirements of each country on the pollutants discharged by automobiles are more and more strict. The dependence on energy is reduced, energy conservation and emission reduction are realized, and the problem which needs to be solved urgently for the continuous development of the world economy is solved. Under the background that the traditional truck pollutes the environment, is restricted in urban areas and is low in efficiency, the new energy automobile industry is met with a new development opportunity.
As an important emerging market segment, the pure electric vehicle has the characteristics of zero pollution and zero emission, and better meets the development requirement of economy, under the drive of continuous policy and interest and gradual market demand, the attention and the sales volume of the pure electric vehicle are both increased in a festival mode, and the production quantity is doubled and increased within the next few years, so that the pure electric vehicle enters the rapid development period.
At present, the traffic in domestic large and medium-sized cities is increasingly congested, and more vehicles can be used under the low-speed vehicle following condition of a high peak section during work. In the driving technology of the traditional automobile, the driver is required to frequently step on an acceleration pedal and a brake pedal under the low-speed automobile following condition so as to meet the requirement of low-speed automobile following and easily cause the fatigue of the driver.
In recent years, the gradual popularization of pure electric vehicles provides a feasible solution to the problem. At present, pure electric vehicles on the market generally have a braking energy recovery function, namely, a part of braking requirements of the vehicles are realized by generating negative torque through a motor, and meanwhile, the part of energy is converted into electric energy to be stored in a battery. Based on the function, through optimization of algorithm and calibration, single-pedal operation under the working condition of low-speed vehicle following can be realized on the pure electric vehicle, namely, the acceleration and deceleration requirements of the low-speed vehicle following are realized only by stepping on an accelerator pedal, so that the fatigue degree of a driver is reduced, and the purposes of more intelligent and safer driving are achieved.
Disclosure of Invention
The invention aims to provide a single-pedal control method for urban low-speed car-following road conditions of a pure electric vehicle, and a driver can meet the low-speed car-following requirement by only controlling an accelerator pedal, so that the fatigue of the driver caused by frequent switching of a brake/accelerator pedal under the low-speed car-following road conditions is reduced, and the driving safety is improved.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a single-pedal control method for urban low-speed following road conditions of a pure electric vehicle is characterized by comprising the following steps:
(1) the whole vehicle control system judges that the current vehicle enters the sliding working condition according to an accelerator pedal, a brake pedal and a vehicle speed signal: when the speed of the vehicle is higher than a certain value, the vehicle control system finds that a driver neither steps on an accelerator pedal nor a brake pedal, and judges that the vehicle enters a free-sliding state;
(2) the whole vehicle control system calculates the target braking force of the whole vehicle according to the vehicle speed and the set sliding recovery intensity level, and the driving motor can output a negative torque T at the momentnRecovering braking energy; the negative torque is a value that varies with vehicle speed;
(3) the whole vehicle control system calculates the acceleration value of the vehicle at the moment in real time (the whole vehicle is in a deceleration state at the moment, namely the acceleration is a negative value), when the driver judges that the acceleration is too small in the vehicle following process, the whole vehicle control system performs the operation of stepping on an accelerator pedal, and at the moment, the whole vehicle control system judges according to the opening degree α of the accelerator pedal that the opening degree α is larger than a set value α1While the drive motor does not stop outputting the negative torque TnBut to TnPerforming gradual attenuation operation to calculate attenuated negative torque Tn+1Only when the degree of opening α is below a set value α1When the driving motor stops outputting the negative torque Tn。
Further, when the motor pair T is drivennThe percentage of decay K is related to the driver depressed accelerator pedal opening α for a gradual decay maneuver, the decaying negative torque Tn+1The algorithm is as follows:
Tn+1＝KTn(1)
wherein: t isn+1Is the damped negative torque; t isnNegative torque before damping, K is damping percentage, α is opening degree of accelerator pedal, α1F (α) is the corresponding relation between the accelerator pedal opening and the damping coefficient, and is a calibration empirical value generally.
Further, in order to avoid driver discomfort caused by the change of driving habits caused by the algorithm, the single-pedal control method for the urban low-speed following road condition of the pure electric vehicle further comprises a low-speed following mode, and the mode selection is added by adding a physical control button or a central control screen, so that the driver can actively select whether to enter the mode.
The invention has the following advantages: according to the single-pedal control method for urban low-speed following road conditions of the pure electric vehicle, better driving feeling and vehicle economy in the process of loosening/stepping on the accelerator pedal of the pure electric vehicle under the urban low-speed following road conditions are realized, and the driving feeling consistency is improved; in the process, the driving motor realizes smooth transition from negative torque to positive torque, and the drivability is improved; and the electric braking function is always enabled, so that the recovery of braking energy is increased, and the improvement of the economy of the whole vehicle is facilitated.
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FIG. 1 is a logic diagram of the algorithm of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below, and all other embodiments obtained by those skilled in the art without any creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example 1
A single-pedal control method for urban low-speed following road conditions of a pure electric vehicle comprises the following steps:
(1) the whole vehicle control system judges that the current vehicle enters the sliding working condition according to an accelerator pedal, a brake pedal and a vehicle speed signal: when the speed of the vehicle is higher than a certain value, the vehicle control system finds that a driver neither steps on an accelerator pedal nor a brake pedal, and judges that the vehicle enters a free-sliding state;
(2) the whole vehicle control system calculates the target braking force of the whole vehicle according to the vehicle speed and the set sliding recovery intensity level, and the driving motor can output a negative torque T at the momentnRecovering braking energy; the negative torque is a value that varies with vehicle speed;
(3) the whole vehicle control system calculates the acceleration value of the vehicle at the moment (the whole vehicle is in a deceleration state at the moment, namely the acceleration is a negative value), and when the driver judges that the acceleration is too small in the following process, the driver can step on an accelerator pedal; the conventional control logic would determine that the vehicle needs to be accelerated at this time because the driver is pedaling the accelerator pedal and the algorithm in the controller would immediately remove TnAnd immediately sends a positive torque to meet the requirements of the driver.
However, in the method of the invention, after the driver steps on the accelerator pedal during the following process, the whole vehicle control system judges according to the opening degree α of the accelerator pedal when the opening degree α is larger than a set value α1When the drive motor does not immediately stop outputting the negative torque TnBut to TnPerforming gradual attenuation operation to calculate attenuated negative torque Tn+1The opening degree α is lower than a set value α only when the driver steps on the accelerator pedal1When the driving motor stops outputting the negative torque Tn。
When driving the motor pair TnThe fade percentage K is related to the driver depressed accelerator opening α when the fade operation is performed;
said damped negative torque Tn+1The algorithm is as follows:
Tn+1＝KTn(1)
wherein: t isn+1Is the damped negative torque; t isnNegative torque before damping, K is damping percentage, α is opening degree of accelerator pedal, α1F (α) is the corresponding relation between the accelerator pedal opening and the damping coefficient, and is a calibration empirical value generally.
Further, in order to avoid driver discomfort caused by the change of driving habits caused by the algorithm, the single-pedal control method for the urban low-speed following road condition of the pure electric vehicle further comprises a low-speed following mode, and the mode selection is added by adding a physical control button or a central control screen, so that the driver can actively select whether to enter the mode.
Based on the algorithm described above, the driver can achieve an accelerator pedal at (0, α)1) Single pedal car following operation within range.
Further, in the algorithm, α1The specific value of (A) needs to be specifically calibrated according to different vehicle types.
Further, in the algorithm, TnThe larger the value of (A), α1It can be suitably enlarged.
Further, in the algorithm, f (α) is obtained by calibrating real vehicles of different vehicle types.
The method of the invention realizes better driving feeling and vehicle economy in the process of loosening/stepping on the accelerator pedal of the pure electric vehicle under the urban low-speed vehicle following condition, and improves the driving feeling consistency; in the process, the driving motor realizes smooth transition from negative torque to positive torque, and the drivability is improved.
Claims (6)
1. A single-pedal control method for urban low-speed following road conditions of a pure electric vehicle is characterized by comprising the following steps:
(1) the whole vehicle control system judges that the current vehicle enters a sliding working condition according to an accelerator pedal, a brake pedal and a vehicle speed signal;
(2) vehicle control systemThe system calculates the target braking force of the whole vehicle according to the vehicle speed and the set sliding recovery strength grade, and the driving motor can output a negative torque T at the momentnRecovering braking energy;
(3) the whole vehicle control system calculates the acceleration value of the vehicle in real time, when the driver judges that the acceleration is too small in the following process, the whole vehicle control system performs the operation of stepping on an accelerator pedal, and when the opening degree α is larger than a set value α according to the opening degree α of the accelerator pedal1While the drive motor does not stop outputting the negative torque TnBut to TnPerforming gradual attenuation operation to calculate attenuated negative torque Tn+1Only when the degree of opening α is below a set value α1When the driving motor stops outputting the negative torque Tn。
2. The single-pedal control method according to claim 1, wherein when the driving motor is paired with TnThe percentage of decay K is related to the driver depressed accelerator pedal opening α for a gradual decay maneuver, the decaying negative torque Tn+1The algorithm is as follows:
Tn+1＝KTn(1)
wherein: t isn+1Is the damped negative torque; t isnNegative torque before damping, K is damping percentage, α is opening degree of accelerator pedal, α1F (α) is the corresponding relation between the accelerator pedal opening and the damping coefficient, and is a calibration empirical value generally.
3. The single-pedal control method of claim 2, wherein in the algorithm, α1The specific value of (A) needs to be specifically calibrated according to different vehicle types.
4. Root of herbaceous plantThe single pedal control method of claim 2 wherein in the algorithm, T isnThe larger the value of (A), α1It can be suitably enlarged.
5. The single-pedal control method according to claim 2, wherein in the algorithm, f (α) is obtained by calibration according to actual vehicles of different vehicle types.
6. The single-pedal control method according to claim 1, wherein the method comprises a low-speed car-following mode, and a mode selection is added through adding a physical control button or a central control screen, so that a driver can actively select whether to enter the mode.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111976502A (en) * | 2020-07-31 | 2020-11-24 | 浙江飞碟汽车制造有限公司 | Pure electric vehicle speed limiting method based on dynamic calculation |
| CN112297872A (en) * | 2019-08-02 | 2021-02-02 | 北京新能源汽车股份有限公司 | Automobile torque control method and device, control equipment and automobile |
| CN113547930A (en) * | 2021-07-30 | 2021-10-26 | 重庆长安新能源汽车科技有限公司 | Intelligent energy-saving control method and device for following running of pure electric vehicle and vehicle |
| CN113665572A (en) * | 2021-08-31 | 2021-11-19 | 中国第一汽车股份有限公司 | Cooperative control method and system for vehicle working torque |
| CN114407674A (en) * | 2022-01-14 | 2022-04-29 | 东风汽车集团股份有限公司 | Single-pedal mode control method, device, equipment and storage medium for electric automobile |
| EP4223606A3 (en) * | 2022-02-02 | 2023-10-25 | ArvinMeritor Technology, LLC | Method of controlling a vehicle having a one-pedal driving system |
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| EP4223606A3 (en) * | 2022-02-02 | 2023-10-25 | ArvinMeritor Technology, LLC | Method of controlling a vehicle having a one-pedal driving system |
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Application publication date: 20200313 |