WO2018205375A1

WO2018205375A1 - Vehicle control method and apparatus

Info

Publication number: WO2018205375A1
Application number: PCT/CN2017/090730
Authority: WO
Inventors: 唐聪
Original assignee: 中车大连电力牵引研发中心有限公司
Priority date: 2017-05-08
Filing date: 2017-06-29
Publication date: 2018-11-15
Also published as: CN107176061A

Abstract

A vehicle control method and apparatus, the vehicle control method comprising: collecting and acquiring first information of a vehicle, the first information of the vehicle comprising motor steering; according to the motor steering, determining whether the vehicle is rolling backwards; if determined that the vehicle is rolling backwards, then determining a rollback level according to the first information of the vehicle; according to the rollback level, providing for the vehicle a compensating traction force which corresponds to the rollback level; collecting and acquiring second information of the vehicle, the second information comprising current driving parameters of the vehicle; according to the current driving parameters of the vehicle, determining whether a condition for canceling the compensating traction force is met, and if the condition is met, then canceling the compensating traction force. The vehicle control method and apparatus may automatically determine whether a vehicle is rolling backwards, and provide a corresponding compensating traction force for the vehicle according to the rollback level; when the vehicle meets a condition for canceling the compensating traction force, the compensating traction force for the vehicle is cancelled, thereby solving the problem in the existing technology wherein a vehicle may not be flexibly provided with a compensating traction force according to the rollback status of the vehicle.

Description

Vehicle control method and device

Technical field

The invention relates to vehicle control technology, in particular to a vehicle control method and device, and belongs to the technical field of vehicle control.

Background technique

In recent years, rail transit has been widely used in urban transportation systems throughout the country and the world, and the operational safety of rail transit has attracted more and more attention. However, the driving conditions of rail transit are complicated, the operation route contains various ramps, and the vehicles need to start and stop frequently on the ramp. In order to ensure that the vehicle does not slip when starting on the ramp, there are currently two ramp start control methods. It is used in rail transit.

The first method is a method of increasing the starting traction of the vehicle and cooperating with the braking of the vehicle. The operating line information of the vehicle is collected in advance, the maximum ramp information in the running line is obtained, and the minimum traction force required for starting the vehicle on the ramp is calculated according to the lane information and the vehicle self information, and is used as the preset traction force value. When the vehicle is started, the vehicle is braked to prevent the vehicle from rolling, and at the same time, the traction of the vehicle is increased. When the traction force of the vehicle reaches the preset traction force value, the vehicle brake is released, so that the vehicle is safely started. However, the inventors have found that when the vehicle is started on a flat road, the required traction force is smaller than the above-mentioned preset traction force value, and the method of increasing the vehicle's starting traction force without distinguishing the road condition causes the vehicle to accelerate at the start of the flat road. Large, so that the vehicle "rushed" out, there are certain security risks.

The second method is to set the ramp start button inside the vehicle. When the vehicle is started on the ramp, the operator presses the ramp start button to activate the ramp start mode. In the ramp start mode, the traction system provides the vehicle with a large traction force to enable the vehicle to complete the start on the ramp. . However, the inventors have found that this method requires the operator to judge that the vehicle is on a ramp and to operate manually, with poor timeliness. Moreover, in the ramp start mode, the traction system provides a fixed traction force, and the angle of the ramp through which the operating route passes is not the same, so this method has certain limitations.

Therefore, it is a technical problem that a person skilled in the art needs to solve to provide a method capable of automatically adjusting the traction force at the time of starting the vehicle according to the situation of the slope.

Summary of the invention

The invention provides a vehicle control method and device, thereby solving the problem that the traction force at the time of starting the vehicle cannot be adjusted according to the slope condition in the prior art.

A first aspect of the present invention provides a vehicle control method including:

Acquiring and acquiring first information of the vehicle, the first information of the vehicle includes: motor steering;

Determining whether the vehicle is rolling according to the steering of the motor;

If it is determined that the car is slipping, the car level is determined according to the first information of the vehicle;

Providing, according to the rolling level, a compensated traction force corresponding to the rolling level of the vehicle;

Acquiring and acquiring second information of the vehicle, where the second information includes current driving parameters of the vehicle;

Determining whether the condition for canceling the compensated traction force is satisfied according to the current driving parameter of the vehicle, and if the condition is satisfied, canceling the compensated traction force.

Another aspect of the present invention provides a vehicle control apparatus including:

An acquisition module, configured to acquire and acquire first information of the vehicle, where the first information of the vehicle includes: a motor steering;

a judging module, configured to determine, according to the motor steering, whether the vehicle is rolling;

a determining module, configured to determine a slip grade according to the first information of the vehicle if the determining module determines the slipping;

a compensation module, configured to provide the vehicle with a compensated traction force corresponding to the rolling level according to the rolling level;

The acquisition module is further configured to acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle;

The determining module is further configured to determine, according to the current driving parameter of the vehicle, whether a condition for canceling the compensated traction force is met, so that the compensation module cancels the compensated traction force, if the current driving parameter of the vehicle satisfies the cancellation The condition for compensating for traction.

The technical effect of the vehicle control method and device provided by the present invention is that: by acquiring the steering of the motor, it can automatically determine whether the vehicle is rolling, and then determining the rolling level of the vehicle according to the first information of the vehicle, and compensating for the traction force corresponding to the rolling level of the vehicle. It is able to provide appropriate compensation traction according to the situation of the vehicle rolling, to avoid the compensation of the traction force is too small, the vehicle continues to slide, or the compensated traction force is too large, and the instantaneous acceleration of the vehicle is too large. And, according to the grade of the car, the car The vehicle provides a corresponding compensated traction, and the level of the slip is determined by the magnitude of the ramp angle. This arrangement enables the vehicle control method and apparatus provided by the present invention to be used in different road environments. In addition, the vehicle control method and apparatus provided in this embodiment determines whether the condition for canceling the compensation traction force is satisfied according to the second information of the vehicle, and if so, cancels the compensation traction force, and causes the vehicle to travel under the traction force corresponding to the level. Obtaining the state of the vehicle under the action of compensating traction force, that is, the second information of the vehicle, thereby judging whether the compensating traction force can be canceled, avoiding the problem that the vehicle is always under the action of compensating traction force, and the acceleration is too large, and can also reduce the compensation traction force. The energy consumption required.

DRAWINGS

1 is a flow chart showing a vehicle control method according to an exemplary embodiment of the present invention;

2A is a flowchart of a vehicle control method according to another exemplary embodiment of the present invention;

2B is a square wave diagram of detecting a probe output in a vehicle control method according to another exemplary embodiment of the present invention;

FIG. 3 is a structural diagram of a vehicle control device according to an exemplary embodiment of the present invention; FIG.

FIG. 4 is a structural diagram of a vehicle control device according to another exemplary embodiment of the present invention.

detailed description

FIG. 1 is a flowchart of a vehicle control method according to an exemplary embodiment of the present invention, including:

Step 101: Acquire and acquire first information of the vehicle, where the first information of the vehicle includes: motor steering.

In step 102, it is determined whether the vehicle is rolling according to the steering of the motor.

Taking the rail vehicle as an example, when the vehicle is running normally, the traction force is provided by the motor of the vehicle, and the traction force is transmitted to the wheel through the gear box to drive the vehicle to run. When the vehicle is rolling, the vehicle is subjected to the gravity component parallel to the ramp, causing the vehicle to slide down. When the vehicle is sliding, the wheel rotates and is transmitted to the motor through the gear box to drive the motor to rotate. When the vehicle is driving forward normally and the vehicle is rolling, the steering of the motor is different, and when the vehicle is started, the steering of the motor is obtained to determine whether the vehicle is rolling.

Step 103: If it is determined that the car is slipping, the car level is determined according to the first information of the vehicle.

The first information of the vehicle may further include a motor speed or a vehicle traveling speed. The ramp Steep, the greater the effect of the vehicle's gravity component, the faster the vehicle will slide down. The faster the wheel will drive the motor through the gearbox, so the speed of the vehicle or the speed of the motor can determine the vehicle's slip. The degree, that is, the level of the car.

In step 104, the vehicle is provided with the compensated traction force corresponding to the rolling level according to the rolling level.

In this embodiment, different compensation traction forces are provided for the vehicle according to different rolling levels, the traction force to avoid compensation is too small, the vehicle continues to slide down, or the compensated traction force is too large, and the instantaneous acceleration of the vehicle is too large. Moreover, the vehicle control method provided by the embodiment compensates the corresponding traction force according to the degree of vehicle slip, so that the method provided by the embodiment can be used in different road environments, for example, having multiple ramps and ramps. Road environments with different angles.

Specifically, after the vehicle is provided with the compensation traction force, the traction force of the vehicle is the sum of the traction force corresponding to the vehicle level and the compensation traction force.

Step 105: Acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle; determine, according to the current driving parameter of the vehicle, whether the condition for canceling the compensation traction force is met, and if satisfied, cancel the compensation traction force.

Specifically, the driving parameter may be the driving speed of the vehicle or the motor speed, and the vehicle traveling speed or the motor speed is obtained to determine the driving state of the vehicle. When the vehicle speed reaches a certain value, the compensation traction force is canceled, so that the vehicle is driven by the traction force corresponding to the level. .

The vehicle control method provided in this embodiment can automatically determine whether the vehicle is rolling by acquiring the steering of the motor, and then determine the rolling level of the vehicle according to the first information of the vehicle, and compensate the traction force corresponding to the rolling level for the vehicle. The vehicle control method can provide an appropriate compensation traction force according to the vehicle slip condition, avoiding the compensated traction force being too small, the vehicle continues to slide down, or the compensated traction force is too large, and the vehicle instantaneous acceleration is too large, and the vehicle provided by the embodiment is also made. Control methods can be used in different road environments. In addition, the vehicle control method provided in this embodiment determines whether the condition for canceling the compensation traction force is satisfied according to the second information of the vehicle, and if so, cancels the compensation traction force, so that the vehicle runs under the traction force corresponding to the level. Obtaining the state of the vehicle under the action of compensating traction force, that is, the second information of the vehicle, thereby judging whether the compensating traction force can be canceled, avoiding the problem that the vehicle is always under the action of compensating traction force, and the acceleration is too large, and can also reduce the compensation traction force. The energy consumption required.

2A is a flowchart of a vehicle control method according to another exemplary embodiment of the present invention. include:

Step 201: Two detection probes are installed at a preset position of the motor, and the motor is determined to be steered according to the signal detected by the detection probe.

Among them, the detection probe is mounted on the gear of the motor, and the two detection probes are installed at different positions of the gear.

The middle of the two adjacent gears is the gap, which is the gear root. When the top of the gear passes the detection probe, the probe output 1 is detected. When the gear root passes the detection probe, the detection probe outputs 0.

Specifically, the detection probe is mounted on a component that does not rotate with the gear.

2B is a square wave diagram of a detection probe output in a vehicle control method according to another exemplary embodiment of the present invention.

As shown in FIG. 2B, further, the first detecting probe is installed at a position capable of detecting the middle of any one of the gear roots, and the second detecting probe is installed at a position capable of detecting the intersection of any one of the gear root and the top of the gear. Regardless of the direction of rotation of the gear, the first detection probe will output a square wave 1; and the second detection probe will output a

square wave

2 or 3 depending on the direction of rotation of the gear, and the square wave 1 output by the first detection probe And the phase difference between the

square wave

2 or 3 of the second detection probe output can obtain the steering of the motor.

In step 202, it is judged whether the motor steering and the predefined steering are the same. If they are the same, it is judged that the vehicle is not rolling; if not, the rolling is determined.

For example, the first detection probe output square wave 1 and the second detection probe output square wave 2 can be predefined as positive steering. When the detection probe outputs square waves 1 and 2 respectively, the motor steering and pre-operation are considered. The definition turns the same. When the detection probes output square waves 1 and 3, respectively, the motor steering is considered to be opposite to the predefined steering.

Step 203, if it is determined that the vehicle is rolling, the rolling level is determined according to the first information of the vehicle.

The first information of the vehicle includes a vehicle traveling speed or a motor speed.

The steeper the ramp, the more severe the vehicle slips, and the faster the vehicle slides down, the faster the motor will rotate, so the vehicle's slip level can be determined by the motor speed.

Preferably, the motor speed is obtained by detecting the gear speed of the detecting probe, and the rolling level is determined, which is convenient for implementation.

Specifically, the motor speed can be binned, and each speed file corresponds to a car, etc. Level, each level of the car corresponds to an Fb value. For example, the rotation speed is greater than or equal to A, and B is a first gear, corresponding to the first grade of the rolling car (Fb1); the rotation speed is greater than or equal to B, and C is the second gear, corresponding to the second grade of the rolling car (Fb2). The rolling level is determined by the motor speed.

Step 204, providing the vehicle with the compensated traction force corresponding to the rolling level according to the rolling level.

Further, a fixed corresponding compensating traction force can be determined for each rolling level, and the fixed compensating traction force can also be adjusted by a coefficient.

Preferably, the traction force T2=K*Fb is compensated, wherein T2 is the compensation traction force, K is the proportional coefficient, and Fb is the Fb value corresponding to the slip grade.

Step 205: Acquire and acquire the motor rotation speed of the vehicle. If the rotation speed of the motor is greater than the upper limit value, determine that the condition for canceling the compensation traction force is satisfied; otherwise, determine that the condition for canceling the compensation traction force is not satisfied; if satisfied, cancel the compensation traction force.

The motor speed can represent the running speed of the vehicle. When the motor speed is greater than the upper limit, it is considered that the vehicle is successfully started on the ramp and can drive normally. At this time, the compensating traction force is cancelled, so that the vehicle runs under the traction force corresponding to its level. Avoid excessive acceleration of the vehicle.

Step 206: Determine whether the rotation speed of the motor is less than a lower limit value. If it is less than, re-compensate the traction force for the vehicle; wherein the lower limit value is less than the upper limit value.

In order to avoid the compensation of the traction force, the traction force corresponding to the vehicle level is less than the gravity component acting on the vehicle, causing the vehicle to decelerate or even slipping. When the motor speed is less than the lower limit, the vehicle is compensated again. .

If the upper limit value and the lower limit value are the same value, then when the motor speed is greater than this value, the compensation traction force is cancelled. When the value is less than this value, the traction force is re-compensated. In order to avoid frequent switching between the two modes of compensating traction force and canceling traction force, The lower limit value is set to a value smaller than the upper limit value.

The vehicle control method provided by the embodiment determines the motor speed by two detecting probes installed at different positions of the motor gear, determines whether the vehicle is rolling, and determines the slip grade according to the vehicle sliding speed, and provides the corresponding driving level. The compensating traction force, when the vehicle can drive normally, cancel the compensated traction force, in order to avoid the vehicle being unable to climb normally due to the steep slope after the compensation of the traction force is cancelled, the deceleration or even the rolling situation occurs, when the vehicle motor speed is lower than At the lower limit, the vehicle is again provided with compensating traction to ensure safe driving. From In the process of judging whether the vehicle is rolling to cancel the compensating traction force and recompensating the traction force, the staff member does not need to participate, and the timeliness is good, and the method provided by the embodiment provides compensation for the traction force according to the rolling level matching, and is suitable for the route with complicated road environment.

FIG. 3 is a structural diagram of a vehicle control device according to an exemplary embodiment of the present invention.

As shown in FIG. 3, the control device provided in this embodiment includes:

The acquisition module 31 is configured to collect and acquire first information of the vehicle, and the first information of the vehicle includes: motor steering. The principle of implementing the above functions is the same as step 101.

The judging module 32 is configured to judge whether the vehicle is rolling according to the steering of the motor. The principle of implementing the above functions is the same as step 102.

The determining module 33 is configured to determine a slip grade according to the first information of the vehicle if the determining module determines the slip. The principle of implementing the above functions is the same as step 103.

The compensation module 34 is configured to provide the vehicle with the compensated traction corresponding to the rolling level according to the rolling level. The principle of implementing the above functions is the same as step 104.

The acquisition module 31 is further configured to acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle.

The determining module 32 is further configured to determine, according to the current driving parameter of the vehicle, whether the condition for canceling the compensation traction force is met, so that the compensation module 34 cancels the compensation of the traction force if the current driving parameter of the vehicle satisfies the condition for canceling the compensation traction force. The principle of implementing the above functions is the same as step 105.

The collection module 31, the determination module 32, the determination module 33, and the compensation module 34 are sequentially connected, and the determination module 32 is also connected to the compensation module 34.

The vehicle control device provided in this embodiment can automatically determine whether the vehicle is rolling by acquiring the steering of the motor, and then determine the rolling level of the vehicle according to the first information of the vehicle, and compensate the traction force corresponding to the rolling level for the vehicle. The vehicle control method can provide an appropriate compensation traction force according to the vehicle slip condition, avoiding the compensated traction force being too small, the vehicle continues to slide down, or the compensated traction force is too large, and the vehicle instantaneous acceleration is too large, and the vehicle provided by the embodiment is also made. The control device can be used in different road environments. In addition, the vehicle control device provided in this embodiment determines whether the condition for canceling the compensation traction force is satisfied according to the second information of the vehicle, and if so, cancels the compensation traction force, and causes the vehicle to travel under the traction force corresponding to the level. Obtain the state of the vehicle under the compensation of the traction force, that is, the second information of the vehicle, thereby judging whether the traction force can be cancelled and avoiding the vehicle being always compensating for the traction force. Under the influence of the acceleration, the problem of excessive acceleration can also reduce the energy consumption required to provide compensation for traction.

Based on the foregoing embodiment, the vehicle control device provided by the embodiment further includes: a detection module 35.

The detecting module 35 is configured to determine the motor steering according to the signals detected by the two detecting probes installed at the preset position of the motor. The principle of implementing the above functions is the same as step 201.

The judging module 32 further includes a slip determination module 36, and the slip determination module 36 is configured to:

If the motor steering is the same as the predefined steering, it is judged that there is no rolling; if the motor steering is opposite to the predefined steering, the rolling is judged. The principle of implementing the above functions is the same as step 202.

Preferably, the current driving parameter of the vehicle collected by the acquisition module 31 is the rotational speed of the motor.

The determining module 32 further includes: an uncompensated traction determining module 37, configured to: if the rotational speed of the motor is greater than the upper limit, determine that the condition for canceling the compensated traction force is satisfied; otherwise, determine that the condition for canceling the compensated traction force is not satisfied. The principle of implementing the above functions is the same as step 205.

The determining module 32 further includes: a recompensation traction determining module 38, configured to:

Determine whether the motor speed is less than the lower limit. If it is less than, re-compensate the traction force for the vehicle; wherein the lower limit is less than the upper limit. The principle of implementing the above functions is the same as step 206.

The vehicle control device provided in this embodiment determines the motor speed by two detecting probes installed at different positions of the motor gear, determines whether the vehicle is rolling, and determines the slip grade according to the vehicle sliding speed, and provides the corresponding driving level. The compensating traction force, when the vehicle can drive normally, cancel the compensated traction force, in order to avoid the vehicle being unable to climb normally due to the steep slope after the compensation of the traction force is cancelled, the deceleration or even the rolling situation occurs, when the vehicle motor speed is lower than At the lower limit, the vehicle is again provided with compensating traction to ensure safe driving. From judging whether the vehicle is rolling to canceling the compensation of the traction force and recompensating the traction force, the staff is not required to participate, and the timeliness is good, and the method provided by the embodiment compensates the traction force according to the rolling level matching, and is suitable for the route with complicated road environment.

One of ordinary skill in the art will appreciate that all or part of the steps to implement the various method embodiments described above may be accomplished by hardware associated with the program instructions. The aforementioned program can be stored in a computer readable storage medium. The program, when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes: various kinds of ROM, RAM, disk, or optical disk. A medium that can store program code.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A vehicle control method, comprising:

Acquiring and acquiring first information of the vehicle, the first information of the vehicle includes: motor steering;

Determining whether the vehicle is rolling according to the steering of the motor;

If it is determined that the car is slipping, the car level is determined according to the first information of the vehicle;

Providing, according to the rolling level, a compensated traction force corresponding to the rolling level of the vehicle;

Acquiring and acquiring second information of the vehicle, where the second information includes current driving parameters of the vehicle;

Determining whether the condition for canceling the compensated traction force is satisfied according to the current driving parameter of the vehicle, and if the condition is satisfied, canceling the compensated traction force.
The vehicle control method according to claim 1, wherein the acquiring the first information of the vehicle comprises:

Two detection probes are installed at the preset position of the motor, and the motor is steered according to the signal detected by the detection probe.
The vehicle control method according to claim 1, wherein determining whether the vehicle is rolling or not according to the steering of the motor comprises:

If the motor steering is the same as the predefined steering, it is determined that the vehicle has not slipped;

If the motor steering is opposite to the predefined steering, then the ride is determined.
The vehicle starting method according to claim 1, wherein the current driving parameter of the vehicle is a rotating speed of the motor;

The conditions for determining whether to cancel the compensated traction force include:

If the rotation speed of the motor is greater than the upper limit value, it is judged that the condition for canceling the compensation traction force is satisfied, otherwise, the condition for canceling the compensation traction force is not satisfied.
The vehicle starting method according to claim 4, further comprising: after canceling the compensating traction force, further comprising:

Determining that the rotation speed of the motor is less than a lower limit value, and if not, re-providing the compensation traction force for the vehicle;

Wherein the lower limit value is less than the upper limit value.
A vehicle control device, comprising:

An acquisition module, configured to collect and acquire first information of the vehicle, where the first information of the vehicle includes: Motor steering

a judging module, configured to determine, according to the motor steering, whether the vehicle is rolling;

a determining module, configured to determine a slip grade according to the first information of the vehicle if the determining module determines the slipping;

a compensation module, configured to provide the vehicle with a compensated traction force corresponding to the rolling level according to the rolling level;

The acquisition module is further configured to acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle;

The determining module is further configured to determine, according to the current driving parameter of the vehicle, whether a condition for canceling the compensated traction force is met, so that the compensation module cancels the compensated traction force, if the current driving parameter of the vehicle satisfies the cancellation The condition for compensating for traction.
The vehicle starting device according to claim 6, wherein the collecting module further comprises: a detecting module;

The detecting module is configured to determine the steering of the motor according to a signal detected by two detecting probes installed at a preset position of the motor.
The vehicle starting device according to claim 6, wherein the determining module further comprises a rolling determination module, wherein the rolling determination module is configured to:

If the motor steering is the same as the predefined steering, it is determined that the vehicle has not slipped;

If the motor steering is opposite to the predefined steering, then the ride is determined.
The vehicle starting device according to claim 6, wherein the current driving parameter of the vehicle collected by the collecting module is a rotating speed of the motor;

The judging module includes: an uncompensated traction force judging module, configured to: if the rotation speed of the motor is greater than an upper limit value, determine that the condition for canceling the compensating traction force is satisfied; otherwise, determining that the condition for canceling the compensating traction force is not satisfied.
The vehicle starting device according to claim 9, wherein the determining module further comprises: a recompensating traction force determining module, configured to:

Determining whether the rotational speed of the motor is less than a lower limit value, and if not, re-providing the compensated traction force for the vehicle;

Wherein the lower limit value is less than the upper limit value.