CN104192149B - The control method of vehicle operation and device - Google Patents
The control method of vehicle operation and device Download PDFInfo
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- CN104192149B CN104192149B CN201410401828.8A CN201410401828A CN104192149B CN 104192149 B CN104192149 B CN 104192149B CN 201410401828 A CN201410401828 A CN 201410401828A CN 104192149 B CN104192149 B CN 104192149B
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides control method and the device of a kind of vehicle operation, wherein, according to the task that key position and vehicle perform, vehicle operation cyclic process is divided into multiple operation phase, being previously provided with different task schedulings within each operation phase, described control method comprises determining that the current operation phase of vehicle；According to the described current operation phase, send the control instruction that the task scheduling being arranged in the described current operation phase is corresponding, perform task scheduling corresponding to described current operation phase controlling associated component.The control method of the vehicle operation that the present invention provides avoids sending of illegal command, it is possible to ensure effectiveness and the reasonability of control instruction.Control instruction owing to sending is and instructs effectively and reasonably, so also being able to improve the driving safety of vehicle.
Description
Technical field
The present invention relates to field of vehicle control, particularly relate to control method and the dress of a kind of vehicle operation
Put.
Background technology
Under normal circumstances, entire car controller can be to each sub-controller in an operation cyclic process for vehicle
(such as gearbox control, engine controller, electric machine controller etc.) send different control instructions and control
Each sub-controller performs different actions or task scheduling.
In current most of vehicle, whole vehicle controller the most only foundation driver intention is (such as driver
Stir car key so that it is be in different positions, such as " ON ", " OFF ", " START ") to vehicle
Sub-controller send control instruction, and whether the current operation phase not combining vehicle self judges vehicle
This control instruction should be performed or whether possess the condition performing this control instruction.If the current operation of vehicle
When stage does not allow vehicle to perform the control instruction that whole vehicle controller sends, may result according to driver
The control instruction that intention whole vehicle controls to send is invalid illegal instruction.Such as, the most successfully open at vehicle
During dynamic execution gear shift action, owing to the power source of vehicle not yet works, necessarily cause gear shift failed, thus this
Time the shift command that sends of whole vehicle controller be invalid illegal instruction.Refer to when entire car controller sends control
The opportunity of order is improper, it is also possible to cause vehicle safety sex chromosome mosaicism.And for example, vehicle starts at shelves, can make
, easily there is security incident in the preshoot becoming vehicle non-driver to be intended to.
Summary of the invention
In view of this, the invention provides control method and the device of a kind of vehicle operation, whole to improve
The control instruction that vehicle controller sends effectively and reasonably, improves the safety that vehicle travels.
In order to solve above-mentioned technical problem, present invention employs following technical scheme:
The control method of a kind of vehicle operation, performing according to key position and vehicle of task is by vehicle
One operation cyclic process be divided into multiple operation phase, be previously provided with different within each operation phase
Task scheduling, described control method includes:
Determine the current operation phase of vehicle；
According to the described current operation phase, send the task scheduling being arranged in the described current operation phase corresponding
Control instruction, perform task scheduling corresponding to described current operation phase controlling associated component.
Further, one run cyclic process include awakening phase, loitering phase, ready phase,
Startup stage, operation phase and shutdown stage；
Described awakening phase refers to that key pushes " ON " position from position " OFF ", and whole vehicle controls
The stage of low tension just gone up by device；
Described loitering phase refers to that key is in " ON " position, and whether detection vehicle exists the stage of fault；
Described ready phase refers to that key is in " ON " position, vehicle fault-free, waits to be received issuing
The stage of control instruction；
Refer to the startup stage of described that key is in " STRAT " position, send enabled instruction, control vehicle and hold
The stage of the action of high pressure or startup PTO on row；
The described operation phase refers to that key is in " ON " position, the stage after vehicle launch success；
The described shutdown stage refers to that key pushes " OFF " position from " ON ", electricity under high-tension system
Stage.
Further, if the current operation phase is awakening phase, described control method particularly as follows:
Judge whether key is in " ON " position, if it is, control vehicle to switch to loitering phase.
Further, if the current operation phase is loitering phase, described control method particularly as follows:
Whether detection vehicle exists fault, if it does not, control vehicle to switch to ready phase, if it is, send out
Go out alarm signal.
Further, whether described detection vehicle exists fault, if it does not, control vehicle to switch to ready rank
Section, if it is, send alarm signal, specifically includes:
Judge that the self-detection result of each sub-controller of vehicle is the most normal, it is judged that whether fault processing module is permitted
Permitted to start；If self-detection result is normal and fault processing module allows to start, performs described control vehicle and cut
Shift to the step of ready phase, if self-detection result exception and/or fault processing module do not allow to start, hold
The step of alarm signal is sent described in row.
Further, if the current operation phase is, described control method particularly as follows:
Judge to start whether the frequency of failure is less than preset value, if it is, judge whether key is in " START "
Position, if it is, judge whether current gear is neutral gear, if it is, send enabled instruction to control power
Source starts；
Judge whether the first preset time period internally-powered source starts successfully, if it is, control vehicle to enter fortune
Row order section, if it does not, control vehicle to return to waiting for the stage, and controls the vehicle launch frequency of failure and adds 1.
Further, described judge to start the frequency of failure whether less than preset value, also include: if it does not, send out
Go out alarm.
Further, described judge whether current gear is neutral gear, also include: if it does not, judge second
In preset time period, whether key is constantly in " START " position, if it is, send enabled instruction with control
Brake force source starts.
Further, when vehicle is motor vehicle driven by mixed power, described judgement is at the first preset time period internally-powered
Whether source starts successfully, specifically includes:
Judge to power on the most successfully at the first preset time period inner high voltage electricity, or, it is judged that at the first Preset Time
Whether section intrinsic motivation starts successfully.
Further, if the current operation phase be loitering phase, ready phase, startup stage or the operation phase,
After the described current operation phase determining vehicle, also include:
Judge whether halt instruction, if it is, control vehicle to switch to the shutdown stage.
The control device of a kind of vehicle operation, performing according to key position and vehicle of task is by vehicle
One operation cyclic process be divided into multiple operation phase, be previously provided with different within each operation phase
Task scheduling, described control device includes:
Determine unit, for determining the current operation phase of vehicle；
Control unit, for according to the described current operation phase, sends and is arranged in the described current operation phase
Control instruction corresponding to task scheduling, perform corresponding the appointing of described current operation phase controlling associated component
Business scheduling.
Further, one run cyclic process include awakening phase, loitering phase, ready phase,
Startup stage, operation phase and shutdown stage；
Described awakening phase refers to that key pushes " ON " position from position " OFF ", and whole vehicle controls
The stage of low tension just gone up by device；
Described loitering phase refers to that key is in " ON " position, and whether detection vehicle exists the stage of fault；
Described ready phase refers to that key is in " ON " position, vehicle fault-free, waits to be received issuing
The stage of control instruction；
Refer to the startup stage of described that key is in " STRAT " position, send enabled instruction, control vehicle and hold
The stage of the action of high pressure or startup PTO on row；
The described operation phase refers to that key is in " ON " position, the stage after vehicle launch success；
The described shutdown stage refers to that key pushes " OFF " position from " ON ", electricity under high-tension system
Stage.
Further, the described current operation phase determining that unit determines is loitering phase；Described control unit
Specifically include:
Detection sub-unit, is used for detecting whether vehicle exists fault；
Vehicle operation phase switching subelement, for when vehicle does not exists fault, controls vehicle and just switches to
The thread stage；
Alarm part-unit, for when vehicle exists fault, sends alarm signal.
Further, the described current operation phase determining that unit determines is startup stage be, described control unit
Specifically include:
First judgment sub-unit, is used for judging whether to start the frequency of failure less than preset value；
Second judgment sub-unit, for when starting the frequency of failure less than preset value, it is judged that whether key is in
" START " position；
3rd judgment sub-unit, for when key is in " START " position, it is judged that whether current gear
For neutral gear；
Send subelement, if for current gear be neutral gear time, send enabled instruction with control power source start；
4th judgment sub-unit, for judging whether the first preset time period internally-powered source starts successfully；
Vehicle operation phase switching subelement, for when starting successfully in the first preset time period internally-powered source
After, control vehicle and enter the operation phase；
Control subelement, for when, after the first not actuated success in preset time period internally-powered source, controlling vehicle
Return to waiting for the stage, and control the vehicle launch frequency of failure and add 1.
Further, described control unit also includes:
Alarm unit, for when starting the frequency of failure not less than preset value, sending alarm.
Further, described control unit also includes:
5th judgment sub-unit, if when current gear is not neutral gear, it is judged that in the second preset time period
Whether key is constantly in " START " position, starts if it is, send enabled instruction to control power source.
Further, when vehicle is motor vehicle driven by mixed power, described 4th judgment sub-unit includes for judging
Power on whether successfully subelement and during for judging to preset first at the first preset time period inner high voltage electricity
Between section intrinsic motivation whether start successful subelement.
Further, also include: judging unit, for after the current operation phase determining vehicle, sentence
Break and whether there is halt instruction, if it is, control vehicle to switch to the shutdown stage.
Compared to prior art, the method have the advantages that
In the control method of the vehicle operation that the present invention provides, entire car controller can working as according to vehicle
The front operation phase, initiate corresponding control instruction to each sub-controller or parts, so that vehicle performs to work as
Task scheduling corresponding to the front operation phase.The control instruction initiated due to entire car controller, is according to vehicle
The current operation phase initiate, say, that be when vehicle needs to perform a certain control instruction or car
When possessing the condition performing a certain control instruction, just send control instruction, thus, the car that the present invention provides
The control method of running avoids sending of illegal command, it is possible to ensure control instruction effectiveness and
Reasonability.Control instruction owing to sending is and instructs effectively and reasonably, so also being able to improve the row of vehicle
Sail safety.
Accompanying drawing explanation
In order to be expressly understood technical scheme, required in the embodiment of the present invention being described below
The accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only the one of the present invention
Section Example accompanying drawing, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
The structural framing figure of parallel connection type hybrid power system during Fig. 1；
Fig. 2 is the operation phase schematic diagram divided in an operation cyclic process in the embodiment of the present invention；
Fig. 3 is the control method schematic flow sheet of the vehicle operation that the embodiment of the present invention provides；
Fig. 4 is the control method schematic flow sheet during loitering phase of embodiment of the present invention offer；
Fig. 5 is the control method schematic flow sheet during ready phase of embodiment of the present invention offer；
Control method schematic flow sheet time startup stage that Fig. 6 being embodiment of the present invention offer；
Fig. 7 is the logic control schematic diagram sending shutdown control instruction that the embodiment of the present invention provides；
Fig. 8 is the control schematic diagram of the operation circulation overall process that the embodiment of the present invention provides；
Fig. 9 is the control device schematic diagram of the vehicle operation that the embodiment of the present invention provides；
Figure 10 is the structural representation of the control unit during loitering phase of embodiment of the present invention offer；
The structural representation of the control unit time startup stage that Figure 11 being embodiment of the present invention offer.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the control method of the vehicle operation of the present invention is carried out
Describe in detail.
It should be noted that the control method of the vehicle operation described in the embodiment of the present invention is applicable to tradition
Vehicle, is also applied for parallel hybrid vehicles.Wherein, parallel hybrid vehicles is either at knot
Structure aspect still in terms of control the most traditional common vehicle complicated many.Fig. 1 is parallel type hybrid dynamic system
The structural framing figure of system.Wherein, control instruction is sent to each sub-controller by HCU by CAN,
These sub-controllers include ECU, TCU, MCU and BMS.
Wherein, parallel connection type hybrid power system refers to that driving force individually can be carried by both electromotor or motor
For jointly being provided by both again.In parallel connection type hybrid power system, motor is also electromotor simultaneously.
HCU is that the English of whole vehicle controller is write a Chinese character in simplified form, and it is responsible for automobile gear level decision-making, drive pattern decision-making
Realization Deng normal function.
TCU is that the English of gearbox control is write a Chinese character in simplified form, its control being responsible for change speed gear box action and realization.
ECU is that the English of engine controller is write a Chinese character in simplified form, its control being responsible for electromotor action and realization.
MCU is that the English of electric machine controller is write a Chinese character in simplified form, its control being responsible for motor action and realization.
BMS is that the English of battery management controller is write a Chinese character in simplified form, and it is responsible for the management of electrokinetic cell charge and discharge.
It is known that the different phase of the diverse location correspondence vehicle operation of car key, such as, key
When spoon is in OFF, vehicle is in the shutdown stage.And, vehicle runs in cyclic process at one
The action performed the most in the same time or task are different, so, in order to realize the preferably control to vehicle operation
System, the task that the present invention performs based on automobile key position and vehicle runs cyclic process by the one of vehicle
It is subdivided into multiple operation phase.As in figure 2 it is shown, vehicle is circulated full mistake from the operation starting to shut down
Journey is subdivided into six stages: wake up up, wait, ready, start, run and the shutdown stage.Need explanation
It is that an operation circulation overall process of vehicle is that key position sequentially passes through OFF-ON-START-ON-OFF
Process.It is to say, the one of vehicle run circulation overall process be vehicle experience shut down-start-run-
Shut down process.
Described awakening phase refers to that key pushes " ON " position from position " OFF ", and whole vehicle controls
The stage of low tension just gone up by device；
Described loitering phase refers to that key is in " ON " position, and whether detection vehicle exists the stage of fault；
Described ready phase refers to that key is in " ON " position, vehicle fault-free, waits to be received issuing
The stage of control instruction；
Refer to the startup stage of described that key is in " STRAT " position, send enabled instruction, control vehicle and hold
The stage of the action of high pressure or startup PTO on row；
The described operation phase refers to that key is in " ON " position, the stage after vehicle launch success；
The described shutdown stage refers to that key pushes " OFF " position from " ON ", electricity under high-tension system
Stage.
Each operation phase based on above-mentioned division, the control of the vehicle operation that the embodiment of the present invention provides
Method flow schematic diagram is as shown in Figure 3.See Fig. 3, the control of the vehicle operation that the embodiment of the present invention provides
Method processed comprises the following steps:
S301, determine current operation phase of vehicle:
Status signal according to the associated component in automobile key position and vehicle determines the current fortune of vehicle
Row order section.
Specifically, when key position is switched to ON position from OFF, and whole vehicle controller starts upper low
Piezoelectricity, then the current operation phase of vehicle is awakening phase.
When key is in ON position, and whether detection vehicle exists fault, then the current operation phase of vehicle is
Loitering phase；
When key is in ON position, vehicle fault-free, then the whole vehicle to be received such as vehicle controller issues
Control instruction, then the current operation phase of vehicle is ready phase.
When key is in START position, entire car controller sends enabled instruction to ECU control unit, controls
Vehicle performs upper high pressure or starts the action of PTO, then the current operation phase of vehicle is for starting rank
Section；
When, after vehicle launch success, key clawback to ON position, then the current operation phase of vehicle is for running
Stage.Within this stage, vehicle can travel, gear shift, energy regenerating etc. all go well operation.In fortune
Row order section, the master controlling the entire car controller such as device scheduling energy management, gear shift coordination of vehicle operation
Functional module is wanted to be operated, it is ensured that the smooth transmission of control instruction.
When key pushes OFF from ON position, or due to the information such as state of vehicle self determine into
Row shutdown action, electricity under high-tension system, the most current operation phase of vehicle is the shutdown stage.
S302, according to the described current operation phase, send control instruction corresponding to described current operation phase,
So that the task scheduling that the vehicle execution described current operation phase is corresponding:
Owing to being provided with different task schedulings within each operation phase, when the current operation determining vehicle
After stage, according to this current operation phase, send the current operation phase pair to related components or sub-controller
The control instruction answered, so that related components or controller perform task scheduling corresponding to current operation phase.
Due in the control method of the vehicle operation of embodiment of the present invention offer, according to the current fortune of vehicle
Row order section sends being arranged in the current operation phase of task adjust to related components or the sub-controller of vehicle
The control instruction that degree is corresponding.The current operation phase phase of control instruction and the vehicle of task scheduling owing to sending
Corresponding, say, that to be when vehicle needs to perform a certain control instruction or vehicle possesses a certain control of execution
During the condition that system instructs, just send control instruction, thus, the control of the vehicle operation that the present invention provides
Method avoids sending of illegal command, it is possible to ensure effectiveness and the reasonability of control instruction.Owing to sending
Control instruction be and instruct effectively and reasonably, so also being able to improve the driving safety of vehicle.
In order to be more clearly understood that the control method of the vehicle operation of the present invention, below to above-mentioned division
The control method of six operation phase is introduced one by one.
First the detailed description of the invention of the control method of awakening phase is introduced.
Key pushes ON position from OFF, and whole vehicle controller starts upper low-voltage, now makes car
Switching to awakening phase from stopped status, one is run cyclic process and starts.Now entire car controller HCU
Starting working, this stage is a transition stage, can be immediately switched to loitering phase.At awakening phase, car
Concrete control instruction is not had to perform.At awakening phase, it is judged that whether key is in ON position, if
It is to control vehicle and switch to loitering phase, if it does not, stir key so that it is be in ON position, make car
Enter awakening phase.
When vehicle switches to loitering phase, low tension on each sub-controller of vehicle, start working.Its
Concrete control process is as shown in Figure 4.
S401, judge whether halt instruction, if it is, perform step S405, if it does not, perform step
Rapid S402.
S402, judge whether vehicle exists fault:
Specifically, it is judged that whether each sub-controller self-detection result in vehicle normal and in entire car controller
Fault processing module whether allow start.More specifically, it is low on each sub-controller of vehicle control unit controls
Piezoelectricity, controls each sub-controller and carries out self-inspection, and the fault processing module in entire car controller judges in vehicle
Whether there is fault.It should be noted that each described sub-controller includes TCU, ECU, MCU
And BMS.
Self-detection result is fed back to entire car controller HCU by CAN by each sub-controller.HCU root
The self-detection result of each sub-controller in vehicle is judged according to the self-detection result of each sub-controller received
The most normal.Meanwhile, the fault processing module within HCU judges whether entire car controller exists fault, as
Really self-detection result is normal and/or entire car controller does not exist fault, then allow vehicle launch, performs step
S403, if self-detection result exception and/or entire car controller exist fault, does not the most allow vehicle launch, holds
Row step S404.
S403, control vehicle switch to ready phase from loitering phase.
S404, send alarm signal, to remind driver.
S405, control vehicle are shut down.
Described alarm signal can be acoustical signal, it is also possible to for display signal.
In addition, it is necessary to explanation, described in judge whether that the step of halt instruction may be located at above-mentioned step
The above or below of the either step in rapid S402 to S405.Such as, if step S401 is positioned at step S402
Before, if there is halt instruction, control vehicle and shut down, if there is no halt instruction, then perform step
S402。
The detailed description of the invention of control method during loitering phase more than it is in for vehicle.At this loitering phase
In control method, when vehicle breaks down, it is possible to send out alarm signal in time, remind driver
The state of vehicle, it is possible to make driver more accurate to the assurance of vehicle-state.
The detailed description of the invention of the control method of ready phase loitering phase after is described below.When vehicle
When the current operation phase is ready phase, represents HCU and the equal self-inspection of each sub-controller is passed through, vehicle-state
Normally, may wait for the further operation of driver.Control method for ready phase is relatively simple.At this
In the stage, the device that controls of vehicle operation does not has sending of concrete control instruction.
At ready phase, the control method of vehicle operation is concrete as shown in Figure 5.Its control method includes
Following steps:
S501, judge whether halt instruction, if it is, perform step S502, if it does not, perform step
Rapid S503.
S502, control vehicle are shut down.
S503, judge whether enabled instruction, if it is, perform step S504, if it does not, control car
It is continuously in ready phase.
The startup stage that S504, control vehicle switching to.
The detailed description of the invention of control method during ready phase more than it is in for vehicle.It should be noted that
When being in ready phase, it may be judged whether there is halt instruction and judge whether that the order of enabled instruction can
With reverse, i.e. as another embodiment of the present invention, step S503 can be first carried out and perform step S501 again.
The specific implementation of control method when being described below the startup stage that vehicle being in.
Time when vehicle is currently at startup stage, the schematic flow sheet of its control method is as shown in Figure 6.Such as Fig. 6
Shown in, time when vehicle is currently at startup stage, its control method comprises the following steps:
S601, judge to start the frequency of failure whether less than preset value, if it is, perform step S602, if
No, perform step S607.
In order to protect starter motor, set a preset value starting the frequency of failure, if running circulation at one
During, start the frequency of failure less than the preset value set, then it is assumed that vehicle is normal, can continue executing with down
One step action or task.If running in cyclic process at one, start the frequency of failure more than presetting of setting
Value, then it is assumed that exception or fault occurs in vehicle, sends out alarm signal to remind driver vehicle to occur different
Often.
S602, judge whether key is in " START " position, if it is, perform step S603.
S603, judge whether current gear is neutral gear, if it is, perform step S604, if it does not, perform
Step S609:
If it should be noted that during the non-neutral gear of current gear, then explanation vehicle is normal startup.
S604, send startup control instruction with control power source start:
It should be noted that when vehicle is motor vehicle driven by mixed power, described power source can be electromotor.Also
Can be motor, it is also possible to for electromotor and electricity motor.
S605, judge whether the first preset time period internally-powered source starts successfully, if it is, perform step
S606 is if it does not, perform step S608:
When vehicle is motor vehicle driven by mixed power, in this step is specifically, judge the first preset time period, start
Whether machine starts successfully, if it is, perform step S606 if it does not, perform step S608；Or judge
In first preset time period, whether motor starts successfully, if it is, perform step S606 if it does not, hold
Row step S608.
S606, control vehicle switch to the operation phase,
S607, send alarm signal.
S608, control vehicle and be back to loitering phase, and control to start the frequency of failure and add 1.
S609, judge whether key is constantly in " START " position in the second preset time period, if
It is to perform step S604.
When the gear of vehicle is not on neutral gear, and key is constantly in the second preset time period
" START " position, is that now vehicle launch is emergency start.
The detailed description of the invention of the control method time startup stage of for the vehicle current operation phase being more than.Need
Illustrate, as loitering phase is identical with ready phase, startup stage time, it is also possible to comprise the following steps
Judge whether halt instruction, shut down if it is, control vehicle, if it does not, perform to control normally
Journey.Due to startup stage time vehicle run important stage, the embodiment of the present invention is by carrying out this stage
Detailed process control, it is possible to be further ensured that effectiveness and the reasonability of control instruction.And by these rank
The process control of section, it is ensured that the safe handling of vehicle component.Such as by judging that starting the frequency of failure is
No decide whether to start power source less than preset value, it is to avoid vehicle is constantly in start-up course, is conducive to
Protection starter motor.
When vehicle switches to the operation phase, representing vehicle launch success, now the power source of vehicle is in work
State, in the operation phase, vehicle can travel, gear shift, energy regenerating etc. all go well work.Cause
This is in this stage, and entire car controller can the HCU main functional modules such as scheduling energy management, gear shift coordination enter
Row work, it is ensured that sending smoothly of action command.
When vehicle is motor vehicle driven by mixed power, described power source can be in electromotor, motor or
Two.
In the operation phase, it is also possible to judge whether halt instruction, switch to stop if it is, control vehicle
The machine stage, if it does not, control vehicle to be continuously in the operation phase.
When vehicle is in the shutdown stage, whole vehicle controller sends halt instruction, starts to control change speed gear box
Hang electricity under neutral gear, engine misses, high-pressure system.
As it has been described above, when vehicle is in wait, ready, startup and operation phase, refer to simply by the presence of shutdown
Order, vehicle will switch to the shutdown stage from current state.In embodiments of the present invention, entire car controller is sent out
Go out the control logic chart of halt instruction as shown in Figure 7.
S701, judge whether key is in " OFF " position, if it is, perform step S702, if it does not,
Perform step S703.
S702, send halt instruction.
Whether S703, failure judgement processing module request stop, if it is, perform step S702, if it does not,
Perform step S704.
S704, control vehicle keep current operating conditions.
It should be noted that send in the control logic of halt instruction, it is judged that whether key is in OFF
The order whether requested stop with failure judgement processing module can overturn, i.e. as another enforcement of the present invention
Whether example, first failure judgement processing module can request stop, then judge whether key is in OFF.
Above each the control process stage by stage run in cyclic process is described.In order to more clear
Understand to Chu the control method of whole service cyclic process, the control method of above-mentioned six operation phase is integrated
It is described, referring specifically to Fig. 8 together.
As shown in Figure 8, vehicle comprises the following steps a control method run in circulation:
S801, determine that the current state of vehicle is in awakening phase:
S802, judge whether key is in ON position, if it is, perform step S803, if it does not, return
Return step S801.
S803, control vehicle switch to loitering phase.
S804, judge whether halt instruction, if it does not, perform step S805, if it is, perform step
Rapid S815.
Whether S805, each sub-controller judged in vehicle and entire car controller exist fault, if it does not,
Perform step S806, if it is, perform step S817,
S806, control vehicle switch to ready phase.
S807, judge whether halt instruction, if it does not, perform step S808, if it is, perform step
Rapid S815.
S808, judge whether enabled instruction, if it is, perform step S809, if it does not, return step
Rapid S806.
The startup stage that S809, control vehicle switching to.
S810, judge whether halt instruction, if it does not, perform step S811, if it is, perform step
Rapid S815.
S811, judge whether the first preset time period internally-powered source starts successfully, if it is, perform step
S812, if it does not, perform step S813.
S812, control vehicle switch to the operation phase.
S813, control vehicle and be back to loitering phase, and control to start the frequency of failure and add 1.
S814, judge whether halt instruction, if it does not, return step S812, if it is, perform step
Rapid S815.
S816, judge whether key is in ON position, perform step S803 if it is, return, if it does not,
Return and perform step S815.
S815, control vehicle switch to the shutdown stage.
S817, send alarm signal.
It it is more than the whole control method flow process of an operation circulation of vehicle.In above-mentioned whole control method
In, each control method stage by stage is easily described.Its concrete control process may refer to
State each description stage by stage.
Control method based on above-mentioned vehicle operation, the embodiment of the present invention additionally provides vehicle operation
Control device.
It should be noted that in embodiments of the present invention, will according to the task that key position and vehicle perform
One operation cyclic process of vehicle is divided into multiple operation phase, is provided with not within each operation phase
Same task scheduling.
As it is shown in figure 9, the control device of the vehicle operation of embodiment of the present invention offer includes with lower unit:
Determine unit 91, for determining the current operation phase of vehicle；
Control unit 92, for according to the described current operation phase, sends and is arranged on the described current operation phase
The control instruction that interior task scheduling is corresponding, corresponding to control the associated component execution described current operation phase
Task scheduling.
Can shut down at any time in each operation phase to realize vehicle, described control device can also include:
Judging unit 93, for after the current operation phase determining vehicle, it may be judged whether there is shutdown
Instruction, if it is, control vehicle to switch to the shutdown stage.
The control device provided by the embodiment of the present invention, it is possible to send control according to the current state of vehicle and refer to
Order, hereby it is ensured that the reasonability of control instruction.
In embodiments of the present invention, run cyclic process one by one and include awakening phase, loitering phase, just
The thread stage, startup stage, operation phase and shutdown stage；
Described awakening phase refers to that key pushes " ON " position from position " OFF ", and whole vehicle controls
The stage of low tension just gone up by device；
Described loitering phase refers to that key is in " ON " position, and whether detection vehicle exists the stage of fault；
Described ready phase refers to that key is in " ON " position, vehicle fault-free, waits to be received issuing
The stage of control instruction；
Refer to the startup stage of described that key is in " STRAT " position, send enabled instruction, control vehicle and hold
The stage of the action of high pressure or startup PTO on row；
The described operation phase refers to that key is in " ON " position, the stage after vehicle launch success；
The described shutdown stage refers to that key pushes " OFF " position from " ON ", electricity under high-tension system
Stage.
When the current operation phase determining that unit 91 determines is loitering phase, as shown in Figure 10, described control
Unit 91 includes:
Detection sub-unit 101, is used for detecting whether vehicle exists fault；
Vehicle operation phase switching subelement 102, for when vehicle does not exists fault, controls vehicle switching
To ready phase；
Alarm part-unit 103, for when vehicle exists fault, sends alarm signal.
Time when the current operation phase determining that unit 91 determines is startup stage, the most described control
Unit 92 specifically includes:
First judgment sub-unit 1101, is used for judging whether to start the frequency of failure less than preset value；
Second judgment sub-unit 1102, for when starting the frequency of failure less than preset value, it is judged that key is
No it is in " START " position；
3rd judgment sub-unit 1103, for when key is in " START " position, it is judged that current shelves
Whether position is neutral gear；
Send subelement 1104, if for current gear be neutral gear time, send enabled instruction to control power
Source starts；
4th judgment sub-unit 1105, for judging whether the first preset time period internally-powered source starts into
Merit；
Vehicle operation phase switching subelement 1106, for when starting in the first preset time period internally-powered source
After success, control vehicle and enter the operation phase；
Control subelement 1107, for when, after the first not actuated success in preset time period internally-powered source, controlling
Vehicle processed returns to waiting for the stage, and controls the vehicle launch frequency of failure and add 1.
When vehicle is motor vehicle driven by mixed power, described 4th judgment sub-unit includes for judging first default
Time period inner high voltage electricity powers on whether successfully subelement and starting in the first preset time period for judging
Whether machine starts successful subelement.
Can also wrap more than or equal to preset value, described control device to remind driver to start the frequency of failure
Include: alarm part-unit 1108, for when starting the frequency of failure not less than preset value, sending alarm.
In order to realize emergency start, control unit described above can also include:
5th judgment sub-unit 1109, if when current gear is not neutral gear, it is judged that when second presets
Between in section key whether be constantly in " START " position, if it is, send enabled instruction to control power
Source starts.
The above, be only presently preferred embodiments of the present invention, not makees the present invention any pro forma
Limit.
Although the present invention discloses as above with preferred embodiment, but is not limited to the present invention.Any ripe
Know those skilled in the art, without departing under technical solution of the present invention ambit, all may utilize above-mentioned taking off
Technical solution of the present invention is made many possible variations and modification by the method shown and technology contents, or is revised as
The Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, according to this
Bright technical spirit, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within
In the range of technical solution of the present invention protection.
Claims (16)
1. the control method of a vehicle operation, it is characterized in that, according to the task that key position and vehicle perform, vehicle operation cyclic process being divided into multiple operation phase, be previously provided with different task schedulings within each operation phase, described control method includes:
Determine the current operation phase of vehicle；
According to the described current operation phase, send the control instruction that the task scheduling being arranged in the described current operation phase is corresponding, perform task scheduling corresponding to described current operation phase controlling associated component；
Wherein, one run cyclic process include awakening phase, loitering phase, ready phase, startup stage, operation phase and shutdown stage；
Described awakening phase refers to that key pushes " ON " position from position " OFF ", and the stage of low tension just gone up by whole vehicle controller；
Described loitering phase refers to that key is in " ON " position, and whether detection vehicle exists the stage of fault；
Described ready phase refers to that key is in " ON " position, vehicle fault-free, waits the stage of the control instruction issued to be received；
Refer to the startup stage of described that key is in " STRAT " position, send enabled instruction, control the stage that vehicle performs the action of upper high pressure or startup PTO；
The described operation phase refers to that key is in " ON " position, the stage after vehicle launch success；
The described shutdown stage refers to that key pushes " OFF " position from " ON ", the stage of electricity under high-tension system.
Control method the most according to claim 1, it is characterised in that if the current operation phase is awakening phase, described control method particularly as follows:
Judge whether key is in " ON " position, if it is, control vehicle to switch to loitering phase.
Control method the most according to claim 1, it is characterised in that if the current operation phase is loitering phase, described control method particularly as follows:
Whether detection vehicle exists fault, if it does not, control vehicle to switch to ready phase, if it is, send alarm signal.
Control method the most according to claim 3, it is characterised in that whether described detection vehicle exists fault, if it does not, control vehicle to switch to ready phase, if it is, send alarm signal, specifically includes:
Judge that the self-detection result of each sub-controller of vehicle is the most normal, it is judged that whether fault processing module allows to start；If self-detection result is normal and fault processing module allows to start, performs described control vehicle and switch to the step of ready phase, if self-detection result exception and/or fault processing module do not allow to start, described in execution, send the step of alarm signal.
Control method the most according to claim 1, it is characterised in that if the current operation phase is, described control method particularly as follows:
Judge to start whether the frequency of failure is less than preset value, if it is, judge whether key is in " START " position, if it is, judge whether current gear is neutral gear, start to control power source if it is, send enabled instruction；
Judge whether the first preset time period internally-powered source starts successfully, if it is, control vehicle to enter the operation phase, if it does not, control vehicle to return to waiting for the stage, and control the vehicle launch frequency of failure and add 1.
Control method the most according to claim 5, it is characterised in that described judge to start the frequency of failure whether less than preset value, also includes: if it does not, send alarm.
7. according to the control method described in claim 5 or 6, it is characterised in that described judge whether current gear is neutral gear, also include: if not, judge whether key is constantly in " START " position in the second preset time period, start to control power source if it is, send enabled instruction.
Control method the most according to claim 5, it is characterised in that when vehicle is motor vehicle driven by mixed power, whether described judgement starts successfully in the first preset time period internally-powered source, specifically includes:
Judge to power on the most successfully at the first preset time period inner high voltage electricity, or, it is judged that whether start successfully at the first preset time period intrinsic motivation.
Control method the most according to claim 1, it is characterised in that if the current operation phase be loitering phase, ready phase, startup stage or the operation phase, after the described current operation phase determining vehicle, also include:
Judge whether halt instruction, if it is, control vehicle to switch to the shutdown stage.
10. the control device of a vehicle operation, it is characterized in that, according to the task that key position and vehicle perform, vehicle operation cyclic process being divided into multiple operation phase, be previously provided with different task schedulings within each operation phase, described control device includes:
Determine unit, for determining the current operation phase of vehicle；
Control unit, for according to the described current operation phase, sends the control instruction that the task scheduling being arranged in the described current operation phase is corresponding, performs task scheduling corresponding to described current operation phase controlling associated component；
Wherein, one run cyclic process include awakening phase, loitering phase, ready phase, startup stage, operation phase and shutdown stage；
Described awakening phase refers to that key pushes " ON " position from position " OFF ", and the stage of low tension just gone up by whole vehicle controller；
Described loitering phase refers to that key is in " ON " position, and whether detection vehicle exists the stage of fault；
Described ready phase refers to that key is in " ON " position, vehicle fault-free, waits the stage of the control instruction issued to be received；
Refer to the startup stage of described that key is in " STRAT " position, send enabled instruction, control the stage that vehicle performs the action of upper high pressure or startup PTO；
The described operation phase refers to that key is in " ON " position, the stage after vehicle launch success；
The described shutdown stage refers to that key pushes " OFF " position from " ON ", the stage of electricity under high-tension system.
11. control devices according to claim 10, it is characterised in that the described current operation phase determining that unit determines is loitering phase；Described control unit specifically includes:
Detection sub-unit, is used for detecting whether vehicle exists fault；
Vehicle operation phase switching subelement, for when vehicle does not exists fault, controls vehicle and switches to ready phase；
Alarm part-unit, for when vehicle exists fault, sends alarm signal.
12. control devices according to claim 10, it is characterised in that the described current operation phase determining that unit determines, described control unit specifically included startup stage be:
First judgment sub-unit, is used for judging whether to start the frequency of failure less than preset value；
Second judgment sub-unit, for when starting the frequency of failure less than preset value, it is judged that whether key is in " START " position；
3rd judgment sub-unit, for when key is in " START " position, it is judged that whether current gear is neutral gear；
Send subelement, if for current gear be neutral gear time, send enabled instruction with control power source start；
4th judgment sub-unit, for judging whether the first preset time period internally-powered source starts successfully；
Vehicle operation phase switching subelement, for after starting successfully in the first preset time period internally-powered source, controls vehicle and enters the operation phase；
Controlling subelement, for when after the first not actuated success in preset time period internally-powered source, control vehicle returns to waiting for the stage, and controls the vehicle launch frequency of failure and add 1.
13. control devices according to claim 12, it is characterised in that described control unit also includes:
Alarm unit, for when starting the frequency of failure not less than preset value, sending alarm.
14. according to the control device described in claim 12 or 13, it is characterised in that described control unit also includes:
5th judgment sub-unit, if when current gear is not neutral gear, it is judged that in the second preset time period, whether key is constantly in " START " position, starts if it is, send enabled instruction to control power source.
15. according to the control device described in claim 12 or 13, it is characterized in that, when vehicle is motor vehicle driven by mixed power, described 4th judgment sub-unit includes powering on whether successfully subelement and for judging whether the first preset time period intrinsic motivation starts successful subelement at the first preset time period inner high voltage electricity for judging.
16. control devices according to claim 10, it is characterised in that also include:
Judging unit, for after the current operation phase determining vehicle, it may be judged whether there is halt instruction, if it is, control vehicle to switch to the shutdown stage.
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| CN112925284A (en) * | 2019-12-05 | 2021-06-08 | 上海中兴软件有限责任公司 | Method, device, equipment and storage medium for controlling abnormal driving behavior of vehicle |
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| JP2007225072A (en) * | 2006-02-27 | 2007-09-06 | Hitachi Ltd | Control device for automobile |
| CN101417653B (en) * | 2008-11-18 | 2011-08-10 | 奇瑞汽车股份有限公司 | Startup control method of mixed power automobile |
| CN101618720B (en) * | 2009-08-05 | 2012-05-23 | 奇瑞汽车股份有限公司 | Control method of whole car controller of hybrid electric car |
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