CN105501074A - Electric vehicle control method - Google Patents

Electric vehicle control method Download PDF

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Publication number
CN105501074A
CN105501074A CN201510859799.4A CN201510859799A CN105501074A CN 105501074 A CN105501074 A CN 105501074A CN 201510859799 A CN201510859799 A CN 201510859799A CN 105501074 A CN105501074 A CN 105501074A
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setting
vehicle
tire pressure
damping
voltage
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CN201510859799.4A
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CN105501074B (en
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于在水
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Priority to CN201711023810.9A priority Critical patent/CN107933375A/en
Priority to CN201711025661.XA priority patent/CN107825994A/en
Priority to CN201711031463.4A priority patent/CN107839542A/en
Priority to CN201711038222.2A priority patent/CN107825995A/en
Priority to CN201510859799.4A priority patent/CN105501074B/en
Priority to CN201711023818.5A priority patent/CN107839541A/en
Publication of CN105501074A publication Critical patent/CN105501074A/en
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Publication of CN105501074B publication Critical patent/CN105501074B/en
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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
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions

Abstract

The invention discloses an electric vehicle control method comprising the following steps: S100, obtaining a battery SOC value; S200, entering an intelligent drive mode if a determined value S is bigger than a set threshold; S300, obtaining vehicle shift and accelerator pedal information; S400, obtaining road condition information at least comprising driver selected road conditions and curve information; S500, regulating damping and tyre pressure according to the obtained road conditions. the method can improve electric vehicle controllability and comfortableness.

Description

Elec. vehicle control method
Technical field
The invention belongs to automation field, particularly a kind of elec. vehicle control method.
Background technology
Electronlmobil refers to vehicle power to be power, wheels travel is driven with motor, meet the vehicle of arteries of communication, legislative control on safety requirements, electric automobile during traveling can not discharge noxious gas, i.e. zero-emission electronlmobil (ZeroEmissionVehicle), compared with traditional combustion engine automobile, electronlmobil tool has the following advantages: do not discharge noxious gas, pollution-free to air; Energy efficiency is high, is especially applicable to starting to walk continually to stop; Noise is low, and the noise of electrical motor is much smaller than diesel locomotive; Structure is simple and easy to maintenance, and drive disk assembly is few, handles simple; The energy variation, coal, waterpower, nuclear energy, wind-force, solar power equal energy source can be utilized to be converted into electric energy and to power, above-mentioned advantage determine electronlmobil environmental protection and energy-conservation on there is incomparable advantage, its prospect is extensively had an optimistic view of.Meanwhile, energy source is extensive, and the use of people to electric power also have accumulated rich experience, and Development of EV is considered to one of most promising measure solving future source of energy and environmental problem at present, has become the principal direction of various countries' developing green automobile.But current elec. vehicle also has certain gap with traditional internal combustion vehicle in driving experience and travelling comfort.
Summary of the invention
For the defect of prior art, the invention provides a kind of elec. vehicle control method.
A kind of elec. vehicle control method, comprise the following steps: S100: the voltage and current signal obtaining electrokinetic cell end, according to the math modeling of set up electrokinetic cell, ampere-hour integration, state observer and adaptive extended kalman filtering method is adopted to estimate battery SOC respectively, estimated valve is weighted, obtains the SOC value S that electrokinetic cell is current; S200: when judging that estimated valve S is greater than the threshold value of setting, enter intelligent driving pattern; When judging that estimated valve S is less than or equal to the threshold value of setting, starting timing, after timing duration T is greater than the duration T0 of setting, when judging that estimated valve S is less than or equal to the threshold value of setting, exiting intelligent driving pattern; S300: the gear and the acceleration pedal information that obtain vehicle; S400: obtain and at least comprise the traffic information that chaufeur selectes road conditions and bend information, described bend information comprises the quantity of bend length, bend curvature and preset distance inner curve; S500: according to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P; According to gear information and acceleration pedal information based on vehicle damping a reference value Z and tire pressure a reference value P calculate the first damping repair Z1 on the occasion of with the first tire pressure correction P1; Z1 is repaiied on the occasion of calculating the second damping correction Z2 and the second tire pressure correction P2 with the first tire pressure correction P1 based on the first damping according to bend information.
Optionally, the math modeling of described electrokinetic cell is:
X k = 1 η Δ t C 0 1 X k - 1 + - η Δ t C 0 i m ( k - 1 ) + w 1 ( k - 1 ) w 2 ( k - 1 ) = Φ k - 1 X k - 1 + Γ k - 1 i m ( k - 1 ) + w k - 1 - - - ( 1 )
y k = g 1 ( X k , i m k , v k ) = E 0 - R ( i m k - i s k ) - K 0 SOC k - K 1 SOC k + K 2 ln ( SOC k ) + K 3 ln ( 1 - SOC k ) + v k - - - ( 2 )
In formula, X krepresent the state vector of battery pack, y krepresent battery terminal voltage, η is the coulombic efficiency factor, and C is total volume, E 0for being full of the open circuit voltage under electricity condition, R is the internal resistance of cell, K 0, K 1, K 2, K 3for battery polarization internal resistance, △ t is the sampling period, i mkfor current measurement value, i skfor current sensor current drift estimated valve, W 1and W 2, V kfor separate white noise, SOC is battery electric quantity, and K represents K state value, K=0,1,2,3,4,5 ...
Optionally, ampere-hour integral method, state observer method and adaptive extended kalman filtering method is adopted to estimate SOC value of battery respectively respectively, obtain SOC state estimation S1, S2, S3, then S1, S2, S3 are weighted, obtain final SOC estimated valve S;
S＝ω 1S 1+ω 2s 2+ω 3s 3(3)
Wherein ω 1, ω 2, ω 3for coefficient of weight, ω 1+ ω 2+ ω 3=1.
Optionally, charged by charge circuit when SOC estimated valve S is less than setting threshold, 220V alternating current is through D1-D4 rectification, C5 filtering obtains about 300V direct current (DC), and this voltage charges to C4, forms starting current through TF1 high pressure winding, TF2 main winding and V2, TF2 feeds back winding and produces induced voltage, and make V1, V2 is conducting in turn, voltage is produced, through D9, D10 rectification at TF1 low-voltage power supply winding, C8 filtering, to IR3M02, LM2902, V3, and V4 powers, IR3M028 pin, 11 castor streams export pulse, promote V3, V4, winding energization V1 is fed back through TF2, V2, make V1, V2, slave mode is proceeded to by self-excitation state, TF2 exports winding voltage and rises, this voltage is through R29, R26, 1 pin feeding back to IR3M02 after R27 dividing potential drop makes output voltage stabilization on 45V, R30 is current sampling resistor, during charging, R30 produces pressure drop, this voltage is through R11, 15 pin that R12 feeds back to IR3M02 make charging current constant in about 2.8A, charging current produces pressure drop on D20, 3 pin of LM2902 are arrived through R42, 2 pin output HIGH voltages are made to light rechargeable lamp, 7 pin output LOW voltages simultaneously, floating charge lamp extinguishes, charger enters constant-current charging phase, 7 pin low voltages drag down the voltage of D19 anode, the 1 pin voltage of IR3M02 is reduced, charger maximum output voltage is caused to reach 50V, when cell pressure rises to 46V, enter constant-voltage phase, when charging current is reduced to 0.1A-0.2A, the 3 pin voltages of LM2902 reduce, 1 pin output LOW voltage, rechargeable lamp extinguishes, 7 pin output HIGH voltages simultaneously, floating charge lamp is lighted, 7 pin high potentials raise the voltage of D19 anode, the 1 pin voltage rise of IR3M02, output voltage reduces to 45V.
Optionally, the gear information of vehicle is obtained by gear position detecting unit, described gear position detecting unit comprises gearshift plectrum, first detection module, second detection module and comparison module, gearshift plectrum is connected with first detection module and the second detection module, first detection module is connected with comparison module with the second detection module, after driver sends gearshift/gear signal by gearshift plectrum, first detection module and the second detection module receive the signal that gearshift plectrum sends, the first gear information detected and the second gear information are sent to comparison module by first detection module and the second detection module, comparison module compare the first gear information and the second gear information when the two is consistent then using the first gear information or the second gear information as current gear information, send to the control system of vehicle, when the two is inconsistent, then judge that gearshift exists fault.
Optionally, the traffic information of pre-stored many roads, judges vehicle place road according to vehicle present position, reads the bend information of this road from the traffic information of pre-stored.
Optionally, different damping a reference value Z corresponding to pre-stored multiple kind of road conditions and tire pressure a reference value P, receive the road conditions that driver is selected by selection key, corresponding damping a reference value Z and tire pressure a reference value P is selected from the data of pre-stored, selected a reference value is sent to electronic regulation unit, vehicle damping and tire pressure size is regulated, to reach a reference value by electronic regulation unit.
Optionally, when vehicle is in high tap position and acceleration pedal depression amount is greater than the threshold value of setting, the basis of damping a reference value Z adding, setting value △ Z1 is to obtain the first damping correction Z1, the basis of tire pressure a reference value P deducts setting value △ P1 to obtain the first tire pressure correction P1, that is: Z1=Z+ △ Z1, P1=P-△ P1; When vehicle is in high tap position and acceleration pedal depression amount is less than or equal to the threshold value of setting, maintain vehicle damping a reference value Z and tire pressure a reference value P constant, i.e. Z1=Z, P1=P; When vehicle is in low-grade location and acceleration pedal depression amount is greater than setting threshold, the basis of damping a reference value Z deducts setting value △ Z2 to obtain the first damping correction Z1, the basis of tire pressure a reference value P adding, setting value △ P2 is to obtain the first tire pressure correction P1, that is: Z1=Z-△ Z2, P1=P+ △ P2; When vehicle is in low-grade location and acceleration pedal depression amount is less than or equal to setting threshold, maintains damping a reference value Z constant, the basis of tire pressure a reference value P deducts setting value △ P3 to obtain the first tire pressure correction P1, i.e. Z1=Z, P1=P-△ P3.
Optionally, determine whether vehicle is positioned on bend or in the predetermined distance or the schedule time that enter bend according to the bend information got and the current residing position of vehicle.
Optionally, when bend length D is greater than the threshold value of setting and bend curvature is greater than the angle of setting, the basis of the first damping correction Z1 deducts setting value △ Z3 to obtain the second damping correction Z2, the basis of the first tire pressure correction P1 deducts setting value △ P4 to obtain the second tire pressure correction P2, that is: Z2=Z1-△ Z3, P2=P1-△ P4; When bend length D is greater than the threshold value of setting and bend curvature is less than or equal to the angle of setting, now show vehicle the bend of process comparatively relax, maintain the first damping correction Z1 and the first tire pressure correction P1 is constant, that is: Z2=Z1, P2=P1; When bend length D is less than the threshold value of setting and bend curvature is greater than the angle of setting, the basis of the first damping correction Z1 deducts setting value △ Z4 to obtain the second damping correction Z2, remain unchanged namely at the first tire pressure correction P1: Z2=Z1-△ Z4, P2=P1; When bend length D is less than the threshold value of setting and bend curvature is less than the angle of setting, maintain the first damping correction Z1 constant, the basis of the first tire pressure correction P1 deducts setting value △ P5 to obtain the second tire pressure correction P2, that is: Z2=Z1, P2=P1-△ P5.
The invention has the beneficial effects as follows: by accurate math modeling, adopt multiple method to estimate SOC value, obtain SOC value more accurately, the manipulation for battery-driven car provides foundation accurately; Consider operation signal and the condition of road surface of chaufeur, adjusted vehicle damping and tire pressure in real time according to different manipulations and condition of road surface, Vehicle handling and traveling comfort is improved.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of control method of the present invention;
Fig. 2 is the constructional drawing of charge circuit;
Fig. 3 is the structural representation of gear position detecting unit;
Fig. 4 is the diagram of circuit of step S500.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail the specific embodiment of the present invention below in conjunction with accompanying drawing, make above-mentioned and other object of the present invention, Characteristics and advantages will be more clear.Reference numeral identical in whole accompanying drawing indicates identical part.Deliberately do not draw accompanying drawing in proportion, focus on purport of the present invention is shown.
Refer to Fig. 1, in order to improve driving experience (handling) and the traveling comfort of elec. vehicle, first the present invention determines the drive pattern of vehicle according to the electricity (SOC) of electrokinetic cell, after meeting intelligent drives pattern requirements, the incoming signal of vehicle detection gearshift plectrum, gear is detected, vehicle identifies present road situation simultaneously, according to the gear detected and the road conditions adjustment damping of vehicle suspension system and tire pressure, thus improve handling, the traveling comfort taken of vehicle.
S100: the voltage and current signal obtaining electrokinetic cell end, according to the math modeling of set up electrokinetic cell, adopt ampere-hour integration, state observer and adaptive extended kalman filtering method to estimate battery SOC respectively, estimated valve is weighted, obtains the SOC value S that electrokinetic cell is current.
Specifically, can adopt current sensor, voltage sensor measures terminal voltage and the outgoing current of power battery pack respectively.The math modeling of electrokinetic cell has multiple at present, such as desirable equivalent model, desirable equivalent model regards fixed value as the internal resistance of battery, do not consider the difference of internal resistance of cell when battery charging, electric discharge, therefore also just can embody charging, the difference of SOC when discharging, this model and actual value gap larger; Thevenin model, the defect of Thevenin model is that in circuit, parameter is all definite value, and they are the functions of SOC in fact; RC model, RC model can better the dynamic characteristics of simulated battery than Thevenin model, but have ignored the temperature effect of battery, considers abundant not to polarity effect; EMF model is compared with Thevenin model with RC model, except the dynamic characteristics of more consideration batteries, also considers the impact of the factors such as chemical polarization concentration polarization preferably, but also have ignored temperature effect.The present invention adopts built-up pattern for this reason, and its discrete state space equation is:
X k = 1 η Δ t C 0 1 X k - 1 + - η Δ t C 0 i m ( k - 1 ) + w 1 ( k - 1 ) w 2 ( k - 1 ) = Φ k - 1 X k - 1 + Γ k - 1 i m ( k - 1 ) + w k - 1 - - - ( 1 )
y k = g 1 ( X k , i m k , v k ) = E 0 - R ( i m k - i s k ) - K 0 SOC k - K i SOC k + K 2 ln ( SOC k ) + K 3 ln ( 1 - SOC k ) + v k - - - ( 2 )
In formula, Xk represents the state vector of battery pack, and yk represents battery terminal voltage, η is the coulombic efficiency factor, and C is total volume, and E0 is the open circuit voltage be full of under electricity condition, R is the internal resistance of cell, and K0, K1, K2, K3 are battery polarization internal resistance, and △ t is the sampling period, imk is current measurement value, isk is current sensor current drift estimated valve, W1 and W2, Vk are separate white noise, and SOC is battery electric quantity, K represents K state value, K=0,1,2,3,4,5 ...
Then according to the math modeling of battery pack, ampere-hour integral method, state observer method and adaptive extended kalman filtering method is adopted to estimate SOC value of battery respectively respectively, obtain SOC state estimation S1, S2, S3, then S1, S2, S3 are weighted, obtain final SOC estimated valve S.
S＝ω 1S 1+ω 2s 2+ω 3s 3(3)
Wherein ω 1, ω 2, ω 3for coefficient of weight, ω 1+ ω 2+ ω 3=1.Adopt multiple method to estimate the state-of-charge SOC of electrokinetic cell respectively, well draws final estimated valve to estimated result row weighted calculation of spouting, and improves the estimated accuracy of the SOC of electrokinetic cell.
When SOC estimated valve S is less than setting threshold, remind chaufeur to charge, can adopt charge circuit as shown in Figure 2,220V alternating current is through D1-D4 rectification, and C5 filtering obtains about 300V direct current (DC).This voltage charges to C4, and through TF1 high pressure winding, TF2 main winding, V2 etc. form starting current.TF2 feeds back winding and produces induced voltage, and make V1, V2 is conducting in turn.Therefore produce voltage at TF1 low-voltage power supply winding, through D9, D10 rectification, C8 filtering, to power supplies such as IR3M02, LM2902, V3, V4.Now output voltage is lower.Its 8 pin after IR3M02 starts, 11 castor streams export pulse, promote V3, V4, feed back winding energization V1, V2 through TF2.Make V1, V2, proceed to slave mode by self-excitation state.TF2 exports winding voltage and rises, and 1 pin (Voltage Feedback) that this voltage feeds back to IR3M02 after R29, R26, R27 dividing potential drop makes output voltage stabilization on 41.2V.R30 is current sampling resistor, and during charging, R30 produces pressure drop.15 pin (current feedback) that this voltage feeds back to IR3M02 through R11, R12 make charging current constant in about 1.8A.Charging current produces pressure drop on D20 in addition, arrives 3 pin of LM2902 through R42.Make 2 pin output HIGH voltages light rechargeable lamp, simultaneously 7 pin output LOW voltages, floating charge lamp extinguishes.Charger enters constant-current charging phase.And 7 pin low voltage drag down the voltage of D19 anode.The 1 pin voltage of IR3M02 is reduced, and this will cause charger maximum output voltage to reach 44.8V.When cell pressure rises to 44.8V, enter constant-voltage phase.When charging current is reduced to 0.3A-0.4A, the 3 pin voltages of LM2902 reduce, 1 pin output LOW voltage, and rechargeable lamp extinguishes.7 pin output HIGH voltages simultaneously, floating charge lamp is lighted.And 7 pin high potential raise the voltage of D19 anode.Make the 1 pin voltage rise of IR3M02, this will cause charger output voltage to reduce on 41.2V.Charger enters floating charge.
S200: when judging that estimated valve S is greater than the threshold value of setting, enter intelligent driving pattern; When judging that estimated valve S is less than or equal to the threshold value of setting, starting timing, after timing duration T is greater than the duration T0 of setting, when judging that estimated valve S is less than or equal to the threshold value of setting, exiting intelligent driving pattern.
For battery-driven car, the handling traveling comfort with taking of its vehicle depends primarily on type of drive three aspects of the size of vehicle suspension system damping, the size of tire pressure and motor.In order to better handling and traveling comfort can be reached, need to be adjusted in real time above-mentioned three aspects by multiple electronics package, the master mode of this real-time adjustment can be called as intelligent driving pattern, intelligent driving pattern adds the consumption of electric power undoubtedly, in order to can when battery electric quantity SOC be too low, electrokinetic cell is made to meet the normal needs travelled, only have when judging that estimated valve S is greater than the threshold value of setting in the present invention, just enter intelligent driving pattern, this threshold value can be 30% of the total electricity of power battery, namely when estimated valve S is greater than 30% of the total electricity of battery, vehicle is then allowed to enter intelligent driving pattern, the size of the current suspension damping of vehicle is then maintained when estimated valve S is less than or equal to 30%, the size of tire pressure and the type of drive of motor.Further, because electrokinetic cell exists the phenomenon of " power down ", namely when moment obtains larger electric power from electrokinetic cell, now estimated valve S can be less than its actual electricity, such as, when the actual electricity of vehicle remains 35%, now improves the propulsive effort of vehicle instantaneously, then estimated valve S can about 25%, and when again recovering driven, estimated valve S can rise to 35%, this exits with regard to the mal causing intelligent driving pattern.To this, in order to judge now whether vehicle should enter/exit intelligent driving pattern, the present invention arranges a timing module, when judging that estimated valve S is less than or equal to the threshold value of setting, timing module starts timing, after timing duration T is greater than the duration T0 of setting, if now estimated valve S is still less than or equal to the threshold value of setting, then exit intelligent driving pattern.The setting of duration T0, between showing at this moment, in section, the electricity of battery is in lasting minimizing, and this minimizing is not caused by " power down ", and it is more accurate so just to make to judge.
S300: the gear and the acceleration pedal information that obtain vehicle.
Entering the intelligent gear and the acceleration pedal information that first obtain vehicle, gear information and acceleration pedal information table understand the driving intention that driver is current, such as high tap position and the acceleration pedal deeply stepped on show that now driver wants to obtain larger acceleration/accel, and low-grade location and the acceleration pedal deeply stepped on show that now driver wants to obtain larger torque.Acquisition for pedal information can be detected by corresponding detector, and these detection meanss are prior art, repeat no more.Also contains numerous electric elementss because namely gearshift contains physical construction, the fault of any one mechanism all can cause obtaining correct gear information.To this, the invention provides a gear position detecting unit, as shown in Figure 3, it can comprise gearshift plectrum, first detection module, second detection module and comparison module, gearshift plectrum is connected with first detection module and the second detection module, first detection module is connected with comparison module with the second detection module, after driver sends gearshift/gear signal by gearshift plectrum, first detection module and the second detection module receive the signal that gearshift plectrum sends, the first gear information detected and the second gear information are sent to comparison module by first detection module and the second detection module, comparison module compare the first gear information and the second gear information when the two is consistent then using the first gear information or the second gear information as current gear information, send to the control system of vehicle, when the two is inconsistent, then judge that gearshift exists fault, this fault can be such as open circuit, short circuit or mechanical breakdown lamp, comparison module sends warning, it can be such as sound and light alarm.
S400: obtain and at least comprise the traffic information that chaufeur selectes road conditions and bend information, described bend information comprises the quantity of bend length, bend curvature and preset distance inner curve.
Road conditions are the principal elements determining the size of vehicle suspension system damping, the size of tire pressure and the type of drive of motor, in order to improve handling and travelling comfort, such as wet and slippery road conditions require low tire pressure, the road surface of hollow then requires less damping, the more road of bend then requires larger damping and lower tire pressure, and straight road then needs to adopt high-revolving type of drive etc.
For some road conditions as wet and slippery road conditions, hollow road conditions etc., chaufeur can be easy to recognize by observation, just corresponding traffic information can be sent to vehicle control system by selection key, these buttons can comprise wet and slippery, hollow, straight, accumulated snow etc., and bend information chaufeur cannot be obtained by observing, bend information can comprise the quantity of bend length, bend curvature and preset distance inner curve, such as, in the quantity of the inner curve of 2 kms.Damping and the tire pressure of bend length, curvature and quantity and vehicle are closely bound up, its comfort affecting the handling of vehicle and take.Such as larger curvature then needs larger suspension damping and lower tire pressure.
For this reason, the traffic information of pre-stored of the present invention many roads, judges vehicle place road according to vehicle present position, reads the information of this road from the traffic information of pre-stored.Position residing for vehicle can be provided by such as global positioning system (GPS).The position on this road residing for bend, length, curvature and quantity is contained in the traffic information of pre-stored.
S500: according to the adjustment vehicle damping of gear information, acceleration pedal information and traffic information and tire pressure.As shown in Figure 3, the present invention, by trailer reversing behavior and condition of road surface, adjusts vehicle damping, tire pressure, thus is the comfort that improve the handling of vehicle and drive.
S501: according to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P.Specifically, driver selects corresponding road conditions by selection key as previously mentioned, this road conditions can be wet and slippery, hollow, straight, accumulated snow etc., the different damping a reference value Z corresponding to often kind of road conditions and tire pressure a reference value data are pre-stored with in vehicle, after getting traffic information, vehicle selects corresponding damping a reference value and tire pressure a reference value P from the data of pre-stored, selected a reference value is sent to electronic regulation unit, vehicle damping and tire pressure size is regulated, to reach a reference value by electronic regulation unit.Such as damping, vehicle damping can be adjusted by the amount of compression adjusting elastomeric element, for tire pressure, the stroke of the cylinder be connected with tire can be driven to adjust tire pressure by motor.
S502: according to gear information and acceleration pedal information calculate the first damping repair Z1 on the occasion of with the first tire pressure correction P1.Vehicle of the present invention has high tap position and low-grade location, and high tap position has larger transmitting ratio, is suitable for high vehicle speeds, and low-grade location contributes to vehicle and obtains larger moment of torsion.The depression amount of acceleration pedal can reflect the current size of wishing vehicle horsepower output of chaufeur.To in this present invention, when vehicle is in high tap position and acceleration pedal depression amount is greater than the threshold value of setting, now show that driver wants to obtain larger acceleration/accel, the speed of a motor vehicle faster, now show the chassis of needs compared with " firmly ", the present invention adds that on the basis of damping a reference value Z setting value △ Z1 is to obtain the first damping correction Z1 for this reason, the basis of tire pressure a reference value P deducts setting value △ P1 to obtain the first tire pressure correction P1, namely when vehicle is in high tap position and acceleration pedal depression amount is greater than the threshold value of setting: Z1=Z+ △ Z1, P1=P-△ P1, by this adjustment, the damping of vehicle is improved, tire pressure reduces, namely the rising of damping improves at a high speed handling, the reduction of tire pressure improves the traveling comfort taken.Corresponding when vehicle is in high tap position and acceleration pedal depression amount is less than or equal to the threshold value of setting, now driver is in comparatively the driving condition of " gentleness ", now maintains vehicle damping a reference value Z and tire pressure a reference value P constant; When vehicle is in low-grade location and acceleration pedal depression amount is greater than setting threshold, now show that driver wants to obtain more high pulling torque, the present invention deducts setting value △ Z2 to obtain the first damping correction Z1 on the basis of damping a reference value Z for this reason, the basis of tire pressure a reference value P adding, setting value △ P2 is to obtain the first tire pressure correction P1, namely when vehicle is in low-grade location and acceleration pedal depression amount is greater than the threshold value of setting: Z1=Z-△ Z2, P1=P+ △ P2, the increase of the reduction tire pressure of damping contributes to vehicle and exports larger moment of torsion; When vehicle is in low-grade location and acceleration pedal depression amount is less than or equal to setting threshold, now show that vehicle is in starting state or at the poor road traveling of road conditions, as potted road surface or wet-skid road surface, now need the earth-grasping force improving tire, to maintain damping a reference value Z constant in the present invention for this reason, the basis of tire pressure a reference value P deducts setting value △ P3 to obtain the first tire pressure correction P1, i.e. Z1=Z, P1=P-△ P3, the suitable reduction of tire pressure contributes to obtaining larger earth-grasping force, improves Vehicle handling.
S503: calculate the second damping correction Z2 and the second tire pressure correction P2 according to bend information.
Whether vehicle control system determines vehicle " turning " according to the bend information got before and the current residing position of vehicle, namely, whether vehicle is positioned on bend or in the predetermined distance or the schedule time that enter bend, such as, in waiting in 600 meters that enter bend or in 5 seconds etc.When bend length D is greater than the threshold value of setting and bend curvature is greater than the angle of setting, now show vehicle the bend of process is more difficult passes through, vehicle needs larger earth-grasping force and lower center of gravity, the present invention deducts setting value △ Z3 to obtain the second damping correction Z2 on the basis of the first damping correction Z1 for this reason, the basis of the first tire pressure correction P1 deducts setting value △ P4 to obtain the second tire pressure correction P2, namely when bend length D is greater than the threshold value of setting and bend curvature is greater than the angle of setting: Z2=Z1-△ Z3, P2=P1-△ P4, the reduction of damping and tire pressure reduces vehicle's center of gravity and adds vehicle earth-grasping force, contributed to curved, when bend length D is greater than the threshold value of setting and bend curvature is less than or equal to the angle of setting, now show vehicle the bend of process comparatively relax, the present invention maintains the first damping correction Z1 and the first tire pressure correction P1 is constant, that is: Z2=Z1, P2=P1 for this reason, when bend length D is less than the threshold value of setting and bend curvature is greater than the angle of setting, now show vehicle the bend of process is more difficult passes through, vehicle needs larger earth-grasping force and lower center of gravity, but for curved relative to length, vehicle comparatively easily passes through, the present invention deducts setting value △ Z4 to obtain the second damping correction Z2 on the basis of the first damping correction Z1 for this reason, remains unchanged namely: Z2=Z1-△ Z4, P2=P1 at the first tire pressure correction P1, when bend length D is less than the threshold value of setting and bend curvature is less than the angle of setting, now show vehicle through one comparatively relax little curved, to maintain the first damping correction Z1 constant in the present invention for this reason, the basis of the first tire pressure correction P1 deducts setting value △ P5 to obtain the second tire pressure correction P2, namely when bend length D is less than the threshold value of setting and bend curvature is less than the angle of setting: Z2=Z1, P2=P1-△ P5.
Further, when the quantity of preset distance inner curve is greater than setting value, if now the speed of a motor vehicle is too high, easily cause danger, to this present invention when the quantity of preset distance inner curve is greater than setting value, obtain the speed of a motor vehicle of vehicle, when the speed of a motor vehicle is greater than setting threshold, such as 80KM/h, now send alarm to chaufeur, remind chaufeur slow down.The adjustment of tire pressure and damping can be carried out according to the schedule time.Such as, but each minute upgrade a trailer reversing signal.
Set forth a lot of detail in the above description so that fully understand the present invention.But above description is only preferred embodiment of the present invention, the present invention can be much different from alternate manner described here to implement, and therefore the present invention is not by the disclosed concrete restriction implemented above.Any those skilled in the art are not departing under technical solution of the present invention ambit simultaneously, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.

Claims (10)

1. an elec. vehicle control method, is characterized in that, comprises the following steps:
S100: the voltage and current signal obtaining electrokinetic cell end, according to the math modeling of set up electrokinetic cell, adopt ampere-hour integration, state observer and adaptive extended kalman filtering method to estimate battery SOC respectively, estimated valve is weighted, obtains the SOC value S that electrokinetic cell is current;
S200: when judging that estimated valve S is greater than the threshold value of setting, enter intelligent driving pattern; When judging that estimated valve S is less than or equal to the threshold value of setting, starting timing, after timing duration T is greater than the duration T0 of setting, when judging that estimated valve S is less than or equal to the threshold value of setting, exiting intelligent driving pattern;
S300: the gear and the acceleration pedal information that obtain vehicle;
S400: obtain and at least comprise the traffic information that chaufeur selectes road conditions and bend information, described bend information comprises the quantity of bend length, bend curvature and preset distance inner curve;
S500: according to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P; According to gear information and acceleration pedal information based on vehicle damping a reference value Z and tire pressure a reference value P calculate the first damping repair Z1 on the occasion of with the first tire pressure correction P1; Z1 is repaiied on the occasion of calculating the second damping correction Z2 and the second tire pressure correction P2 with the first tire pressure correction P1 based on the first damping according to bend information.
2. elec. vehicle control method according to claim 1, is characterized in that the math modeling of described electrokinetic cell is:
X k = 1 η Δ t C 0 1 X k - 1 + - η Δ t C 0 i m ( k - 1 ) + w 1 ( k - 1 ) w 2 ( k - 1 ) = Φ k - 1 X k - 1 + Γ k - 1 i m ( k - 1 ) + w k - 1 - - - ( 1 )
y k = g 1 ( X k , i m k , v k ) = E 0 - R ( i m k - i s k ) - K 0 SOC k - K 1 SOC k + K 2 ln ( SOC k ) + K 3 ln ( 1 - SOC k ) + v k - - - ( 2 )
In formula, X krepresent the state vector of battery pack, y krepresent battery terminal voltage, η is the coulombic efficiency factor, and C is total volume, E 0for being full of the open circuit voltage under electricity condition, R is the internal resistance of cell, K 0, K 1, K 2, K 3for battery polarization internal resistance, △ t is the sampling period, i mkfor current measurement value, i skfor current sensor current drift estimated valve, W 1and W 2, V kfor separate white noise, SOC is battery electric quantity, and K represents K state value, K=0,1,2,3,4,5 ...
3. elec. vehicle control method according to claim 1, it is characterized in that adopting ampere-hour integral method, state observer method and adaptive extended kalman filtering method to estimate SOC value of battery respectively respectively, obtain SOC state estimation S1, S2, S3, then S1, S2, S3 are weighted, obtain final SOC estimated valve S;
S＝ω 1S 1+ω 2s 2+ω 3s 3(3)
Wherein ω 1, ω 2, ω 3for coefficient of weight, ω 1+ ω 2+ ω 3=1.
4. elec. vehicle control method according to claim 1, it is characterized in that being charged by charge circuit when SOC estimated valve S is less than setting threshold, 220V alternating current is through D1-D4 rectification, C5 filtering obtains about 300V direct current (DC), this voltage charges to C4, forms starting current through TF1 high pressure winding, TF2 main winding and V2, and TF2 feeds back winding and produces induced voltage, make V1, V2 is conducting in turn, produces voltage, through D9 at TF1 low-voltage power supply winding, D10 rectification, C8 filtering, to IR3M02, LM2902, V3, and V4 powers, IR3M028 pin, 11 castor streams export pulse, promote V3, V4, winding energization V1 is fed back through TF2, V2, make V1, V2, slave mode is proceeded to by self-excitation state, TF2 exports winding voltage and rises, this voltage is through R29, R26, 1 pin feeding back to IR3M02 after R27 dividing potential drop makes output voltage stabilization on 45V, R30 is current sampling resistor, during charging, R30 produces pressure drop, this voltage is through R11, 15 pin that R12 feeds back to IR3M02 make charging current constant in about 2.8A, charging current produces pressure drop on D20, 3 pin of LM2902 are arrived through R42, 2 pin output HIGH voltages are made to light rechargeable lamp, 7 pin output LOW voltages simultaneously, floating charge lamp extinguishes, charger enters constant-current charging phase, 7 pin low voltages drag down the voltage of D19 anode, the 1 pin voltage of IR3M02 is reduced, charger maximum output voltage is caused to reach 50V, when cell pressure rises to 46V, enter constant-voltage phase, when charging current is reduced to 0.1A-0.2A, the 3 pin voltages of LM2902 reduce, 1 pin output LOW voltage, rechargeable lamp extinguishes, 7 pin output HIGH voltages simultaneously, floating charge lamp is lighted, 7 pin high potentials raise the voltage of D19 anode, the 1 pin voltage rise of IR3M02, output voltage reduces to 45V.
5. elec. vehicle control method according to claim 1, it is characterized in that the gear information being obtained vehicle by gear position detecting unit, described gear position detecting unit comprises gearshift plectrum, first detection module, second detection module and comparison module, gearshift plectrum is connected with first detection module and the second detection module, first detection module is connected with comparison module with the second detection module, after driver sends gearshift/gear signal by gearshift plectrum, first detection module and the second detection module receive the signal that gearshift plectrum sends, the first gear information detected and the second gear information are sent to comparison module by first detection module and the second detection module, comparison module compare the first gear information and the second gear information when the two is consistent then using the first gear information or the second gear information as current gear information, send to the control system of vehicle, when the two is inconsistent, then judge that gearshift exists fault.
6. elec. vehicle control method according to claim 1, is characterized in that the traffic information of pre-stored many roads, judges vehicle place road according to vehicle present position, reads the bend information of this road from the traffic information of pre-stored.
7. elec. vehicle control method according to claim 1, it is characterized in that the different damping a reference value Z corresponding to pre-stored multiple kind of road conditions and tire pressure a reference value P, receive the road conditions that driver is selected by selection key, corresponding damping a reference value Z and tire pressure a reference value P is selected from the data of pre-stored, selected a reference value is sent to electronic regulation unit, vehicle damping and tire pressure size is regulated, to reach a reference value by electronic regulation unit.
8. elec. vehicle control method according to claim 1, it is characterized in that, when vehicle is in high tap position and acceleration pedal depression amount is greater than the threshold value of setting, the basis of damping a reference value Z adding, setting value △ Z1 is to obtain the first damping correction Z1, the basis of tire pressure a reference value P deducts setting value △ P1 to obtain the first tire pressure correction P1, that is: Z1=Z+ △ Z1, P1=P-△ P1; When vehicle is in high tap position and acceleration pedal depression amount is less than or equal to the threshold value of setting, maintain vehicle damping a reference value Z and tire pressure a reference value P constant, i.e. Z1=Z, P1=P; When vehicle is in low-grade location and acceleration pedal depression amount is greater than setting threshold, the basis of damping a reference value Z deducts setting value △ Z2 to obtain the first damping correction Z1, the basis of tire pressure a reference value P adding, setting value △ P2 is to obtain the first tire pressure correction P1, that is: Z1=Z-△ Z2, P1=P+ △ P2; When vehicle is in low-grade location and acceleration pedal depression amount is less than or equal to setting threshold, maintains damping a reference value Z constant, the basis of tire pressure a reference value P deducts setting value △ P3 to obtain the first tire pressure correction P1, i.e. Z1=Z, P1=P-△ P3.
9. elec. vehicle control method according to claim 1, is characterized in that, determines whether vehicle is positioned on bend or in the predetermined distance or the schedule time that enter bend according to the bend information got and the current residing position of vehicle.
10. elec. vehicle control method according to claim 1, it is characterized in that, when bend length D is greater than the threshold value of setting and bend curvature is greater than the angle of setting, the basis of the first damping correction Z1 deducts setting value △ Z3 to obtain the second damping correction Z2, the basis of the first tire pressure correction P1 deducts setting value △ P4 to obtain the second tire pressure correction P2, that is: Z2=Z1-△ Z3, P2=P1-△ P4; When bend length D is greater than the threshold value of setting and bend curvature is less than or equal to the angle of setting, now show vehicle the bend of process comparatively relax, maintain the first damping correction Z1 and the first tire pressure correction P1 is constant, that is: Z2=Z1, P2=P1; When bend length D is less than the threshold value of setting and bend curvature is greater than the angle of setting, the basis of the first damping correction Z1 deducts setting value △ Z4 to obtain the second damping correction Z2, remain unchanged namely at the first tire pressure correction P1: Z2=Z1-△ Z4, P2=P1; When bend length D is less than the threshold value of setting and bend curvature is less than the angle of setting, maintain the first damping correction Z1 constant, the basis of the first tire pressure correction P1 deducts setting value △ P5 to obtain the second tire pressure correction P2, that is: Z2=Z1, P2=P1-△ P5.
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CN111267556A (en) * 2018-12-04 2020-06-12 现代自动车株式会社 Device and method for monitoring tire pressure
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CN113034904B (en) * 2021-03-05 2022-06-24 交通运输部公路科学研究所 ETC data-based traffic state estimation method and device

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