CN105711443A - Slope slipping preventing system of electric car and work method of slope slipping preventing system - Google Patents
Slope slipping preventing system of electric car and work method of slope slipping preventing system Download PDFInfo
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- CN105711443A CN105711443A CN201610059127.XA CN201610059127A CN105711443A CN 105711443 A CN105711443 A CN 105711443A CN 201610059127 A CN201610059127 A CN 201610059127A CN 105711443 A CN105711443 A CN 105711443A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
-
- 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
- B60L2240/642—Slope of road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a slope slipping preventing system of an electric car and a work method of the slope slipping preventing system.The slope slipping preventing system of the electric car comprises a four-channel anti-lock system, a vehicle control unit, a gear sensor, a motor controller, a motor, an accelerator pedal, a brake pedal, a hand brake switch and a gradient sensor.The accelerator pedal, the brake pedal, the hand brake switch and the gear sensor are all connected with the vehicle control unit through hard wires.The four-channel anti-lock system and the vehicle control unit are connected through a hard wire or CAN wire.The vehicle control unit and the motor controller are connected through a CAN wire.The motor controller and the motor are connected through a hard wire.According to the slope slipping preventing system, the safety coefficient of the whole car can be increased, and the slope slipping danger of the electric car is effectively eliminated.After the electric car gets into the slope slipping preventing mode, An ABS works, the motor and a battery can be effectively protected, the service life of the whole car can be prolonged, energy consumption can be effectively reduced, and driving mileage can be increased.The electric car adapts to the driving habit of a driver and can be safety driven without special operation, and the slope slipping preventing system can be fast put into use in batches.
Description
Technical field:
The present invention relates to a kind of electric automobile to prevent slipping by slope system and method for work thereof, it belongs to electric automobile field.
Background technology:
Along with the anxiety of the energy and increasingly sharpening of environmental pollution, the appearance of electric automobile will become the focus of development of automobile, and since in recent years, the ratio of electric automobile constantly rises；And electric automobile all adopts motor to drive, when stopping for saving electric quantity consumption and extending electrical machinery life, motor will not maintain idling as conventional engines；Although there is to slip after automobile phenomenon when saving energy resource consumption but there is parking on ramp, starting in this technology；Staying slope then motor consumption in operation energy always according to motor, make distance travelled reduce, can there is stall in long-time motor in slope.
Therefore, necessary prior art improves to solve the deficiency of prior art.
Summary of the invention:
The present invention may bring, when being primarily directed to the electric automobile parking on ramp existing for prior art, starting, the risk slipped by slope, it is provided that a kind of electric automobile is anti-slips by slope system and method for work thereof.
The present invention adopts the following technical scheme that a kind of electric automobile is anti-and slips by slope system, including four-way anti-lock braking system, entire car controller, gear position sensor, electric machine controller, motor, gas pedal, brake pedal, parking brake switch and Slope Transducer, described gas pedal, brake pedal, parking brake switchs, Slope Transducer all adopts rigid line to be connected with entire car controller with gear position sensor, four-way anti-lock braking system adopts rigid line or CAN line to be connected with entire car controller, entire car controller adopts CAN line to be connected with electric machine controller, electric machine controller adopts rigid line to be connected with motor.
The present invention also adopts the following technical scheme that a kind of electric automobile prevents slipping by slope the method for work of system, slips by slope pattern including before slipping by slope pattern after preventing and being anti-, slips by slope mode step as follows after wherein preventing:
Step one: vehicle forward travel stops in steep uphill, user brake pedal or by parking brake pull-up；
Step 2: entire car controller receives Slope Transducer signal, calculating hill gradient θ, advance steep uphill θ is θ > 0 and only θ > 0 is effective；
Step 3: vehicle parking brake is discharged by user, and braking is unclamped, and gear is on D gear or forward gear, and entire car controller monitoring vehicle slips by slope phenomenon, and vehicle enters after preventing and slips by slope function；
Step 4: entire car controller is connected with four-way anti-lock braking system by rigid line or CAN line, sends and slips by slope instruction after preventing；
Step 5: four-way anti-lock braking system regulates device by its brake pressure after receiving instruction and carries out supercharging to four wheel cylinders, carries out pressurize braking after reaching preset pressure, and braking time is t (s), makes electric automobile stop on ramp；
Step 6: entire car controller calculates ramp additional torque T1=mgsin θ r/ (ig·i0), wherein r is vehicle wheel roll radius, igFor transmission ratio, i0For final driver ratio, θ is hill gradient, and m is vehicle weight；
Step 7: user is stepped on the throttle within less than the t time pedal and accelerator open degree Gi > 0, calculates Gi and asks moment T3, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously3Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor, and entire car controller is pressed normal driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function after preventing, otherwise enters step 8；
Step 8: user overtime t does not still step on the throttle pedal, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously1Moment is that initial torque carries out driving strategy of driving a vehicle, and sends command adapted thereto to electric machine controller to control motor crawling climbing, and entire car controller is pressed normally driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function after preventing.
Further, t=3s in step 5.
Further, mode step is slipped by slope before wherein preventing as follows:
Step one: vehicle reverse travels and stops in steep uphill, user brake pedal or by parking brake pull-up；
Step 2: entire car controller receives Slope Transducer signal, calculating hill gradient θ, the steep uphill θ that falls back is θ < 0 and only θ < 0 is effective；
Step 3: vehicle parking brake is discharged by user, and braking is unclamped, and gear is on R keeps off or reverses gear, and entire car controller monitoring vehicle slips by slope phenomenon, and vehicle enters before preventing and slips by slope function；
Step 4: entire car controller is connected with four-way anti-lock braking system by rigid line or CAN line, sends and slips by slope instruction before preventing；
Step 5: four-way anti-lock braking system regulates device by its brake pressure after receiving instruction and carries out supercharging to four wheel cylinders, carries out pressurize braking after reaching preset pressure, and braking time is t (s), makes electric automobile stop on ramp；
Step 6: entire car controller calculates ramp additional torque T0=mgsin θ r/ (ig·i0), wherein r is vehicle wheel roll radius, igFor transmission ratio, i0For final driver ratio, θ is hill gradient, and m is vehicle weight；
Step 7: user is stepped on the throttle within less than the t time pedal, i.e. accelerator open degree Gi > 0, calculates Gi and asks moment T2Entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously2Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor, and entire car controller is pressed normal driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function before preventing, otherwise enters step 8；
Step 8: user overtime t does not still step on the throttle pedal, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously0Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor crawling climbing；Entire car controller is pressed normal driving and is driven strategy, normal vehicle operation subsequently, exits and slips by slope function before preventing.
Further, t=3s in step 5.
There is advantages that 1. increase car load safety coefficient, can effectively solve electric automobile and slip by slope danger.2. enter anti-slip by slope pattern after ABS work can effectively protect motor, battery, extend car load service life, can effectively reduce energy resource consumption simultaneously and increase course continuation mileage.3. driver driving custom is adapted to, it is not necessary to operation gets final product safe driving especially.4. can come into operation by rapid batch.
Accompanying drawing illustrates:
Fig. 1 is the structural representation that electric automobile of the present invention prevents slipping by slope system.
Fig. 2 is the workflow schematic diagram that electric automobile of the present invention prevents slipping by slope system.
Detailed description of the invention:
Refer to shown in Fig. 1, the anti-system that slips by slope of electric automobile of the present invention includes four-way anti-lock braking system (ABS), entire car controller, gear position sensor, electric machine controller, motor, gas pedal, brake pedal, parking brake switch and Slope Transducer.Wherein gas pedal, brake pedal, parking brake switch, Slope Transducer all adopt rigid line to be connected with entire car controller with gear position sensor, four-way anti-lock braking system (ABS) adopts rigid line or CAN line to be connected with entire car controller, entire car controller adopts CAN line to be connected with electric machine controller, and electric machine controller adopts rigid line to be connected with motor.
Refer to shown in Fig. 1 and Fig. 2, the method for work slipping by slope system prevented by electric automobile of the present invention, slips by slope pattern including before slipping by slope pattern after preventing and being anti-, slips by slope mode step as follows after wherein preventing:
Step one: vehicle forward travel stops in steep uphill, user brake pedal or by parking brake pull-up.
Step 2: entire car controller receives Slope Transducer signal, calculating hill gradient θ, advance steep uphill θ is θ > 0 and only θ > 0 is effective；
Step 3: vehicle parking brake is discharged by user, and braking is unclamped, and gear is on D gear or forward gear, and entire car controller monitoring vehicle slips by slope phenomenon, and vehicle enters after preventing and slips by slope function；
Step 4: entire car controller is connected with four-way anti-lock braking system by rigid line or CAN line, sends and slips by slope instruction after preventing；
Step 5: four-way anti-lock braking system regulates device by its brake pressure after receiving instruction and carries out supercharging to four wheel cylinders, carries out pressurize braking after reaching preset pressure, and braking time is t (s), makes electric automobile stop on ramp；
Step 6: entire car controller calculates ramp additional torque T1=mgsin θ r/ (ig·i0), wherein r is vehicle wheel roll radius, igFor transmission ratio, i0For final driver ratio, θ is hill gradient, and m is vehicle weight；
Step 7: user is stepped on the throttle within less than the t time pedal and accelerator open degree Gi > 0, calculates Gi and asks moment T3, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously3Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor, and entire car controller is pressed normal driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function after preventing, otherwise enters step 8；
Step 8: user overtime t does not still step on the throttle pedal, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously1Moment is that initial torque carries out driving strategy of driving a vehicle, and sends command adapted thereto to electric machine controller to control motor crawling climbing, and entire car controller is pressed normally driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function after preventing.
As preferably: t=3s in step 5.
As preferably: when crawling is climbed, if receive accelerator drive moment more than crawling moment, drive strategy, normal vehicle operation by normal driving, exit crawling climbing.
As preferably: if slipping by slope duration of work after anti-, detect brake signal or parking brake signal then by corresponding conditions restart anti-after slip by slope pattern.
As preferably: if slipping by slope duration of work after anti-, if any gear switch to neutral, reverse gear, then vehicle slips by slope function after exiting and preventing, by driven policy-driven.
Mode step is slipped by slope as follows before wherein preventing:
Step one: vehicle reverse travels and stops in steep uphill, user brake pedal or by parking brake pull-up.
Step 2: entire car controller receives Slope Transducer signal, calculating hill gradient θ, the steep uphill θ that falls back is θ < 0 and only θ < 0 is effective；
Step 3: vehicle parking brake is discharged by user, and braking is unclamped, and gear is on R keeps off or reverses gear, and entire car controller monitoring vehicle slips by slope phenomenon, and vehicle enters before preventing and slips by slope function；
Step 4: entire car controller is connected with four-way anti-lock braking system by rigid line or CAN line, sends and slips by slope instruction before preventing；
Step 5: four-way anti-lock braking system regulates device by its brake pressure after receiving instruction and carries out supercharging to four wheel cylinders, carries out pressurize braking after reaching preset pressure, and braking time is t (s), makes electric automobile stop on ramp；
Step 6: entire car controller calculates ramp additional torque T0=mgsin θ r/ (ig·i0), wherein r is vehicle wheel roll radius, igFor transmission ratio, i0For final driver ratio, θ is hill gradient, and m is vehicle weight；
Step 7: user is stepped on the throttle within less than the t time pedal, i.e. accelerator open degree Gi > 0, calculates Gi and asks moment T2Entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously2Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor, and entire car controller is pressed normal driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function before preventing, otherwise enters step 8；
Step 8: user overtime t does not still step on the throttle pedal, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously0Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor crawling climbing；Entire car controller is pressed normal driving and is driven strategy, normal vehicle operation subsequently, exits and slips by slope function before preventing.
As preferably: t=3s in step 5.
As preferably: when crawling is climbed, if receive accelerator drive moment more than crawling moment, drive strategy, normal vehicle operation by normal driving, exit crawling climbing.
As preferably: if slipping by slope duration of work before anti-, detect brake signal or parking brake signal then by corresponding conditions restart anti-before slip by slope pattern.
As preferably: if slipping by slope duration of work before anti-, if any gear switch to neutral, drive shift, then vehicle slips by slope function before exiting and preventing, by driven policy-driven.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art, can also make some improvement under the premise without departing from the principles of the invention, and these improvement also should be regarded as protection scope of the present invention.
Claims (5)
1. an electric automobile is prevented slipping by slope system, it is characterized in that: include four-way anti-lock braking system, entire car controller, gear position sensor, electric machine controller, motor, gas pedal, brake pedal, parking brake switch and Slope Transducer, described gas pedal, brake pedal, parking brake switchs, Slope Transducer all adopts rigid line to be connected with entire car controller with gear position sensor, four-way anti-lock braking system adopts rigid line or CAN line to be connected with entire car controller, entire car controller adopts CAN line to be connected with electric machine controller, electric machine controller adopts rigid line to be connected with motor.
2. the method for work that an electric automobile is prevented slipping by slope system, it is characterised in that: include anti-after slip by slope pattern and be anti-before slip by slope pattern, slip by slope mode step after wherein anti-as follows
Step one: vehicle forward travel stops in steep uphill, user brake pedal or by parking brake pull-up；
Step 2: entire car controller receives Slope Transducer signal, calculating hill gradient θ, advance steep uphill θ is θ > 0 and only θ > 0 is effective；
Step 3: vehicle parking brake is discharged by user, and braking is unclamped, and gear is on D gear or forward gear, and entire car controller monitoring vehicle slips by slope phenomenon, and vehicle enters after preventing and slips by slope function；
Step 4: entire car controller is connected with four-way anti-lock braking system by rigid line or CAN line, sends and slips by slope instruction after preventing；
Step 5: four-way anti-lock braking system regulates device by its brake pressure after receiving instruction and carries out supercharging to four wheel cylinders, carries out pressurize braking after reaching preset pressure, and braking time is t (s), makes electric automobile stop on ramp；
Step 6: entire car controller calculates ramp additional torque T1=mgsin θ r/ (ig·i0), wherein r is vehicle wheel roll radius, igFor transmission ratio, i0For final driver ratio, θ is hill gradient, and m is vehicle weight；
Step 7: user is stepped on the throttle within less than the t time pedal and accelerator open degree Gi > 0, calculates Gi and asks moment T3,Entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously3Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor, and entire car controller is pressed normal driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function after preventing, otherwise enters step 8；
Step 8: user overtime t does not still step on the throttle pedal, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously1Moment is that initial torque carries out driving strategy of driving a vehicle, and sends command adapted thereto to electric machine controller to control motor crawling climbing, and entire car controller is pressed normally driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function after preventing.
3. the method for work that slips by slope system prevented by electric automobile as claimed in claim 2, it is characterised in that: t=3s in step 5.
4. the method for work that slips by slope system prevented by electric automobile as claimed in claim 2, it is characterised in that: slip by slope mode step before wherein anti-as follows
Step one: vehicle reverse travels and stops in steep uphill, user brake pedal or by parking brake pull-up；
Step 2: entire car controller receives Slope Transducer signal, calculating hill gradient θ, the steep uphill θ that falls back is θ < 0 and only θ < 0 is effective；
Step 3: vehicle parking brake is discharged by user, and braking is unclamped, and gear is on R keeps off or reverses gear, and entire car controller monitoring vehicle slips by slope phenomenon, and vehicle enters before preventing and slips by slope function；
Step 4: entire car controller is connected with four-way anti-lock braking system by rigid line or CAN line, sends and slips by slope instruction before preventing；
Step 5: four-way anti-lock braking system regulates device by its brake pressure after receiving instruction and carries out supercharging to four wheel cylinders, carries out pressurize braking after reaching preset pressure, and braking time is t (s), makes electric automobile stop on ramp；
Step 6: entire car controller calculates ramp additional torque T0=mgsin θ r/ (ig·i0), wherein r is vehicle wheel roll radius, igFor transmission ratio, i0For final driver ratio, θ is hill gradient, and m is vehicle weight；
Step 7: user is stepped on the throttle within less than the t time pedal, i.e. accelerator open degree Gi > 0, calculates Gi and asks moment T2Entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously2Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor, and entire car controller is pressed normal driving and driven strategy, normal vehicle operation subsequently, exits and slips by slope function before preventing, otherwise enters step 8；
Step 8: user overtime t does not still step on the throttle pedal, entire car controller releases four-way anti-lock braking system pressurize braking, and entire car controller presses T simultaneously0Moment is that initial torque carries out driving driving strategy, sends command adapted thereto to electric machine controller to control motor crawling climbing；Entire car controller is pressed normal driving and is driven strategy, normal vehicle operation subsequently, exits and slips by slope function before preventing.
5. the method for work that slips by slope system prevented by electric automobile as claimed in claim 4, it is characterised in that: t=3s in step 5.
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| CN201610059127.XA CN105711443B (en) | 2016-01-28 | 2016-01-28 | A kind of electric automobile is anti-to slip by slope system and its method of work |
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| CN201610059127.XA CN105711443B (en) | 2016-01-28 | 2016-01-28 | A kind of electric automobile is anti-to slip by slope system and its method of work |
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| CN109080635A (en) * | 2018-07-17 | 2018-12-25 | 江西精骏电控技术有限公司 | A kind of electric car ramp starting control system and method |
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| CN110901412A (en) * | 2019-12-06 | 2020-03-24 | 中国人民解放军陆军装甲兵学院士官学校 | Safe starting control system for ramp of electric vehicle |
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| CN111516667A (en) * | 2020-04-22 | 2020-08-11 | 北京奕为汽车科技有限公司 | Hill start assisting method and device |
| CN111645534A (en) * | 2020-05-11 | 2020-09-11 | 摩登汽车(盐城)有限公司 | Slope-sliding-prevention control method and control system for pure electric vehicle |
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