CN106080604B - A kind of manual-gear vehicle uphill starting control method based on electronic parking system - Google Patents

A kind of manual-gear vehicle uphill starting control method based on electronic parking system Download PDF

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Publication number
CN106080604B
CN106080604B CN201610693928.1A CN201610693928A CN106080604B CN 106080604 B CN106080604 B CN 106080604B CN 201610693928 A CN201610693928 A CN 201610693928A CN 106080604 B CN106080604 B CN 106080604B
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parking system
vehicle
electronic parking
starting
state
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CN106080604A (en
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黄祖胜
鲁盼
冯春
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control of parking brakes
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel

Abstract

The invention discloses a kind of manual-gear vehicle uphill starting control method based on electronic parking system, control process is：Start electronic parking system, judge whether vehicle-state is to prepare starting state；If then calculating vehicle drag and vehicle power, judge whether electronic parking system meets starting release conditions according to the magnitude relationship of vehicle drag and vehicle power；If electronic parking system meets starting release conditions, start gradually to discharge electronic parking system, detect the front and rear wheel wheel speed pulse of vehicle during discharging electronic parking system simultaneously；It is that gradually release electronic parking system recalculates vehicle drag and vehicle power up to discharging completely or keeping Current electronic parking system state and return according to vehicle front and rear wheel wheel speed pulse judgement.The present invention does not need to the additional component such as clutch jaw opening sensor, and the uphill starting of manual-gear vehicle can be realized by conventional signal and optimization algorithm, and control process is simple and effective.

Description

A kind of manual-gear vehicle uphill starting control method based on electronic parking system
Technical field
The invention belongs to technical field of automobile control, and in particular to a kind of manual-gear vehicle slope based on electronic parking system Start to walk control method in road.
Background technology
Traditional manual gear vehicle parking brake completes parking generally by manual operation, in uphill starting, passes through Parking handle be manually operated reduce parking power and carry out uphill starting, which there are it is natural the defects of be starting when it is dangerous Property and strength driver less than normal can not be operated.The ripe application on automatic catch automobile of electronic parking system, although Existing a small amount of electronic parking system is used on manual-gear vehicle, but be all by increase clutch jaw opening sensor (detect from The sensor of clutch combination degree) etc. components controlled, increase clutch components design difficulty, technique and cost.
Invention content
The purpose of the present invention is exactly insufficient existing for above-mentioned background technology in order to solve, and is provided a kind of based on electronic parking system The manual-gear vehicle uphill starting control method of system.
The technical solution adopted by the present invention is：A kind of manual-gear vehicle uphill starting controlling party based on electronic parking system Method includes the following steps：
Step 1, vehicle is parked on the road of ramp, starts electronic parking system, judges whether vehicle-state is to prepare starting State；
Step 2, if vehicle-state is not to prepare starting state, return to step 1；
Step 3, if vehicle-state is to prepare starting state, vehicle drag and vehicle power are calculated, according to vehicle drag Judge whether electronic parking system meets starting release conditions with the magnitude relationship of vehicle power；
Step 4, if electronic parking system is unsatisfactory for starting release conditions, return to step 1；
Step 5, if electronic parking system meets starting release conditions, start gradually to discharge electronic parking system, discharge The front and rear wheel wheel speed pulse of vehicle is detected during electronic parking system simultaneously；Judged according to the pulse of vehicle front and rear wheel wheel speed It is gradually to discharge electronic parking system until electronic parking system discharges or keeps Current electronic parking system state simultaneously completely Return to step 3.
Further, it is described judge vehicle-state whether be prepare starting state method be：Detect engine speed with And accelerator pedal position, when the engine speed of detection is more than idling section and accelerator pedal position is more than 1%, judge vehicle State is to prepare starting state, and it is not to prepare starting state otherwise to judge vehicle-state.
Further, the vehicle drag FResistanceComputational methods be：
FResistance=FSliding force+FRolling resistance
Wherein：G is the gravity of vehicle, and X is longitudinal acceleration；G is acceleration of gravity；η is rolling resistance coefficient.
Further, the vehicle power FPowerComputational methods be：
FPower=N*T*x*y/r, wherein, N is the torque that output torque is synthesized with rotating speed, and T is clutch efficiency, and x is speed change Than y is base ratio, and r is radius of wheel.
Further, it is described judge electronic parking system whether meet starting release conditions method be：If vehicle drag Meet F with the magnitude relationship of vehicle powerPower-FResistance≥Nmap, NmapFor nominal data value, then judge that electronic parking system meets Release conditions are walked, otherwise judge that electronic parking system is unsatisfactory for starting release conditions.
Further, the judgement gradually discharges electronic parking system until the condition discharged completely is：Gradually discharging During electronic parking system, front-wheel wheel speed pulse >=m of detection, rear wheel rotation rapid pulse punching≤n, and the pulse of front-wheel wheel speed are with after The offset direction for taking turns wheel speed pulse is identical.
Further, the condition of the release conditions for judging holding Current electronic parking system and return to step 3 is： During discharging electronic parking system, front-wheel wheel speed pulse ＜ m of detection, rear wheel rotation rapid pulse punching≤n, and front-wheel wheel speed pulse It is identical with the offset direction of rear wheel rotation rapid pulse punching.
Further, in the step 5, in electronic parking systematic procedure is discharged or electronic parking system discharges completely Afterwards, if the offset direction that is rushed with rear wheel rotation rapid pulse of front-wheel wheel speed pulse of detection on the contrary, if electronic parking system be again started up, return Return step 3.
Existing electronic parking system is used on manual-gear vehicle by the present invention, does not need to clutch jaw opening sensor etc. The uphill starting of manual-gear vehicle, control process letter can be realized by conventional signal and control algolithm for additional component It is single, safely and effectively.When driver's pull-up electronic parking switchs, electronic parking system applies different stay according to the size in ramp Che Li, both effectively extends the service life of electronic parking system, while also eliminates because ramp difference leads to parking power not Safety accident is slipped by slope caused by foot.
Description of the drawings
Fig. 1 is the functional block diagram of electronic parking system of the present invention.
Fig. 2 is the control flow chart of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments, convenient for this hair is well understood It is bright, but they do not form the present invention and limit.
As shown in Figure 1, for the functional block diagram of electronic parking system that uses of the present invention, include Hall linear transducer H, The components such as Hall pulse transducer I, longitudinal acceleration sensor J, microcontroller K, motor-drive circuit L, wherein Hall linearly pass Sensor H is used to detect the drag-line displacement of electronic parking system, and Hall pulse transducer I is used to detect the rotating speed of motor, and longitudinal direction adds Velocity sensor J is used to detect the gradient residing for vehicle；Microcontroller K is used to receive vehicle baseband signal by CAN bus, including Receive engine rotational speed signal A, torque signal B, acceleration pedal position signal C, brake pedal switch signal D, speed signal E, Wheel speed signal F, wheel speed pulse signal G and transmission electronic parking system status signal；Motor-drive circuit L is used to control electronics The rotating of parking system motor M, and then control the parking or release of electronic parking system.
As shown in Fig. 2, manual-gear vehicle uphill starting control method is realized based on above-mentioned electronic parking system, including as follows Step：
Step 1, vehicle, which is parked on the road of ramp, (includes horizontal road, 0) horizontal road value of slope is, starts electronic parking System judges whether vehicle-state is to prepare starting state.
Judge vehicle-state whether be prepare starting state method be：Detect engine speed and accelerator pedal position It puts, when the engine speed of detection is more than idling section (such as 600~700 revs/min) and accelerator pedal position is more than 1%, sentences Disconnected vehicle-state is to prepare starting state, and it is not to prepare starting state otherwise to judge vehicle-state.
Step 2, if vehicle-state is not to prepare starting state, return to step 1；
Step 3, if vehicle-state is to prepare starting state, and the speed detected is more than or equal to 0 and (X is setting less than X Value, such as 5) when enter starting state of a control, start to calculate vehicle drag and vehicle power, according to vehicle drag and vehicle power Magnitude relationship judges whether electronic parking system meets starting release conditions, and it is electronic parking system to meet starting release conditions It can ensure that vehicle will not car slipping upon discharge.
Vehicle drag FResistanceComputational methods be：
FResistance=FSliding force+FRolling resistance
Wherein：G is the gravity of vehicle, and X is longitudinal acceleration (m/s2)；G is acceleration of gravity (9.8m/s2)；η is hindered for rolling Coefficient.
Vehicle power FPowerComputational methods be：FPower=N*T*x*y/r, wherein, N is the torsion that output torque is synthesized with rotating speed Square, T are clutch efficiency, and x is gear ratio, and y is base ratio, and r is radius of wheel.
If above-mentioned vehicle drag and the magnitude relationship of vehicle power meet FPower-FResistance≥Nmap(NmapIt, can for nominal data value According to the setting different value of different sizes in ramp), then judge that electronic parking system meets starting release conditions, otherwise judge electronics Parking system is unsatisfactory for starting release conditions.
Step 4, if the electronic parking system of above-mentioned judgement is unsatisfactory for starting release conditions, return to step 1；
Step 5, if the electronic parking system of above-mentioned judgement meets starting release conditions, start gradually to discharge electronic parking System detects the front and rear wheel wheel speed pulse of vehicle simultaneously during discharging electronic parking system.
Step 6, during gradually electronic parking system is discharged, front-wheel wheel speed pulse >=m, trailing wheel wheel speed when detection Pulse≤n, the and when pulse of front-wheel wheel speed is identical with the offset direction that rear wheel rotation rapid pulse rushes, illustrate that vehicle power is enough, can be by Step release electronic parking system is until electronic parking system discharges completely, and when electronic parking system discharges completely, (i.e. parking power subtracts It is zero) to complete uphill starting afterwards less.
Step 7, during gradually electronic parking system is discharged, front-wheel wheel speed pulse ＜ m, trailing wheel wheel speed when detection Pulse≤n, and when the pulse of front-wheel wheel speed is identical with the offset direction that rear wheel rotation rapid pulse rushes, illustrate if continuing to discharge electronic parking System, may result in car slipping, needs to keep the release conditions of Current electronic parking system at this time and return to step 3 recalculates vehicle Power and vehicle drag.The release system state of Current electronic parking system is kept to refer to：If electronic parking system releases one It separates and has showed the above situation, such as release 1/3rd or half, then Current electronic parking system state maintains release three / mono- or the state of half, it is then back to step 3.
M and n in above-mentioned steps 6 and step 7 represent the calibration value of the wheel umber of pulse per second turned over, can be according to reality Border is set, and m is more than n.
In said program, in order to further ensure the safety of car ramp starting, if there are following two situations, show Vehicle just in car slipping, needs electronic parking system to be again started up preventing car slipping at this time, is then back to step 3 and recalculates vehicle and moves After power and vehicle drag judging whether that electronic parking system can be discharged：1st, in step 6, electronic parking system discharges completely Afterwards, if the offset of front-wheel wheel speed pulse >=m of detection, rear wheel rotation rapid pulse punching >=n, and the pulse of front-wheel wheel speed and the punching of rear wheel rotation rapid pulse The situation in direction opposite (may be to have unclamped throttle when speed reaches a certain level not yet again to cause)；2nd, in step 6 and step In rapid 7, the pulse of front-wheel wheel speed occur opposite with the offset direction that rear wheel rotation rapid pulse rushes during the release of electronic parking system feelings Condition.
The above content is combine specific embodiment to the further description of the invention done, it is impossible to assert this hair Bright specific implementation is confined to these explanations.For the those of ordinary skill of the technical field belonging to the present invention, not Under the premise of being detached from present inventive concept, several simple deduction or replace can also be made, should all be considered as belonging to the guarantor of the present invention Protect range.The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.

Claims (7)

1. a kind of manual-gear vehicle uphill starting control method based on electronic parking system, which is characterized in that including following step Suddenly：
Step 1, vehicle is parked on the road of ramp, starts electronic parking system, judges whether vehicle-state is to prepare starting state；
Step 2, if vehicle-state is not to prepare starting state, return to step 1；
Step 3, if vehicle-state is to prepare starting state, vehicle drag and vehicle power are calculated, according to vehicle drag and vehicle The magnitude relationship of power judges whether electronic parking system meets starting release conditions；
Step 4, if electronic parking system is unsatisfactory for starting release conditions, return to step 1；
Step 5, if electronic parking system meets starting release conditions, start gradually to discharge electronic parking system, discharge electronics The front and rear wheel wheel speed pulse of vehicle is detected during parking system simultaneously；According to the pulse of vehicle front and rear wheel wheel speed judgement be by Step release electronic parking system is until electronic parking system discharges or keeps the release conditions of Current electronic parking system completely And return to step 3；
The judgement gradually discharges electronic parking system until the condition discharged completely is：In gradually release electronic parking system In the process, front-wheel wheel speed pulse >=m of detection, rear wheel rotation rapid pulse punching≤n, and the pulse of front-wheel wheel speed are rushed inclined with rear wheel rotation rapid pulse Shifting direction is identical, and the calibration value of m and the n expression wheel umber of pulses per second turned over, m is more than n.
2. a kind of manual-gear vehicle uphill starting control method based on electronic parking system according to claim 1, Be characterized in that, it is described judge vehicle-state whether be prepare starting state method be：Detection engine speed and acceleration are stepped on Board position, when the engine speed of detection is more than idling section and accelerator pedal position is more than 1%, it is accurate to judge vehicle-state Standby starting state, it is not to prepare starting state otherwise to judge vehicle-state.
3. a kind of manual-gear vehicle uphill starting control method based on electronic parking system according to claim 1, It is characterized in that, the vehicle drag FResistanceComputational methods be：
FResistance=FSliding force+FRolling resistance
Wherein：G is the gravity of vehicle, and X is longitudinal acceleration；G is acceleration of gravity；η is rolling resistance coefficient.
4. a kind of manual-gear vehicle uphill starting control method based on electronic parking system according to claim 1, It is characterized in that, the vehicle power FPowerComputational methods be：
FPower=N*T*x*y/r, wherein, N is the torque that output torque is synthesized with rotating speed, and T is clutch efficiency, and x is gear ratio, and y is Base ratio, r are radius of wheel.
5. a kind of manual-gear vehicle uphill starting control method based on electronic parking system according to claim 1, Be characterized in that, it is described judge electronic parking system whether meet starting release conditions method be：If vehicle drag and vehicle move The magnitude relationship of power meets FPower-FResistance≥Nmap, NmapFor nominal data value, then judge that electronic parking system meets starting released strip Otherwise part judges that electronic parking system is unsatisfactory for starting release conditions.
6. a kind of manual-gear vehicle uphill starting control method based on electronic parking system according to claim 1, It is characterized in that, the condition of the release conditions for judging holding Current electronic parking system and return to step 3 is：In release electronics During parking system, front-wheel wheel speed pulse ＜ m of detection, rear wheel rotation rapid pulse punching≤n, and the pulse of front-wheel wheel speed and rear wheel rotation The offset direction of rapid pulse punching is identical, and the calibration value of m and the n expression wheel umber of pulses per second turned over, m is more than n.
7. a kind of manual-gear vehicle uphill starting control method based on electronic parking system according to claim 1, It is characterized in that：In the step 5, in electronic parking systematic procedure is discharged or after the release completely of electronic parking system, if detection The offset direction that is rushed with rear wheel rotation rapid pulse of front-wheel wheel speed pulse on the contrary, then electronic parking system is again started up, return to step 3.
CN201610693928.1A 2016-08-19 2016-08-19 A kind of manual-gear vehicle uphill starting control method based on electronic parking system Active CN106080604B (en)

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CN106945665B (en) * 2017-03-07 2018-03-13 广东轻工职业技术学院 A kind of car ramp starting anti-slip control method and control system
CN110182190B (en) * 2018-02-22 2022-08-05 罗伯特·博世有限公司 Method, device and control unit for parking brake release
CN109017794B (en) * 2018-08-30 2020-10-27 华南理工大学 Ramp auxiliary system based on electronic hydraulic braking and control method thereof
CN109278751B (en) * 2018-10-09 2020-08-21 浙江力邦合信智能制动系统股份有限公司 Hill start control method and control system for manual-gear vehicle
CN109990766B (en) * 2019-04-24 2021-05-04 重庆理工大学 Road slope detection method and system based on comprehensive resistance coefficient of road surface
CN110435659B (en) * 2019-08-20 2021-07-30 奇瑞汽车股份有限公司 Automobile starting control method and device and storage medium
CN112124271B (en) * 2020-09-27 2022-08-23 东风柳州汽车有限公司 Electronic parking brake release control method
CN113401096B (en) * 2021-06-30 2022-03-25 东风汽车集团股份有限公司 Vehicle slope starting method and system based on electronic parking system
CN113581179B (en) * 2021-07-29 2023-06-23 东风柳州汽车有限公司 Vehicle hill start control method, device, equipment and storage medium
CN114084139B (en) * 2021-11-30 2023-05-30 东风商用车有限公司 Sectional starting control method, device and equipment for heavy commercial vehicle and storage medium

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