CN106564375B - Automobile reversing control method and device and automobile - Google Patents
Automobile reversing control method and device and automobile Download PDFInfo
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- CN106564375B CN106564375B CN201510661054.7A CN201510661054A CN106564375B CN 106564375 B CN106564375 B CN 106564375B CN 201510661054 A CN201510661054 A CN 201510661054A CN 106564375 B CN106564375 B CN 106564375B
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Abstract
The invention discloses an automobile reversing control method and device and an automobile. The method comprises the following steps: when the automobile is in a reverse gear, detecting the opening change rate of an accelerator pedal; judging whether the detected opening change rate is larger than a preset change rate reference value or not; and controlling the automobile not to continue to execute the backing acceleration when the opening change rate of the accelerator pedal is detected to be larger than the preset change rate reference value. The invention solves the situation that the accelerator pedal is mistakenly operated as the brake pedal in the related technology so as to cause the vehicle to be instantaneously accelerated when backing a car, thereby avoiding the safety problem caused by the situation.
Description
Technical Field
The invention relates to the field of automobile control, in particular to an automobile reversing control method and device and an automobile.
Background
Under the general condition, the distance between an accelerator pedal and a brake pedal of an automobile is very close, a driver with poor technology can often perform misoperation, and when the brake pedal needs to be stepped on, the accelerator pedal is stepped on by mistake, so that accidents are easy to happen. In the process of backing up the automobile, a driver needs to look at a rearview mirror, and focuses attention on whether the driver collides with surrounding objects or not, so that whether an accelerator pedal or an accelerator pedal is stepped on is not noticed. Particularly, after backing up, a driver needs to step on the brake pedal to stop backing up, and at the moment, the driver often steps on the brake pedal to the bottom by one foot, if the driver steps on the wrong pedal and steps on the accelerator pedal, the speed of the vehicle can be rapidly improved, so that the vehicle can be rapidly accelerated in a small space, and safety accidents occur.
In order to solve the problem that the accelerator pedal is mistakenly operated as the brake pedal in the related art, so that the automobile is instantaneously accelerated in the process of backing, an effective solution is not provided at present.
Disclosure of Invention
The invention mainly aims to provide a method and a device for controlling automobile reversing and an automobile, so as to solve the problem that the automobile is instantaneously accelerated when reversing due to the fact that an accelerator pedal is mistakenly operated as a brake pedal in the related technology.
In order to achieve the above object, according to one aspect of the present invention, there is provided a reverse control method of a vehicle. The method comprises the following steps: when the automobile is in a reverse gear, detecting the opening change rate of an accelerator pedal; judging whether the detected opening change rate is larger than a preset change rate reference value or not; and controlling the automobile not to continue to execute the backing acceleration when the opening change rate of the accelerator pedal is detected to be larger than the preset change rate reference value.
Further, determining whether the detected opening change rate is greater than a preset change rate reference value includes: and judging whether the opening degree change rate detected in the preset time interval is greater than a preset change rate reference value or not.
Further, after controlling the vehicle not to continue to execute the reverse acceleration, the method further comprises the following steps: detecting the current speed of the automobile; judging whether the current speed of the automobile is greater than a preset speed or not; when the current speed is detected to be greater than the preset speed, controlling the motor torque of the automobile to be reduced; when the current vehicle speed is detected to be less than the preset vehicle speed, controlling the torque of the motor to increase; and when the current vehicle speed is detected to be equal to the preset vehicle speed, controlling the torque of the motor to be unchanged.
Further, when the current vehicle speed is detected to be less than the preset vehicle speed, the method further comprises the following steps: detecting the reversing position of the automobile; and judging whether the automobile backs on the slope or not according to the reversing position of the automobile, wherein when the pure electric automobile is judged to be backed on the slope, the speed of increasing the torque of the motor is controlled to be increased.
Further, controlling the speed of the increase in the motor torque to be increased includes: detecting the gradient of a slope where the automobile is located; determining a rate of increase of the motor torque according to the gradient, wherein the greater the gradient, the faster the rate of increase of the motor torque; and controlling the speed of the torque increase of the motor to be increased according to the determined speed.
In order to achieve the above object, according to another aspect of the present invention, there is provided a reverse control apparatus for a vehicle. The device includes: the first detection unit is used for detecting the opening change rate of an accelerator pedal when the automobile is in a reverse gear; the first judging unit is used for judging whether the detected opening change rate is larger than a preset change rate reference value or not; and the first control unit is used for controlling the automobile not to continuously execute the backing acceleration when the opening change rate of the accelerator pedal is detected to be larger than a preset change rate reference value.
Further, the first judgment unit includes: the first judging module is used for judging whether the opening change rate detected in the preset time interval is larger than a preset change rate reference value or not.
Further, the apparatus further comprises: the second detection unit is used for detecting the current speed of the automobile after controlling the automobile not to continue to execute backing acceleration; the second judgment unit is used for judging whether the current speed of the automobile is greater than the preset speed; and the second control unit is used for controlling the torque of the motor of the automobile to be reduced when the current automobile speed is detected to be greater than the preset automobile speed, controlling the torque of the motor to be increased when the current automobile speed is detected to be less than the preset automobile speed, and controlling the torque of the motor to be unchanged when the current automobile speed is detected to be equal to the preset automobile speed.
Further, the second control unit includes: the detection module is used for detecting the reversing position of the automobile when the current automobile speed is detected to be less than the preset automobile speed; and the control module is used for controlling the speed of increasing the torque of the motor to be accelerated when the situation that the pure electric vehicle backs on the slope is judged.
Further, the control module includes: the detection submodule is used for detecting the gradient of the slope where the automobile is located; the calculation submodule is used for calculating and controlling the increasing rate of the motor torque according to the gradient, wherein the larger the gradient is, the faster the increasing rate of the motor torque is; and the control submodule is used for controlling the increasing speed of the motor torque to be increased according to the calculated speed.
In order to achieve the above object, according to another aspect of the present invention, an automobile is provided, including an automobile reverse control device provided by the embodiment of the present invention.
Further, the automobile is an electric automobile.
According to the invention, when the automobile is in a reverse gear, the opening change rate of the accelerator pedal is detected; judging whether the detected opening change rate is larger than a preset change rate reference value or not; and when the opening change rate of the accelerator pedal is detected to be larger than the preset change rate reference value, controlling the automobile not to continue to carry out reverse acceleration, solving the problem that the accelerator pedal is mistakenly operated as a brake pedal in the related technology so as to cause the instantaneous speed increase of the automobile during the reverse operation, further preventing the instantaneous speed increase of the automobile when the accelerator pedal is mistakenly operated as the brake pedal during the reverse operation, and avoiding the safety problem caused by the operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method of controlling reversing of a vehicle according to an embodiment of the present invention; and
fig. 2 is a schematic view of a reverse control apparatus for a vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides a method for controlling reversing of an automobile.
Fig. 1 is a flowchart of a vehicle reverse control method according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
and S101, detecting the opening change rate of an accelerator pedal when the automobile is in a reverse gear.
The automobile can be divided into an automatic-gear automobile and a manual-gear automobile according to whether the automobile needs manual gear shifting of a driver in the forward running process. The automobile can be divided into a plurality of gears, including a reverse gear, a neutral gear, a forward gear and the like, and is used for controlling the automobile to be in different running states. Generally, a gear sensor is arranged in an automatic gear automobile, so that the current gear of the automobile can be detected, and whether the automobile is in a reverse gear or not is judged. For automatic-gear automobiles and manual-gear automobiles which do not comprise a gear sensor, the gear sensor can be arranged to detect whether the automobile is in a reverse gear or not. The invention does not limit the concrete implementation mode of the gear sensor, and can be that a trigger is arranged on the reverse gear, when the driver puts into the reverse gear, the trigger is triggered to send out a signal, or the gear sensor built in the automatic gear automobile and the like.
When the automobile is detected to be in a reverse gear, the opening change rate of an accelerator pedal of the automobile is detected. The accelerator pedal of an automobile is also called as an accelerator pedal and mainly used for controlling the opening of an automobile engine throttle valve, the engine throttle valve is a controllable valve for controlling air to enter an engine, and gas can be mixed with gasoline into combustible mixed gas after entering an air inlet pipe, so that the combustible mixed gas can be combusted to apply work, and the detection of the opening of the accelerator pedal can also be regarded as the detection of the opening of the automobile engine throttle valve. The rate of change of the opening degree of the accelerator pedal may be represented by an increase in the opening degree of the accelerator pedal, or may be represented by a ratio of the increase in the opening degree of the accelerator pedal to the opening degree before the accelerator pedal is depressed, and any amount that can represent the magnitude of change in the opening degree of the accelerator pedal after the accelerator pedal is depressed is within the scope of the present invention.
The opening of the throttle of the engine of the vehicle controls the power output of the engine, so that the greater the opening of the accelerator pedal, the greater the power and the faster the vehicle accelerates. The conventional accelerator pedal is connected to the throttle valve via a throttle cable or a throttle lever. With the continuous development of automobile electronic technology, the application of the electronic accelerator is more and more extensive, and when a driver steps on an accelerator pedal of the electronic accelerator, the electronic accelerator actually transmits a signal to an electronic control unit of an engine, namely an opening sensor of the accelerator pedal. In the case of an electronic accelerator vehicle, the rate of change of the opening degree of the accelerator pedal may be detected by an opening degree sensor built in the vehicle, whereas in the case of a conventional accelerator pedal, an opening degree sensor may be installed to detect the opening degree of the throttle valve of the engine. The specific implementation of the opening sensor is not limited, and the opening sensor can be arranged on an accelerator pedal to detect the opening change rate of the stepped accelerator pedal and the stepping acceleration, or the displacement sensor can be arranged at the valve control position of the automobile engine throttle valve to directly detect the opening change rate of the engine throttle valve.
Step S102, judging whether the detected opening degree change rate is larger than a preset change rate reference value.
After detecting the opening degree change rate of the accelerator pedal of the automobile, the detected opening degree change rate is compared with a preset change rate reference value. The predetermined rate of change reference is a reference. Since the acceleration operation of the driver is generally slow in order to prevent collision with surrounding objects during the backing process, the driver often steps on the brake pedal rapidly to brake when parking, and at this time, if the driver mistakenly steps on the accelerator pedal, an accident occurs. Therefore, in the process of backing a car, the pedaling force of the driver in the normal operation of acceleration and the misoperation of mistakenly pedaling the accelerator pedal when the driver wants to brake are different, so that the opening change rate of the accelerator pedal is different. A critical value range of the accelerator pedal treaded by the driver by mistake can be calibrated through experiments, namely the preset change rate reference value is obtained, and when the detected opening change rate is larger than the preset change rate reference value, the behavior of the driver treading the accelerator pedal can be considered as misoperation. The determination method may be implemented by using a comparison circuit, or may be implemented by installing software in a controller built in the automobile, and the present invention is not limited to the specific implementation of the determination method.
For example, when the opening degree change rate is detected to be greater than 30% or greater than any value between 30% and 100%, it is considered that the driver has made a wrong operation, and the accelerator pedal is mistaken as the brake pedal, and the force is applied excessively. The determination of the preset change rate reference value may be calibrated through experiments, or may be an average value obtained by counting the operation of the driver on the accelerator pedal by the vehicle controller at ordinary times. At the moment, the automobile is controlled not to accelerate according to the accelerator pedal any more, so that accidents are prevented.
Preferably, the judging whether the detected opening degree change rate is greater than a preset change rate reference value includes: and judging whether the opening degree change rate detected in the preset time interval is greater than a preset change rate reference value or not.
The controller can be used for timing, the opening change rate in a preset time interval is detected, and the speed of the driver stepping on the accelerator pedal during backing can be judged. If the driver mistakenly uses the accelerator pedal as the brake pedal, the speed of mistakenly stepping on the accelerator pedal may be faster than the speed of normal operation, and the acceleration operation during the backing is required to be stopped. The predetermined time interval may be experimentally calibrated, and in general, may be set to any value within a range of 50 milliseconds to 500 milliseconds. For example, after the reverse gear is engaged, if the change rate of the accelerator pedal is less than or equal to 55% within 200 milliseconds, the accelerator pedal can control the reverse speed, and if the change rate of the accelerator pedal is greater than 55% within 200 milliseconds, the accelerator pedal is disabled immediately, that is, the reverse speed is not controlled by the accelerator pedal.
And step S103, when the opening change rate of the accelerator pedal is detected to be larger than a preset change rate reference value, controlling the automobile not to continue to execute reverse acceleration.
If the automobile uses the electronic accelerator pedal, the opening of the automobile engine throttle valve can not be continuously controlled in a mode of controlling the electronic accelerator cut-off signal. If the automobile is a traditional accelerator pedal, the throttle valve of the automobile engine can be locked by arranging a valve locking device, so that the accelerator pedal cannot continuously control the opening of the throttle valve of the automobile engine. There may be various embodiments for controlling the vehicle to no longer perform acceleration according to the accelerator pedal according to different situations, and the present invention is not limited to the specific embodiments thereof.
According to the automobile reverse control method provided by the embodiment of the invention, when the automobile is in a reverse gear, the opening change rate of an accelerator pedal is detected; judging whether the detected opening change rate is larger than a preset change rate reference value or not; and when the opening change rate of the accelerator pedal is detected to be larger than the preset change rate reference value, controlling the automobile not to continue to execute the backing acceleration, solving the problem that the accelerator pedal is mistakenly operated as a brake pedal in the related technology so as to enable the automobile to be instantaneously accelerated in backing, and further preventing the automobile from being instantaneously accelerated when the accelerator pedal is mistakenly operated as the brake pedal in backing.
Preferably, after controlling the vehicle to no longer continue to perform the reverse acceleration, the method further comprises: detecting the current speed of the automobile; judging whether the current speed of the automobile is greater than a preset speed or not; when the current speed is detected to be greater than the preset speed, controlling the motor torque of the automobile to be reduced; when the current vehicle speed is detected to be less than the preset vehicle speed, controlling the torque of the motor to increase; and when the current vehicle speed is detected to be equal to the preset vehicle speed, controlling the torque of the motor to be unchanged.
The motor torque, i.e., the output torque of the electric motor, is one of the basic parameters of the electric motor. The motor provides power for the automobile, when the torque of the motor is increased, the power of the automobile is increased, and when the torque of the motor is reduced, the power of the automobile is reduced. When the reverse speed is not controlled by the accelerator pedal, the speed of the vehicle during the reverse can be controlled by the following method. Firstly, the current speed of the automobile is detected and compared with the preset speed. If the current speed is greater than the preset speed, controlling the motor torque of the automobile to be reduced; if the current vehicle speed is less than the preset vehicle speed, controlling the torque of the motor to increase; and if the current vehicle speed is equal to the preset vehicle speed, controlling the torque of the motor to be unchanged. Generally, a vehicle has a speedometer for displaying the current speed of the vehicle, and may further include the current driving acceleration. The current vehicle speed can be calculated by formula
And calculating, wherein n is the rotating speed of the motor, r is the radius of the wheel, and i is the speed ratio of the speed reducer.
The preset vehicle speed can be a proper reverse vehicle speed, and can also comprise a proper reverse acceleration, when the accelerator pedal does not play a role of controlling the acceleration of the automobile, the motor torque of the automobile is directly controlled to increase or decrease the power of the automobile by comparing the magnitude relation between the current vehicle speed and the preset vehicle speed, and the increase or decrease of the vehicle speed is controlled to a certain degree. The magnitude of the vehicle speed v in the preset vehicle speed can be calibrated through experiments, or can be an empirical value, for example, v is more than or equal to 4km/h and less than or equal to 40km/h, and the magnitude of the acceleration a in the preset vehicle speed can be set to be 0.5m/s2～2m/s2。
Preferably, when it is detected that the current vehicle speed is less than the preset vehicle speed, the method further includes: detecting the reversing position of the automobile; and judging whether the automobile backs on the slope or not according to the reversing position of the automobile, wherein when the pure electric automobile is judged to be backed on the slope, the speed of increasing the torque of the motor is controlled to be increased.
Considering that if the vehicle is on a slope and backs up on the slope, if the accelerator pedal is in a failure state, the vehicle is not controlled to accelerate continuously, and the motor torque is slowly increased to cause the vehicle to roll on the slope. The preferred embodiment controls the speed of the torque increase of the motor to be accelerated by detecting whether the automobile is on the slope or not and when the current speed of the automobile is less than the preset speed of the automobile, so as to prevent the automobile from sliding down the slope. The method for detecting whether the automobile is on the slope can be to detect the current position of the automobile, judge whether the automobile is on the slope in the information such as navigation map or networking acquisition current position, and the like, and also can judge whether the automobile is on the slope through a gradient sensor arranged in the automobile.
Preferably, the controlling the speed of the increase of the motor torque to be increased comprises: detecting the gradient of a slope where the automobile is located; determining a rate of increase of the motor torque according to the gradient, wherein the greater the gradient, the faster the rate of increase of the motor torque; and controlling the speed of the torque increase of the motor to be increased according to the determined speed.
The automobile can detect the gradient of the slope where the automobile is located through a built-in gradient sensor, and the increasing rate of the motor torque is determined according to a preset formula or a preset relation, wherein the principle of the preset formula or the preset relation is that the larger the current gradient is, the faster the increasing rate is. After determining the rate at which the motor torque increases, the motor torque is controlled to increase at the determined rate.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the invention also provides a vehicle reversing control device. It should be noted that the vehicle reverse control device according to the embodiment of the present invention may be used to execute the vehicle reverse control method according to the present invention.
Fig. 2 is a schematic view of a reverse control apparatus for a vehicle according to an embodiment of the present invention. As shown in fig. 2, the apparatus includes: a first detection unit 10, a first judgment unit 20 and a first control unit 30.
The first detecting unit 10 is used for detecting the opening change rate of the accelerator pedal when the automobile is in a reverse gear.
The first judging unit 20 is configured to judge whether the detected opening change rate is greater than a preset change rate reference value.
The first control unit 30 is configured to control the vehicle not to continue to perform the reverse acceleration when it is detected that the opening change rate of the accelerator pedal is greater than a preset change rate reference value.
According to the automobile reverse control device provided by the embodiment of the invention, the opening change rate of an accelerator pedal when an automobile is in a reverse gear is detected through the first detection unit 10; the first judgment unit 20 judges whether the detected opening change rate is greater than a preset change rate reference value; and when detecting that the opening change rate of the accelerator pedal is greater than the preset change rate reference value, the first control unit 30 controls the automobile not to continue to execute the backing acceleration, so that the problem that the automobile is instantaneously accelerated when backing the automobile due to the fact that the accelerator pedal is mistakenly operated as a brake pedal in the related art is solved, and the automobile is prevented from instantaneously accelerating when the accelerator pedal is mistakenly operated as the brake pedal in backing the automobile.
Preferably, the first judgment unit includes: the first judging module is used for judging whether the opening change rate detected in the preset time interval is larger than a preset change rate reference value or not.
Preferably, the apparatus further comprises: the second detection unit is used for detecting the current speed of the automobile after controlling the automobile not to continue to execute backing acceleration; the second judgment unit is used for judging whether the current speed of the automobile is greater than the preset speed; and the second control unit is used for controlling the torque of the motor of the automobile to be reduced when the current automobile speed is detected to be greater than the preset automobile speed, controlling the torque of the motor to be increased when the current automobile speed is detected to be less than the preset automobile speed, and controlling the torque of the motor to be unchanged when the current automobile speed is detected to be equal to the preset automobile speed.
Preferably, the second control unit includes: the detection module is used for detecting the reversing position of the automobile when the current automobile speed is detected to be less than the preset automobile speed; and the control module is used for controlling the speed of increasing the torque of the motor to be accelerated when the situation that the pure electric vehicle backs on the slope is judged.
Preferably, the control module comprises: the detection submodule is used for detecting the gradient of the slope where the automobile is located; the calculation submodule is used for calculating and controlling the increasing rate of the motor torque according to the gradient, wherein the larger the gradient is, the faster the increasing rate of the motor torque is; and the control submodule is used for controlling the increasing speed of the motor torque to be increased according to the calculated speed.
The embodiment of the invention also provides an automobile which comprises the automobile reversing control device provided by the embodiment of the invention.
The embodiment of the invention also provides an electric automobile which comprises the automobile reversing control device provided by the embodiment of the invention.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method for controlling reversing of a vehicle, comprising:
when the automobile is in a reverse gear, detecting the opening change rate of an accelerator pedal;
judging whether the detected opening change rate is larger than a preset change rate reference value or not; and
when the opening change rate of the accelerator pedal is detected to be larger than the preset change rate reference value, controlling the automobile not to continue to execute backing acceleration;
detecting the current speed of the automobile after controlling the automobile not to continuously execute reverse acceleration;
judging whether the current speed of the automobile is greater than a preset speed or not;
when the current vehicle speed is detected to be greater than the preset vehicle speed, controlling the motor torque of the automobile to be reduced;
when the current vehicle speed is detected to be smaller than the preset vehicle speed, controlling the torque of the motor to increase; and
when the current vehicle speed is detected to be equal to the preset vehicle speed, controlling the torque of the motor to be unchanged;
when the current vehicle speed is detected to be smaller than the preset vehicle speed, the method further comprises the following steps:
detecting a reversing position of the automobile; and judging whether the automobile backs on the slope or not according to the reversing position of the automobile, wherein when the automobile is judged to be reversing on the slope, the speed of increasing the torque of the motor is controlled to be increased.
2. The method of claim 1, wherein determining whether the detected rate of change of the opening is greater than a preset rate reference comprises:
and judging whether the opening degree change rate detected in the preset time interval is greater than a preset change rate reference value or not.
3. The method of claim 1, wherein controlling the speed at which the motor torque increases comprises:
detecting the gradient of the slope where the automobile is located;
determining a rate of increase of the motor torque based on the grade, wherein the greater the grade, the faster the rate of increase of the motor torque; and
and controlling the speed of the torque increase of the motor to be increased according to the determined speed.
4. A reverse control apparatus for a vehicle, comprising:
the first detection unit is used for detecting the opening change rate of an accelerator pedal when the automobile is in a reverse gear;
the first judging unit is used for judging whether the detected opening change rate is larger than a preset change rate reference value or not; and
the first control unit is used for controlling the automobile not to continuously execute backing acceleration when the opening change rate of the accelerator pedal is detected to be larger than the preset change rate reference value;
the second detection unit is used for detecting the current speed of the automobile after controlling the automobile not to continuously execute reverse acceleration;
the second judgment unit is used for judging whether the current speed of the automobile is greater than the preset speed or not; and
the second control unit is used for controlling the motor torque of the automobile to be reduced when the current automobile speed is detected to be greater than the preset automobile speed, controlling the motor torque to be increased when the current automobile speed is detected to be less than the preset automobile speed, and controlling the motor torque to be unchanged when the current automobile speed is detected to be equal to the preset automobile speed;
wherein the second control unit includes: the detection module is used for detecting the reversing position of the automobile when the current automobile speed is detected to be smaller than the preset automobile speed; and the control module is used for controlling the speed of torque increase of the motor to be accelerated when the situation that the automobile is backed on the slope is judged.
5. The apparatus according to claim 4, wherein the first judging unit includes:
the first judging module is used for judging whether the opening change rate detected in the preset time interval is larger than a preset change rate reference value or not.
6. The apparatus of claim 4, wherein the control module comprises:
the detection submodule is used for detecting the gradient of the slope where the automobile is located;
a calculation submodule for calculating a rate of control of the motor torque increase in accordance with the grade, wherein the rate of motor torque increase is faster the greater the grade; and
and the control submodule is used for controlling the speed of the torque increase of the motor to be accelerated according to the calculated speed.
7. An automobile characterized by comprising the automobile reverse control apparatus according to any one of claims 4 to 6.
8. An automobile as claimed in claim 7, wherein the automobile is an electric automobile.
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| CN107696861B (en) * | 2017-09-25 | 2020-05-22 | 北京新能源汽车股份有限公司 | Method, device and system for controlling vehicle speed of reversing and reversing safety controller |
| CN111204228B (en) * | 2020-01-20 | 2022-01-18 | 恒大恒驰新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
| CN114103635A (en) * | 2021-12-08 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Method and system for preventing vehicle from stepping on accelerator mistakenly |
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| JPH06276603A (en) * | 1993-03-22 | 1994-09-30 | Toyota Motor Corp | Drive force controller for electric motor vehicle |
| CN102180103A (en) * | 2011-03-30 | 2011-09-14 | 北京理工华创电动车技术有限公司 | Driving system for electric vehicle |
| CN102167001A (en) * | 2011-04-18 | 2011-08-31 | 北京理工华创电动车技术有限公司 | Controller for electric vehicle |
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