CN107264536B - Method, device and system for controlling exit of constant-speed cruising fault of electric automobile in downhill - Google Patents

Method, device and system for controlling exit of constant-speed cruising fault of electric automobile in downhill Download PDF

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Publication number
CN107264536B
CN107264536B CN201710524395.9A CN201710524395A CN107264536B CN 107264536 B CN107264536 B CN 107264536B CN 201710524395 A CN201710524395 A CN 201710524395A CN 107264536 B CN107264536 B CN 107264536B
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brake
constant
electric automobile
speed
braking
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CN107264536A (en
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柳少康
代康伟
梁海强
刘昕
王琳琳
万继云
朱跃
李明亮
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0225—Failure correction strategy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention provides a method, a device and a system for controlling the exit of a constant-speed cruising fault of an electric automobile in a downhill, wherein the method comprises the following steps: when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a voltage failure signal, a speed limit failure signal or a power limit failure signal under the condition of high voltage interruption is received; when receiving a high voltage interruption and low voltage reduction fault signal, sending an alarm signal to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; controlling the electric automobile to exit from the constant-speed cruising state; and sending a braking torque command with a braking torque value equal to the PID torque value to the corresponding brake-by-wire system, and after a corresponding preset time period, sequentially sending gradually reduced braking torque commands to the corresponding brake-by-wire system until the braking torque command is zero, so that the negative torque of the constant-speed cruise motor is prevented from suddenly quitting when the vehicle descends, the vehicle speed of the electric vehicle is prevented from suddenly rising when the vehicle descends, and the safety and the comfort of the vehicle are improved.

Description

Method, device and system for controlling exit of constant-speed cruising fault of electric automobile in downhill
Technical Field
The invention relates to the technical field of safety control of electric automobiles, in particular to a method, a device and a system for controlling exit of a constant-speed cruise fault of an electric automobile in downhill.
Background
The conventional control method of the conventional power automobile is mainly used as a reference for the constant-speed cruise control method of the electric automobile, and when a driver steps on a brake pedal, shifts gears, triggers a cancel key or breaks down the vehicle, the electric automobile exits from a constant-speed cruise state.
When the vehicle is cruising at a constant speed under a downhill working condition, if the gradient force is greater than the sum of all the running resistances, the motor outputs braking torque to keep the vehicle speed stable. When a driver steps on a brake pedal, shifts gears, triggers a cancel key or a vehicle breaks down, according to the control method, the negative torque of the constant-speed cruise motor is suddenly reduced to zero, so that the vehicle speed is suddenly increased, and the safety of the vehicle is influenced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a method for controlling the exit of a constant-speed cruise fault of an electric vehicle during a downhill, which is used for solving the problem of poor vehicle safety caused by the sudden reduction of the negative torque of a constant-speed cruise motor during the downhill to zero in the prior art.
The invention also provides a device for controlling the exit of the constant-speed cruising fault of the electric automobile when going downhill.
The invention also provides a system for controlling the exit of the constant-speed cruising fault of the electric automobile when going downhill.
The fourth purpose of the invention is to provide another constant-speed cruising fault exit control device for the electric automobile when going downhill.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
A sixth object of the invention is to propose a computer program product.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle runs downhill, including:
acquiring a constant-speed cruising state of the electric automobile and an output torque of a motor of the electric automobile;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
According to the method for controlling the exit of the constant-speed cruise fault of the electric automobile in the downhill, whether a constant-speed cruise fault exit signal is received or not is judged by the fact that the constant-speed cruise state is in an activated state and the output torque is negative; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption; when receiving a high voltage interruption and low voltage reduction fault signal, sending an alarm signal to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; controlling the electric automobile to exit from the constant-speed cruising state; and according to the braking state of the brake-by-wire system, a braking torque command with a braking torque value equal to the PID torque value is sent to the corresponding brake-by-wire system, and after a corresponding preset time period, gradually reduced braking torque commands are sent to the corresponding brake-by-wire system in sequence until the braking torque command is zero, so that the negative torque of the constant-speed cruise motor is prevented from being suddenly withdrawn when the vehicle is going downhill, the vehicle speed of the electric vehicle is prevented from being suddenly increased when the vehicle is going downhill, and the safety and the comfort of the vehicle are improved.
In order to achieve the above object, a second aspect of the present invention provides an electric vehicle cruise control device during downhill, including:
the first acquisition module is used for acquiring the constant-speed cruising state of the electric automobile and the output torque of a motor of the electric automobile;
the judging module is used for judging whether a constant-speed cruise fault exit signal is received or not when the constant-speed cruise state is in an activated state and the output torque is negative torque; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
the first prompting module is used for sending an alarm signal to a driver corresponding to the electric automobile when receiving the high voltage failure and low voltage failure signal and prompting the driver to brake a brake pedal;
the first control module is used for controlling the electric automobile to exit from a constant-speed cruising state;
the first sending module is used for sending a braking torque command with a braking torque value equal to the PID torque value to the electronic hydraulic braking system when the braking state of the brake-by-wire system is '1' and the brake-by-wire system represents that the brake-by-wire system is the electronic hydraulic braking system EHB; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
According to the device for controlling the constant-speed cruise fault exit of the electric automobile in the downhill, whether a constant-speed cruise fault exit signal is received or not is judged by the fact that the constant-speed cruise state is in an activated state and the output torque is negative; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption; when receiving a high voltage interruption and low voltage reduction fault signal, sending an alarm signal to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; controlling the electric automobile to exit from the constant-speed cruising state; and according to the braking state of the brake-by-wire system, a braking torque command with a braking torque value equal to the PID torque value is sent to the corresponding brake-by-wire system, and after a corresponding preset time period, gradually reduced braking torque commands are sent to the corresponding brake-by-wire system in sequence until the braking torque command is zero, so that the negative torque of the constant-speed cruise motor is prevented from being suddenly withdrawn when the vehicle is going downhill, the vehicle speed of the electric vehicle is prevented from being suddenly increased when the vehicle is going downhill, and the safety and the comfort of the vehicle are improved.
In order to achieve the above object, a third aspect of the present invention provides a system for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle runs downhill, including:
the system comprises a vehicle control unit VCU, a motor controller MCU and a line control brake system;
the VCU is respectively connected with the motor controller MCU and the brake-by-wire system; the motor is connected with the motor controller MCU;
the vehicle control unit is used for acquiring a constant-speed cruising state of the electric vehicle and an output torque of a motor of the electric vehicle;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
In order to achieve the above object, a fourth aspect of the present invention provides another constant-speed-cruise-fault exit control device for an electric vehicle when descending a slope, including: the electric vehicle cruise control system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor executes the program to realize the method for controlling the constant-speed cruise fault exit of the electric vehicle during downhill.
In order to achieve the above object, a fifth aspect embodiment of the present invention proposes a non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, enables the processor to execute the method for controlling exit from constant-speed cruise fault of an electric vehicle when descending a slope as described above.
In order to achieve the above object, a sixth aspect of the present invention provides a computer program product, wherein when being executed by an instruction processor of the computer program product, the computer program product executes a method for controlling exit from a constant-speed cruise fault of an electric vehicle when descending a slope, the method comprising:
acquiring a constant-speed cruising state of the electric automobile and an output torque of a motor of the electric automobile;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle is going downhill according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle is running downhill according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an electric vehicle cruise control device during downhill operation according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another constant-speed cruise fault exit control device for an electric vehicle when going downhill according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another constant-speed cruise fault exit control device for an electric vehicle when going downhill according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another constant-speed cruise fault exit control device for an electric vehicle when going downhill according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another constant-speed cruise fault exit control device for an electric vehicle when going downhill according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an electric vehicle cruise control system during downhill operation according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of another constant-speed cruise fault exit control device for an electric vehicle when going downhill according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The method, the device and the system for controlling the constant-speed cruise fault exit of the electric vehicle when the electric vehicle runs downhill according to the embodiment of the invention are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle is going downhill according to an embodiment of the present invention. As shown in FIG. 1, the method for controlling the exit of the constant-speed cruising fault of the electric automobile in the downhill comprises the following steps:
and S101, acquiring a constant-speed cruising state of the electric automobile and the output torque of a motor of the electric automobile.
The execution main body of the method for controlling the constant-speed cruising fault exit of the electric automobile in the downhill is a device for controlling the constant-speed cruising fault exit of the electric automobile in the downhill, and the device for controlling the constant-speed cruising fault exit of the electric automobile in the downhill can be a Vehicle Control Unit (VCU), or hardware or software installed in the Vehicle Control Unit. The vehicle Control Unit VCU is responsible for upper layer coordination Control, and is configured to send a command to a Motor Controller (MCU) and receive a signal uploaded by the MCU. Signals acquired by the VCU of the vehicle control unit in real time include operation signals of a driver such as brake pedal opening (BPS), brake pedal opening increasing rate dBPPS/dt, a Cancel key and gears. The motor is controlled by the internal control logic of the MCU.
S102, when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption.
When the constant-speed cruise state is in an activated state, the VCU of the vehicle control unit sends a PID torque command T to the MCUPIDControl target vehicle speed to V0. If the VCU of the vehicle controller sends a PID torque command T to the MCU of the motor controllerPIDIf the gradient force is less than 0, the motor outputs braking torque, which indicates that the gradient force borne by the electric automobile is greater than the sum of all driving resistances, and the electric automobile is in a downhill working condition at the moment. At this time, if the constant-speed-cruise fault exit signal is received, the electric automobile exits the constant-speed-cruise state.
And S103, if the high voltage interruption and low voltage reduction fault signal is received, sending an alarm signal to a driver corresponding to the electric automobile, and prompting the driver to brake the brake pedal.
After receiving the high-voltage failure and low-voltage failure signal, the VCU may execute the high-voltage failure and low-voltage failure exit subroutine, as in the content executed in steps 104 to 105.
And S104, controlling the electric automobile to exit the constant-speed cruising state.
S105, if the braking state of the brake-by-wire system is 1, the brake-by-wire system is an electronic hydraulic braking system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic braking system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
In this embodiment, because the voltage failure under the high-voltage failure belongs to a serious failure, and the motor cannot provide the braking torque, the vehicle control unit VCU needs to determine the state of the brake-by-wire system and sends out different codes according to the current state of the brake-by-wire system. If a plurality of types of brake-by-wire systems are provided in the electric vehicle, the priority of use is sequentially lowered from the state "0" to the state "3". By this method, the present embodiment can accommodate a variety of brake-by-wire systems. When the brake state of the brake-by-wire system is "0", it indicates that no brake-by-wire system is available or the brake-by-wire system is not operated.
For example, the third preset time period may be 1 second to 3 seconds. Specifically, the VCU may send a braking torque of "T" to the EHBEHB＝TPID"the braking torque command is slowly exited after time t (1-3 s).
Further, in this embodiment, the method may further include: if the braking state of the brake-by-wire system is '2', the brake-by-wire system comprises an electronic vacuum booster EVB, and a braking torque command with a braking torque value equal to a PID (proportion integration differentiation) torque value is sent to the electronic vacuum booster; after a fourth preset time period, gradually decreasing braking torque commands are sequentially sent to the electronic vacuum booster until the braking torque commands are zero.
For example, the fourth preset time period may be 1 second to 3 seconds. Specifically, the whole vehicle controlThe brake VCU may send a braking torque "T" to the electronic vacuum booster EVBEVB＝TPID"the braking torque command is slowly exited after time t (1-3 s).
Further, in this embodiment, the method may further include: if the braking state of the brake-by-wire system is 3, the brake-by-wire system is an electronic parking brake system EPB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic parking brake system; and after a fifth preset time period, sequentially sending gradually reduced braking torque commands to the electronic parking braking system until the braking torque commands are zero values.
For example, the fifth preset time period may be 1 second to 3 seconds. Specifically, the VCU may send a braking torque of "T" to the EPBEPB＝TPID"the braking torque command is slowly exited after time t (1-3 s).
According to the method for controlling the exit of the constant-speed cruise fault of the electric automobile in the downhill, whether a constant-speed cruise fault exit signal is received or not is judged by the fact that the constant-speed cruise state is in an activated state and the output torque is negative; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption; when receiving a high voltage interruption and low voltage reduction fault signal, sending an alarm signal to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; controlling the electric automobile to exit from the constant-speed cruising state; and according to the braking state of the brake-by-wire system, a braking torque command with a braking torque value equal to the PID torque value is sent to the corresponding brake-by-wire system, and after a corresponding preset time period, gradually reduced braking torque commands are sent to the corresponding brake-by-wire system in sequence until the braking torque command is zero, so that the negative torque of the constant-speed cruise motor is prevented from being suddenly withdrawn when the vehicle is going downhill, the vehicle speed of the electric vehicle is prevented from being suddenly increased when the vehicle is going downhill, and the safety and the comfort of the vehicle are improved.
Fig. 2 is a flowchart illustrating another method for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle is going downhill according to an embodiment of the present invention. As shown in fig. 2, the method for controlling the exit of the constant-speed cruising fault of the electric automobile in the downhill comprises the following steps:
s201, acquiring a constant-speed cruising state of the electric automobile and output torque of a motor of the electric automobile.
S202, when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption.
And S203, if the speed limit fault signal or the power limit fault signal is received, sending an alarm signal to a driver corresponding to the electric automobile, and prompting the driver to brake the brake pedal.
After receiving the speed limit fault signal or the power limit fault signal, the VCU of the vehicle control unit may execute a speed limit fault or power limit fault exit subroutine, as in the content executed in step 204 to step 206.
And S204, sending a PID torque command to the motor controller MCU, and controlling the speed of the electric automobile to be unchanged.
Because the speed limit fault or the power limit fault belongs to the medium fault, the motor can provide braking torque within a certain time and a certain torque range, and therefore the VCU of the vehicle controller continuously sends a PID torque command T to the MCUPIDThe control target vehicle speed is still V0。
And S205, acquiring a brake pedal opening BPS.
And S206, if the opening BPS of the brake pedal is greater than 0, the electric automobile enters a brake mode, a brake energy recovery torque command is sent to the motor controller MCU, and the electric automobile is controlled to exit the constant-speed cruise state.
Specifically, if the driver steps on the brake pedal, that is, the BPS is greater than 0, the driver may be considered to take over the electric vehicle, the constant-speed cruise state exits, the electric vehicle enters the braking mode, and the vehicle control unit VCU sends a braking energy recovery torque command T to the motor control unit MCUReg。
In addition, further, the method described in this embodiment may further include: if the brake pedal opening BPS is equal to 0 and the PID torque command is smaller than the sliding energy recovery torque command, the electric automobile is indicated to be in a non-downhill working condition, and the electric automobile is controlled to exit the constant-speed cruise state.
Specifically, if the driver does not take any action, when the vehicle control unit VCU sends the PID torque command T to the motor controller MCUPIDLess than coast energy recovery torque command TCoaWhen the vehicle is in the non-downhill working condition, the vehicle can be judged, and in order to ensure the safety of the vehicle, the constant-speed cruise exits, and the vehicle enters a limp mode.
According to the method for controlling the exit of the constant-speed cruise fault of the electric automobile in the downhill, whether a constant-speed cruise fault exit signal is received or not is judged by the fact that the constant-speed cruise state is in an activated state and the output torque is negative; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption; when a speed limit fault signal or a power limit fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; sending a PID torque command to a motor controller MCU to control the speed of the electric automobile to be unchanged; acquiring a brake pedal opening BPS; when the opening BPS of the brake pedal is larger than 0 and indicates that the electric automobile enters a brake mode, a brake energy recovery torque command is sent to the motor controller MCU to control the electric automobile to exit the constant-speed cruise state, so that the negative torque of the constant-speed cruise motor is prevented from exiting suddenly when the electric automobile descends, the speed of the electric automobile is prevented from rising suddenly when the electric automobile descends, and the safety and the comfort of the automobile are improved.
Fig. 3 is a schematic structural diagram of an electric vehicle cruise control device during downhill operation according to an embodiment of the present invention. As shown in fig. 3, the constant-speed cruise fault exit control device for an electric vehicle on a downhill comprises: the device comprises a first acquisition module 31, a judgment module 32, a first prompting module 33, a first control module 34 and a first sending module 35.
The first obtaining module 31 is configured to obtain a constant-speed cruising state of the electric vehicle and an output torque of a motor of the electric vehicle;
the judging module 32 is configured to judge whether a constant-speed-cruise fault exit signal is received when the constant-speed-cruise state is in an activated state and the output torque is a negative torque; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
the first prompting module 33 is configured to send an alarm signal to a driver corresponding to the electric vehicle when receiving the high voltage failure and low voltage failure signal, and prompt the driver to perform brake operation on a brake pedal;
the first control module 34 is used for controlling the electric automobile to exit from a constant-speed cruising state;
a first sending module 35, configured to send a braking torque command with a braking torque value equal to the PID torque value to the electrohydraulic brake system when the braking state of the brake-by-wire system is "1", which indicates that the brake-by-wire system is the electrohydraulic brake system EHB; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
The device for controlling the exit of the constant-speed cruising fault of the electric automobile in the downhill process can be a Vehicle Control Unit (VCU), or hardware or software installed in the VCU. The vehicle Control Unit VCU is responsible for upper layer coordination Control, and is configured to send a command to a Motor Controller (MCU) and receive a signal uploaded by the MCU. The signals acquired by the VCU of the vehicle control unit in real time include operation signals of a driver, such as brake pedal opening (BPS), brake pedal opening increase rate dBPS/dt, Cancel key, gear and the like. The motor is controlled by the internal control logic of the MCU.
When the constant-speed cruise state is in an activated state, the VCU of the vehicle control unit sends a PID torque command T to the MCUPIDControl target vehicle speed to V0. If the VCU of the vehicle controller sends a PID torque command T to the MCU of the motor controllerPIDIf the torque is less than 0, the motor outputs the braking torque, which indicates that the gradient force borne by the electric automobile is greater than the sum of all driving resistances, and the electric automobile is positioned at the momentAnd (5) working conditions of downhill. At this time, if the constant-speed-cruise fault exit signal is received, the electric automobile exits the constant-speed-cruise state.
In this embodiment, because the voltage failure under the high-voltage failure belongs to a serious failure, and the motor cannot provide the braking torque, the vehicle control unit VCU needs to determine the state of the brake-by-wire system and sends out different codes according to the current state of the brake-by-wire system. If a plurality of types of brake-by-wire systems are provided in the electric vehicle, the priority of use is sequentially lowered from the state "0" to the state "3". By this method, the present embodiment can accommodate a variety of brake-by-wire systems. When the brake state of the brake-by-wire system is "0", it indicates that no brake-by-wire system is available or the brake-by-wire system is not operated.
For example, the third preset time period may be 1 second to 3 seconds. Specifically, the VCU may send a braking torque of "T" to the EHBEHB＝TPID"the braking torque command is slowly exited after time t (1-3 s).
Further, with reference to fig. 4, on the basis of the embodiment shown in fig. 3, the apparatus may further include: a second sending module 36, configured to send a braking torque command with a braking torque value equal to the PID torque value to the electronic vacuum booster when the braking state of the brake-by-wire system is "2", which indicates that the brake-by-wire system includes the electronic vacuum booster EVB; after a fourth preset time period, gradually decreasing braking torque commands are sequentially sent to the electronic vacuum booster until the braking torque commands are zero.
For example, the fourth preset time period may be 1 second to 3 seconds. Specifically, the vehicle control unit VCU may send a braking torque of "T" to the electronic vacuum booster EVBEVB＝TPID"the braking torque command is slowly exited after time t (1-3 s).
Further, with reference to fig. 5, on the basis of the embodiment shown in fig. 3, the apparatus may further include: a third sending module 37, configured to send a braking torque command with a braking torque value equal to the PID torque value to the electronic parking brake system when the braking state of the brake-by-wire system is "3", which indicates that the brake-by-wire system is the electronic parking brake system EPB; and after a fifth preset time period, sequentially sending gradually reduced braking torque commands to the electronic parking braking system until the braking torque commands are zero values.
For example, the fifth preset time period may be 1 second to 3 seconds. Specifically, the VCU may send a braking torque of "T" to the EPBEPB＝TPID"the braking torque command is slowly exited after time t (1-3 s).
According to the device for controlling the constant-speed cruise fault exit of the electric automobile in the downhill, whether a constant-speed cruise fault exit signal is received or not is judged by the fact that the constant-speed cruise state is in an activated state and the output torque is negative; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption; when receiving a high voltage interruption and low voltage reduction fault signal, sending an alarm signal to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; controlling the electric automobile to exit from the constant-speed cruising state; and according to the braking state of the brake-by-wire system, a braking torque command with a braking torque value equal to the PID torque value is sent to the corresponding brake-by-wire system, and after a corresponding preset time period, gradually reduced braking torque commands are sent to the corresponding brake-by-wire system in sequence until the braking torque command is zero, so that the negative torque of the constant-speed cruise motor is prevented from being suddenly withdrawn when the vehicle is going downhill, the vehicle speed of the electric vehicle is prevented from being suddenly increased when the vehicle is going downhill, and the safety and the comfort of the vehicle are improved.
Further, with reference to fig. 6, on the basis of the embodiment shown in fig. 3, the apparatus may further include: a second prompting module 38, a fourth sending module 39, a second obtaining module 40 and a fifth sending module 41.
The second prompting module 38 is configured to send an alarm signal to a driver corresponding to the electric vehicle when receiving the speed limit fault signal or the power limit fault signal, and prompt the driver to perform a brake operation of a brake pedal;
the fourth sending module 39 is configured to send a PID torque command to a motor controller MCU to control the speed of the electric vehicle to be unchanged;
a second obtaining module 40, configured to obtain a brake pedal opening BPS;
and a fifth sending module 41, configured to send a braking energy recovery torque command to the motor controller MCU when the brake pedal opening BPS is greater than 0 and indicates that the electric vehicle enters the braking mode, so as to control the electric vehicle to exit the cruise control state.
Because the speed limit fault or the power limit fault belongs to the medium fault, the motor can provide braking torque within a certain time and a certain torque range, and therefore the VCU of the vehicle controller continuously sends a PID torque command T to the MCUPIDThe control target vehicle speed is still V0。
Specifically, if the driver steps on the brake pedal, that is, the BPS is greater than 0, the driver may be considered to take over the electric vehicle, the constant-speed cruise state exits, the electric vehicle enters the braking mode, and the vehicle control unit VCU sends a braking energy recovery torque command T to the motor control unit MCUReg。
Further, with reference to fig. 7, on the basis of the embodiment shown in fig. 6, the apparatus may further include: and the second control module 42 is configured to control the electric vehicle to exit the constant-speed cruise state when the brake pedal opening BPS is equal to 0 and the PID torque command is smaller than the coasting energy recovery torque command and indicates that the electric vehicle is in the non-downhill working condition.
Specifically, if the driver does not take any action, when the vehicle control unit VCU sends the PID torque command T to the motor controller MCUPIDLess than coast energy recovery torque command TCoaWhen the vehicle is in the non-downhill working condition, the vehicle can be judged, and in order to ensure the safety of the vehicle, the constant-speed cruise exits, and the vehicle enters a limp mode.
According to the device for controlling the constant-speed cruise fault exit of the electric automobile in the downhill, whether a constant-speed cruise fault exit signal is received or not is judged by the fact that the constant-speed cruise state is in an activated state and the output torque is negative; the constant-speed cruise fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption; when a speed limit fault signal or a power limit fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal; sending a PID torque command to a motor controller MCU to control the speed of the electric automobile to be unchanged; acquiring a brake pedal opening BPS; when the opening BPS of the brake pedal is larger than 0 and indicates that the electric automobile enters a brake mode, a brake energy recovery torque command is sent to the motor controller MCU to control the electric automobile to exit the constant-speed cruise state, so that the negative torque of the constant-speed cruise motor is prevented from exiting suddenly when the electric automobile descends, the speed of the electric automobile is prevented from rising suddenly when the electric automobile descends, and the safety and the comfort of the automobile are improved.
The detailed description of the functions of the modules in the above embodiments may refer to the embodiments shown in fig. 1 to 2, and will not be described in detail here.
Fig. 8 is a schematic structural diagram of an electric vehicle cruise control system during downhill operation according to an embodiment of the present invention, as shown in fig. 8, including: the system comprises a vehicle control unit VCU81, a motor 82, a motor controller MCU83 and a brake-by-wire system 84;
the vehicle control unit VCU81 is respectively connected with the motor controller MCU83 and the brake-by-wire system 84; the motor 82 is connected with the motor controller MCU 83.
The vehicle control unit 81 is used for acquiring a constant-speed cruising state of the electric vehicle and an output torque of a motor of the electric vehicle;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
The detailed description of the functions of the devices in this embodiment may refer to the embodiments shown in fig. 1 to 2, and will not be described in detail here.
Fig. 9 is a schematic structural diagram of another constant-speed cruise fault exit control device for an electric vehicle when going downhill according to an embodiment of the present invention. The device for controlling the constant-speed cruising fault exit of the electric automobile in the downhill comprises:
memory 1001, processor 1002, and computer programs stored on memory 1001 and executable on processor 1002.
The processor 1002 executes the program to implement the method for controlling the constant-speed cruise fault exit of the electric vehicle when the electric vehicle is going downhill, which is provided in the above-mentioned embodiment.
Further, the electric automobile constant speed cruise fault exit control device during downhill further comprises:
a communication interface 1003 for communicating between the memory 1001 and the processor 1002.
A memory 1001 for storing computer programs that may be run on the processor 1002.
Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory).
And the processor 1002 is configured to implement the method for controlling the constant-speed cruise fault exit of the electric vehicle when the electric vehicle runs downhill according to the foregoing embodiment when executing the program.
If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
Further, an embodiment of the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for controlling exit from a constant-speed cruise fault of an electric vehicle when the electric vehicle is going downhill as described above.
Further, an embodiment of the present invention also provides a computer program product, wherein when being executed by an instruction processor in the computer program product, the computer program product executes a method for controlling exit of a constant-speed cruise fault of an electric vehicle when the electric vehicle runs downhill, and the method comprises the following steps:
acquiring a constant-speed cruising state of the electric automobile and an output torque of a motor of the electric automobile;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (13)

1. A method for controlling the exit of a constant-speed cruising fault of an electric automobile in a downhill is characterized by comprising the following steps:
acquiring a constant-speed cruising state of the electric automobile and an output torque of a motor of the electric automobile;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
2. The method of claim 1, further comprising:
if the braking state of the brake-by-wire system is '2', the brake-by-wire system comprises an electronic vacuum booster EVB, and a braking torque command with a braking torque value equal to a PID (proportion integration differentiation) torque value is sent to the electronic vacuum booster; after a fourth preset time period, gradually decreasing braking torque commands are sequentially sent to the electronic vacuum booster until the braking torque commands are zero.
3. The method of claim 1, further comprising:
if the braking state of the brake-by-wire system is 3, the brake-by-wire system is an electronic parking brake system EPB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic parking brake system; and after a fifth preset time period, sequentially sending gradually reduced braking torque commands to the electronic parking braking system until the braking torque commands are zero values.
4. The method of claim 1, further comprising:
if the speed limit fault signal or the power limit fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake the brake pedal;
sending a PID torque command to a motor controller MCU to control the speed of the electric automobile to be constant;
acquiring a brake pedal opening BPS;
if the opening BPS of the brake pedal is larger than 0, the electric automobile enters a brake mode, a brake energy recovery torque command is sent to a motor controller MCU, and the electric automobile is controlled to exit a constant speed cruise state.
5. The method of claim 4, further comprising:
and if the brake pedal opening BPS is equal to 0 and the PID torque command is smaller than the coasting energy recovery torque command, indicating that the electric automobile is in a non-downhill working condition, and controlling the electric automobile to exit the constant speed cruising state.
6. The utility model provides an electric automobile constant speed cruises trouble and withdraws from controlling means when downhill path which characterized in that includes:
the first acquisition module is used for acquiring the constant-speed cruising state of the electric automobile and the output torque of a motor of the electric automobile;
the judging module is used for judging whether a constant-speed cruise fault exit signal is received or not when the constant-speed cruise state is in an activated state and the output torque is negative torque; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
the first prompting module is used for sending an alarm signal to a driver corresponding to the electric automobile when receiving the high voltage failure and low voltage failure signal and prompting the driver to brake a brake pedal;
the first control module is used for controlling the electric automobile to exit from a constant-speed cruising state;
the first sending module is used for sending a braking torque command with a braking torque value equal to the PID torque value to the electronic hydraulic braking system when the braking state of the brake-by-wire system is '1' and the brake-by-wire system represents that the brake-by-wire system is the electronic hydraulic braking system EHB; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
7. The apparatus of claim 6, further comprising:
the second sending module is used for sending a braking torque command with a braking torque value equal to the PID torque value to the electronic vacuum booster when the braking state of the brake-by-wire system is '2' and the brake-by-wire system contains the electronic vacuum booster EVB; after a fourth preset time period, gradually decreasing braking torque commands are sequentially sent to the electronic vacuum booster until the braking torque commands are zero.
8. The apparatus of claim 6, further comprising:
the third sending module is used for sending a braking torque command with a braking torque value equal to the PID torque value to the electronic parking braking system when the braking state of the brake-by-wire system is '3' and the brake-by-wire system represents that the brake-by-wire system is the electronic parking braking system EPB; and after a fifth preset time period, sequentially sending gradually reduced braking torque commands to the electronic parking braking system until the braking torque commands are zero values.
9. The apparatus of claim 6, further comprising:
the second prompting module is used for sending an alarm signal to a driver corresponding to the electric automobile when receiving the speed limit fault signal or the power limit fault signal and prompting the driver to brake the brake pedal;
the fourth sending module is used for sending a PID torque command to the motor controller MCU and controlling the speed of the electric automobile to be unchanged;
the second acquisition module is used for acquiring the brake pedal opening BPS;
and the fifth sending module is used for sending a braking energy recovery torque command to the motor controller MCU when the opening BPS of the brake pedal is larger than 0 and indicates that the electric automobile enters a braking mode, and controlling the electric automobile to exit a constant speed cruising state.
10. The apparatus of claim 9, further comprising:
and the second control module is used for controlling the electric automobile to exit the constant-speed cruise state when the brake pedal opening BPS is equal to 0, and the PID torque command is smaller than the coasting energy recovery torque command and indicates that the electric automobile is in a non-downhill working condition.
11. A constant-speed cruising fault exit control system of an electric automobile in a downhill is characterized by comprising:
the system comprises a vehicle control unit VCU, a motor controller MCU and a line control brake system;
the VCU is respectively connected with the motor controller MCU and the brake-by-wire system; the motor is connected with the motor controller MCU;
the vehicle control unit is used for acquiring a constant-speed cruising state of the electric vehicle and an output torque of a motor of the electric vehicle;
when the constant-speed cruise state is in an activated state and the output torque is negative torque, judging whether a constant-speed cruise fault exit signal is received or not; the cruise control fault exit signal comprises: a voltage-limiting fault signal, a speed-limiting fault signal or a power-limiting fault signal under the condition of high voltage interruption;
if the high-voltage breaking and pressing fault signal is received, an alarm signal is sent to a driver corresponding to the electric automobile to prompt the driver to brake a brake pedal;
controlling the electric automobile to exit from a constant-speed cruising state;
if the braking state of the brake-by-wire system is '1', the brake-by-wire system is an electronic hydraulic brake system EHB, and a braking torque command with a braking torque value equal to the PID torque value is sent to the electronic hydraulic brake system; after a third preset time period, gradually decreasing braking torque commands are sequentially sent to the electro-hydraulic braking system until the braking torque commands are zero.
12. The utility model provides an electric automobile constant speed cruises trouble and withdraws from controlling means when downhill path which characterized in that includes:
memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the method for controlling exit from cruise fault of electric vehicle when going downhill as claimed in any one of claims 1 to 5.
13. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the method for cruise control of an electric vehicle on a downhill slope according to any one of claims 1 to 5.
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