CN107323309A - Method, device and system for controlling exit of electric vehicle cruise control operation in downhill - Google Patents
Method, device and system for controlling exit of electric vehicle cruise control operation in downhill Download PDFInfo
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- CN107323309A CN107323309A CN201710526833.5A CN201710526833A CN107323309A CN 107323309 A CN107323309 A CN 107323309A CN 201710526833 A CN201710526833 A CN 201710526833A CN 107323309 A CN107323309 A CN 107323309A
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- pedal aperture
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- 230000001172 regenerating effect Effects 0.000 claims description 17
- 238000003860 storage Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 13
- 238000011084 recovery Methods 0.000 claims description 10
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- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a method, a device and a system for controlling the exit of an electric automobile cruise control operation 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 brake pedal signal, a cancel key signal or a gear switching signal is received; when a brake pedal signal is received, the opening BPS of the brake pedal is larger than 0, the increase rate dBPPS/dt of the opening of the brake pedal is larger than or equal to a K value, and the electric automobile is provided with a brake auxiliary system, it is determined that a driver corresponding to the electric automobile has an emergency brake intention, the brake auxiliary system increases the brake force to the maximum within a very short time, a PID zero-torque command is sent to a motor controller MCU, the electric automobile is controlled to exit from a constant-speed cruise state, therefore, the negative torque of a constant-speed cruise motor is prevented from exiting suddenly when the electric automobile goes downhill, the speed of the electric automobile is prevented from rising suddenly when the electric automobile goes downhill, and the safety and.
Description
Technical field
The present invention relates to the safety control technology field of electric automobile, more particularly to during a kind of descending, electric automobile constant speed is patrolled
Boat operation withdrawal control method, apparatus and system.
Background technology
Current electric automobile cruise operation withdrawal control method mainly uses for reference the control method of traditional power automobile, when
When driver's brake pedal, switching gear or triggering cancel key, electric automobile exits cruise state.
When vehicle is in descending operating mode cruise, if suffered gradient power is more than every running resistance sum, to make speed
Keep stable, motor output braking moment.When driver's brake pedal, switching gear or triggering cancel key, according to
Above-mentioned control method, cruise motor bears torque and is decreased to zero suddenly, speed can be caused to raise suddenly, influences vehicle safety
Property.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
Therefore, first purpose of the present invention is to propose that control is exited in the operation of electric automobile cruise during a kind of descending
Method, bearing torque and be decreased to zero suddenly for solving cruise motor during descending in the prior art causes vehicle safety difference
Problem.
Second object of the present invention is to propose that control device is exited in the operation of electric automobile cruise during a kind of descending.
Third object of the present invention is to propose that electric automobile cruise operates exit control system during a kind of descending.
Fourth object of the present invention is to propose that control dress is exited in the operation of electric automobile cruise during another descending
Put.
The 5th purpose of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
The 6th purpose of the present invention is to propose a kind of computer program product.
For up to above-mentioned purpose, electric automobile cruise is operated when first aspect present invention embodiment proposes a kind of descending
Withdrawal control method, including：
Obtain the cruise state of electric automobile and the output torque of motor in electric automobile；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive
Signal is exited to cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether the electric automobile is configured with BAS；
The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention,
Brake force is increased to maximum by BAS in very short time, then sends the torque commands of PID zero to electric machine controller MCU,
The electric automobile is controlled to exit cruise state.
Electric automobile cruise operates withdrawal control method during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving brake pedal
Signal, and brake pedal aperture BPS is more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and electronic vapour
When car is configured with BAS, determine that the corresponding driver of electric automobile has brake hard intention, BAS exists
Brake force is increased into maximum in very short time, then sends the torque commands of PID zero to electric machine controller MCU, control electric automobile is moved back
Go out cruise state, so as to avoid cruise motor negative torque during descending from exiting suddenly, it is to avoid electric automobile during descending
Speed is raised suddenly, improves the security and comfortableness of vehicle.
For up to above-mentioned purpose, electric automobile cruise is operated when second aspect of the present invention embodiment proposes a kind of descending
Control device is exited, including：
Acquisition module, for obtaining the cruise state of electric automobile and the output torque of motor in electric automobile；
First judge module, for being active in the cruise state, and the output torque turns to be negative
During square, judge whether that receiving cruise operation exits signal；Signal is exited in the cruise operation to be included：Brake pedal
Signal, cancel key signals or gear switch signal；
Second judge module, for when receiving the brake pedal signal, judging whether brake pedal aperture BPS is big
In 0, judge whether the brake pedal aperture dBPS/dt that advances the speed is more than or equal to K values and judges whether the electric automobile matches somebody with somebody
It is equipped with BAS；The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture increase speed
Rate dBPS/dt；
Determining module, for being more than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed
When dBPS/dt is configured with BAS more than or equal to K values, and the electric automobile, the corresponding driving of electric automobile is determined
Member has brake hard intention, and brake force is increased to maximum by BAS in very short time, then is sent out to electric machine controller MCU
The torque commands of PID zero are sent, control the electric automobile to exit cruise state.
Control device is exited in the operation of electric automobile cruise during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving brake pedal
Signal, and brake pedal aperture BPS is more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and electronic vapour
When car is configured with BAS, determine that the corresponding driver of electric automobile has brake hard intention, BAS exists
Brake force is increased into maximum in very short time, then sends the torque commands of PID zero to electric machine controller MCU, control electric automobile is moved back
Go out cruise state, so as to avoid cruise motor negative torque during descending from exiting suddenly, it is to avoid electric automobile during descending
Speed is raised suddenly, improves the security and comfortableness of vehicle.
For up to above-mentioned purpose, electric automobile cruise is operated when third aspect present invention embodiment proposes a kind of descending
Exit control system, including：
Entire car controller VCU, motor, electric machine controller MCU；
The entire car controller VCU is connected with the electric machine controller MCU；The motor and the electric machine controller MCU
Connection；
The entire car controller is used for, and obtains the cruise state of electric automobile and the output of motor in electric automobile turns
Square；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive
Signal is exited to cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether the electric automobile is configured with BAS；
The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention,
Brake force is increased to maximum by BAS in very short time, then sends the torque commands of PID zero to electric machine controller MCU,
The electric automobile is controlled to exit cruise state.
For up to above-mentioned purpose, electric automobile cruise is grasped when fourth aspect present invention embodiment proposes another descending
Control device is exited, including：Memory, processor and storage are on a memory and the computer journey that can run on a processor
Sequence, it is characterised in that electric automobile cruise is grasped when descending as described above is realized during the computing device described program
Make withdrawal control method.
To achieve these goals, fifth aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium, is stored thereon with computer program, when the computer program in the storage medium is executed by processor so that processing
Device is able to carry out electric automobile cruise during descending as described above and operates withdrawal control method.
To achieve these goals, sixth aspect present invention embodiment proposes a kind of computer program product, when described
When instruction processing unit in computer program product is performed, control is exited in the operation of electric automobile cruise when performing a kind of descending
Method, methods described includes：
Obtain the cruise state of electric automobile and the output torque of motor in electric automobile；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive
Signal is exited to cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether the electric automobile is configured with BAS；
The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention,
Brake force is increased to maximum by BAS in very short time, then sends the torque commands of PID zero to electric machine controller MCU,
The electric automobile is controlled to exit cruise state.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
Electric automobile cruise operates the stream of withdrawal control method when Fig. 1 is a kind of descending provided in an embodiment of the present invention
Journey schematic diagram；
Electric automobile cruise operation withdrawal control method when Fig. 2 is another descending provided in an embodiment of the present invention
Schematic flow sheet；
Electric automobile cruise operation withdrawal control method when Fig. 3 is another descending provided in an embodiment of the present invention
Schematic flow sheet；
The knot of control device is exited in the operation of electric automobile cruise when Fig. 4 is a kind of descending provided in an embodiment of the present invention
Structure schematic diagram；
Control device is exited in the operation of electric automobile cruise when Fig. 5 is another descending provided in an embodiment of the present invention
Structural representation；
Control device is exited in the operation of electric automobile cruise when Fig. 6 is another descending provided in an embodiment of the present invention
Structural representation；
Control device is exited in the operation of electric automobile cruise when Fig. 7 is another descending provided in an embodiment of the present invention
Structural representation；
Electric automobile cruise operates the knot of exit control system when Fig. 8 is a kind of descending provided in an embodiment of the present invention
Structure schematic diagram；
Control device is exited in the operation of electric automobile cruise when Fig. 9 is another descending provided in an embodiment of the present invention
Structural representation.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings describe during the descending of the embodiment of the present invention electric automobile cruise operation withdrawal control method,
Apparatus and system.
Electric automobile cruise operates the stream of withdrawal control method when Fig. 1 is a kind of descending provided in an embodiment of the present invention
Journey schematic diagram.As shown in figure 1, electric automobile cruise operation withdrawal control method comprises the following steps during the descending：
S101, the cruise state for obtaining electric automobile and motor in electric automobile output torque.
When the executive agent of electric automobile cruise operation withdrawal control method is descending during the descending that the present invention is provided
Control device is exited in the operation of electric automobile cruise, and the operation of electric automobile cruise is exited control device and specifically may be used during descending
Think entire car controller (Vehicle Control Unit, VCU), or the hardware or soft in entire car controller
Part.Entire car controller VCU is responsible for upper strata and coordinates control, for being sent to electric machine controller (Moter Control Unit, MCU)
Order, and receive the signal of electric machine controller MCU uploads.The signal that entire car controller VCU is gathered in real time has brake pedal aperture
Advance the speed dBPS/dt, Cancel key and gear etc. of (Braking pedal aperture, BPS), brake pedal aperture is driven
The operation signal for the person of sailing.Motor is then controlled by it the control of device MCU inner control logics.
S102, it is active in cruise state, and output torque is when being negative torque, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；Signal is exited in cruise operation to be included：Brake pedal signal, cancel key signals or gear
Switching signal.
Wherein, when cruise state is active, entire car controller VCU sends PID to electric machine controller MCU
Torque command TPID, control targe speed is V0.If entire car controller VCU sends PID torque commands T to electric machine controller MCUPID
＜ 0, i.e. motor export braking moment, show that gradient power suffered by electric automobile is more than every running resistance sum, now electronic vapour
Car is in descending operating mode.Now, if receiving cruise operation exits signal, electric automobile can exit cruise shape
State.
If S103, receiving brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether electric automobile is configured with BAS；Braking
Pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt.
Wherein, if entire car controller VCU receives brake pedal signal, brake pedal can be performed and exit subprogram,
Such as step 104.
If the 104, brake pedal aperture BPS is more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values,
And electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention, brake auxiliary
Brake force is increased to maximum by auxiliary system in very short time, then sends the torque commands of PID zero, control electricity to electric machine controller MCU
Electrical automobile exits cruise state.
Wherein, the torque commands of PID zero are sent to electric machine controller MCU, is to reduce motor braking torque pair as far as possible
The influence of BAS, improves the security of electric automobile.The torque commands of PID zero refer to TPID=0.
Further, in the present embodiment, described method can also include：If brake pedal aperture BPS is more than 0, and system
Dynamic pedal aperture advances the speed dBPS/dt less than K values, if or brake pedal aperture BPS be more than 0, and the increasing of brake pedal aperture
Rate of acceleration dBPS/dt is more than or equal to K values, and electric automobile is not configured with BAS, then to electric machine controller MCU successively
Send the PID torque commands being gradually reduced；It is less than the braking for parsing and obtaining according to brake pedal aperture BPS in PID torque commands
During energy regenerating torque command, control electric automobile exits cruise state.
Specifically, it is more than 0 in brake pedal aperture BPS, and brake pedal aperture advances the speed dBPS/dt less than K values
In the case of, or in brake pedal aperture BPS more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and
In the case that electric automobile is not configured with BAS, parse what is obtained according to brake pedal aperture BPS to ensure to work as
When Brake energy recovery torque command bears torque less than cruise motor, the braking intention of accurate response driver, i.e. speed
Do not raise, entire car controller VCU continues to send PID torque commands T to electric machine controller MCUPID, control electric automobile speed is still
It is so V0.The Brake energy recovery torque command T parsed according to brake pedal aperture BPSRegBuilt-in variable is only used as, temporarily not
Send.With brake pedal aperture BPS increase, the PID torque commands that entire car controller VCU is sent to electric machine controller MCU
TPID, can be gradually reduced with the increase of brake pedal brake force.As PID torque commands TPIDLess than according to brake pedal aperture
The Brake energy recovery torque command T that BPS parsings are obtainedRegWhen, cruise state is exited, and vehicle enters braking mode, vehicle
Controller VCU sends Brake energy recovery torque command T to electric machine controller MCUReg。
Electric automobile cruise operates withdrawal control method during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving brake pedal
Signal, and brake pedal aperture BPS is more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and electronic vapour
When car is configured with BAS, determine that the corresponding driver of electric automobile has brake hard intention, BAS exists
Brake force is increased into maximum in very short time, then sends the torque commands of PID zero to electric machine controller MCU, control electric automobile is moved back
Go out cruise state, so as to avoid cruise motor negative torque during descending from exiting suddenly, it is to avoid electric automobile during descending
Speed is raised suddenly, improves the security and comfortableness of vehicle.
Electric automobile cruise operation withdrawal control method when Fig. 2 is another descending provided in an embodiment of the present invention
Schematic flow sheet.As shown in Fig. 2 electric automobile cruise operation withdrawal control method comprises the following steps during the descending：
S201, the cruise state for obtaining electric automobile and motor in electric automobile output torque.
S202, it is active in cruise state, and output torque is when being negative torque, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；Signal is exited in cruise operation to be included：Brake pedal signal, cancel key signals or gear
Switching signal.
If S203, receiving cancel key signals, to electric automobile, corresponding driver sends cue, and prompting is driven
The person of sailing will move out constant speed navigational state.
Specifically, if the driver of electric automobile presses cancel keys, i.e. cancel=1, then entire car controller VCU can be with
Cancel key signals are received, cancel keys is performed and exits subprogram, the content that such as step 204 is performed.
S204, after the first preset time period, send the PID torque commands being gradually reduced successively to electric machine controller MCU；
When PID torque commands are less than and slide energy regenerating torque command, control electric automobile exits cruise state.
For example, the first preset time period can be 1 second to 3 seconds.When specifically, in order to provide enough reactions to driver
Between, and ensure security and comfortableness of the electric automobile during descending, it is necessary to make electric automobile speed slowly varying.Vehicle
Controller VCU reminds driver's cruise to exit, and after time t (1-3s), and entire car controller VCU is to motor control
Device MCU sends the PID torque commands being gradually reduced successively so that TPIDIt is slow to reduce.When the entire car controller VCU PID sent turn
Square order TPIDLess than sliding energy regenerating torque command TCoaWhen, cruise state is exited, and vehicle enters sliding mode.
Electric automobile cruise operates withdrawal control method during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving cancel keys
During signal, cue is sent to the corresponding driver of electric automobile, points out driver to will move out constant speed navigational state；First
After preset time period, the PID torque commands being gradually reduced are sent successively to electric machine controller MCU；It is less than in PID torque commands and slides
During row energy regenerating torque command, control electric automobile exits cruise state, so as to avoid cruise motor during descending
Negative torque is exited suddenly, it is to avoid the speed of electric automobile is raised suddenly during descending, improves the security and comfortableness of vehicle.
Electric automobile cruise operation withdrawal control method when Fig. 3 is another descending provided in an embodiment of the present invention
Schematic flow sheet.As shown in figure 3, electric automobile cruise operation withdrawal control method comprises the following steps during the descending：
S301, the cruise state for obtaining electric automobile and motor in electric automobile output torque.
S302, it is active in cruise state, and output torque is when being negative torque, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；Signal is exited in cruise operation to be included：Brake pedal signal, cancel key signals or gear
Switching signal.
If S303, receiving gear switch signal, to electric automobile, corresponding driver sends cue, and prompting is driven
The person of sailing will move out constant speed navigational state；Gear switch signal includes：Gear after switching.
Wherein, when the driver of electric automobile switches gear, entire car controller VCU can receive gear switch letter
Number, perform gear switch and exit subprogram, the content that following steps 304 are performed.
S304, after the second preset time period, send the PID torque commands being gradually reduced successively to electric machine controller MCU；
Gear after handover is forward gear, and PID torque commands, less than when sliding energy regenerating torque command, control electric automobile is moved back
Go out cruise state；Gear after handover be non-forward gear, and PID torque commands be zero torque commands of PID when, control electricity
Electrical automobile exits cruise state.
Wherein, the second preset time period can be 1 second to 3 seconds.When specifically, in order to provide enough reactions to driver
Between, and ensure security and comfortableness of the electric automobile during descending, it is necessary to make car speed slowly varying.Full-vehicle control
Device VCU reminds driver's cruise state to exit, and after time t (1-3s), and entire car controller VCU is to motor control
Device MCU sends the PID torque commands being gradually reduced successively so that TPIDIt is slow to reduce.If before the gear after switching is D/E/S etc.
Enter gear, the PID torque commands T sent as entire car controller VCUPIDLess than sliding energy regenerating torque command TCoaWhen, constant speed is patrolled
Boat state is exited, and vehicle enters sliding mode.If switching after gear be not the forward gears such as D/E/S, when entire car controller VCU to
The PID torque commands T that electric machine controller MCU is sentPIDWhen=0, cruise state is exited, and vehicle enters neutral position sliding pattern.
Electric automobile cruise operates withdrawal control method during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving gear switch
During signal, cue is sent to the corresponding driver of electric automobile, points out driver to will move out constant speed navigational state；Gear is cut
Changing signal includes：Gear after switching；After the second preset time period, send and be gradually reduced successively to electric machine controller MCU
PID torque commands；Gear after handover is forward gear, and PID torque commands are less than when sliding energy regenerating torque command,
Control electric automobile exits cruise state；Gear after handover is non-forward gear, and PID torque commands are PID zero-turns
During square order, control electric automobile exits cruise state, so as to avoid cruise motor negative torque during descending from moving back suddenly
Go out, it is to avoid the speed of electric automobile is raised suddenly during descending, improve the security and comfortableness of vehicle.
The knot of control device is exited in the operation of electric automobile cruise when Fig. 4 is a kind of descending provided in an embodiment of the present invention
Structure schematic diagram.As shown in figure 4, the operation of electric automobile cruise is exited control device and included during the descending：Acquisition module 41,
One judge module 42, the second judge module 43 and determining module 44.
Wherein, acquisition module 41, cruise state and the output of motor in electric automobile for obtaining electric automobile
Torque；
First judge module 42, for being active in the cruise state, and the output torque is negative
During torque, judge whether that receiving cruise operation exits signal；Signal is exited in the cruise operation to be included：Braking is stepped on
Partitioned signal, cancel key signals or gear switch signal；
Second judge module 43, for whether when receiving the brake pedal signal, judging brake pedal aperture BPS
More than 0, judge whether the brake pedal aperture dBPS/dt that advances the speed is more than or equal to K values and whether judges the electric automobile
It is configured with BAS；The brake pedal signal includes：Brake pedal aperture BPS and the increase of brake pedal aperture
Speed dBPS/dt；
Determining module 44, for being more than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed
When dBPS/dt is configured with BAS more than or equal to K values, and the electric automobile, the corresponding driving of electric automobile is determined
Member has brake hard intention, and brake force is increased to maximum by BAS in very short time, then is sent out to electric machine controller MCU
The torque commands of PID zero are sent, control the electric automobile to exit cruise state.
The operation of electric automobile cruise exits control device and is specifically as follows full-vehicle control during the descending that the present invention is provided
Device (Vehicle Control Unit, VCU), or hardware or software in entire car controller.Entire car controller
VCU is responsible for upper strata and coordinates control, is ordered for being sent to electric machine controller (Moter Control Unit, MCU), and receive electricity
The signal that machine controller MCU is uploaded.The signal that entire car controller VCU is gathered in real time has brake pedal aperture (Brakingpedal
Aperture, BPS), brake pedal aperture advances the speed the operation signal of the drivers such as dBPS/dt, Cancel key and gear.
Motor is then controlled by it the control of device MCU inner control logics.
Wherein, when cruise state is active, entire car controller VCU sends PID to electric machine controller MCU
Torque command TPID, control targe speed is V0.If entire car controller VCU sends PID torque commands T to electric machine controller MCUPID
＜ 0, i.e. motor export braking moment, show that gradient power suffered by electric automobile is more than every running resistance sum, now electronic vapour
Car is in descending operating mode.Now, if receiving cruise operation exits signal, electric automobile can exit cruise shape
State.
Wherein, the torque commands of PID zero are sent to electric machine controller MCU, is to reduce motor braking torque pair as far as possible
The influence of BAS, improves the security of electric automobile.The torque commands of PID zero refer to TPID=0.
Further, with reference to Fig. 5 is referred to, on the basis of embodiment illustrated in fig. 4, described device can also include：The
One sending module 45, for being more than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed dBPS/dt
Less than K values, if or the brake pedal aperture BPS be more than 0, and the brake pedal aperture dBPS/dt that advances the speed is more than
Equal to K values, and the electric automobile is when being not configured with BAS, sends and is gradually reduced successively to electric machine controller MCU
PID torque commands；It is less than the Brake energy recovery for parsing and obtaining according to brake pedal aperture BPS in the PID torque commands
During torque command, the electric automobile is controlled to exit cruise state.
Specifically, it is more than 0 in brake pedal aperture BPS, and brake pedal aperture advances the speed dBPS/dt less than K values
In the case of, or in brake pedal aperture BPS more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and
In the case that electric automobile is not configured with BAS, parse what is obtained according to brake pedal aperture BPS to ensure to work as
When Brake energy recovery torque command bears torque less than cruise motor, the braking intention of accurate response driver, i.e. speed
Do not raise, entire car controller VCU continues to send PID torque commands T to electric machine controller MCUPID, control electric automobile speed is still
It is so V0.The Brake energy recovery torque command T parsed according to brake pedal aperture BPSRegBuilt-in variable is only used as, temporarily not
Send.With brake pedal aperture BPS increase, the PID torque commands that entire car controller VCU is sent to electric machine controller MCU
TPID, can be gradually reduced with the increase of brake pedal brake force.As PID torque commands TPIDLess than according to brake pedal aperture
The Brake energy recovery torque command T that BPS parsings are obtainedRegWhen, cruise state is exited, and vehicle enters braking mode, vehicle
Controller VCU sends Brake energy recovery torque command T to electric machine controller MCUReg。
Control device is exited in the operation of electric automobile cruise during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving brake pedal
Signal, and brake pedal aperture BPS is more than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and electronic vapour
When car is configured with BAS, determine that the corresponding driver of electric automobile has brake hard intention, BAS exists
Brake force is increased into maximum in very short time, then sends the torque commands of PID zero to electric machine controller MCU, control electric automobile is moved back
Go out cruise state, so as to avoid cruise motor negative torque during descending from exiting suddenly, it is to avoid electric automobile during descending
Speed is raised suddenly, improves the security and comfortableness of vehicle.
Further, with reference to Fig. 6 is referred to, on the basis of embodiment illustrated in fig. 4, described device can also include：The
One reminding module 46 and the second sending module 47.
Wherein, the first reminding module 46, for when receiving the cancel key signals, being driven to electric automobile is corresponding
The person of sailing sends cue, points out the driver to will move out constant speed navigational state；
Second sending module 47, for after the first preset time period, sending and being gradually reduced successively to electric machine controller MCU
PID torque commands；When the PID torque commands are less than and slide energy regenerating torque command, the electric automobile is controlled to move back
Go out cruise state.
For example, the first preset time period can be 1 second to 3 seconds.When specifically, in order to provide enough reactions to driver
Between, and ensure security and comfortableness of the electric automobile during descending, it is necessary to make electric automobile speed slowly varying.Vehicle
Controller VCU reminds driver's cruise to exit, and after time t (1-3s), and entire car controller VCU is to motor control
Device MCU sends the PID torque commands being gradually reduced successively so that TPIDIt is slow to reduce.When the entire car controller VCU PID sent turn
Square order TPIDLess than sliding energy regenerating torque command TCoaWhen, cruise state is exited, and vehicle enters sliding mode.
Control device is exited in the operation of electric automobile cruise during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving cancel keys
During signal, cue is sent to the corresponding driver of electric automobile, points out driver to will move out constant speed navigational state；First
After preset time period, the PID torque commands being gradually reduced are sent successively to electric machine controller MCU；It is less than in PID torque commands and slides
During row energy regenerating torque command, control electric automobile exits cruise state, so as to avoid cruise motor during descending
Negative torque is exited suddenly, it is to avoid the speed of electric automobile is raised suddenly during descending, improves the security and comfortableness of vehicle.
Further, with reference to Fig. 7 is referred to, on the basis of embodiment illustrated in fig. 4, described device can also include：The
Two reminding modules 48 and the 3rd sending module 49.
Wherein, the second reminding module 48, for when receiving the gear switch signal, being driven to electric automobile is corresponding
The person of sailing sends cue, points out the driver to will move out constant speed navigational state；The gear switch signal includes：Switching
Gear afterwards；
3rd sending module 49, for after the second preset time period, sending and being gradually reduced successively to electric machine controller MCU
PID torque commands；Gear after the switching is forward gear, and the PID torque commands are less than and slide energy regenerating and turn
During square order, the electric automobile is controlled to exit cruise state；Gear after the switching is non-forward gear, and described
When PID torque commands are zero torque commands of PID, the electric automobile is controlled to exit cruise state.
Wherein, the second preset time period can be 1 second to 3 seconds.When specifically, in order to provide enough reactions to driver
Between, and ensure security and comfortableness of the electric automobile during descending, it is necessary to make car speed slowly varying.Full-vehicle control
Device VCU reminds driver's cruise state to exit, and after time t (1-3s), and entire car controller VCU is to motor control
Device MCU sends the PID torque commands being gradually reduced successively so that TPIDIt is slow to reduce.If before the gear after switching is D/E/S etc.
Enter gear, the PID torque commands T sent as entire car controller VCUPIDLess than sliding energy regenerating torque command TCoaWhen, constant speed is patrolled
Boat state is exited, and vehicle enters sliding mode.If switching after gear be not the forward gears such as D/E/S, when entire car controller VCU to
The PID torque commands T that electric machine controller MCU is sentPIDWhen=0, cruise state is exited, and vehicle enters neutral position sliding pattern.
Control device is exited in the operation of electric automobile cruise during the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque is when bearing torque, to judge whether that receiving cruise operation exits signal；Constant speed is patrolled
Signal is exited in boat operation to be included：Brake pedal signal, cancel key signals or gear switch signal；Receiving gear switch
During signal, cue is sent to the corresponding driver of electric automobile, points out driver to will move out constant speed navigational state；Gear is cut
Changing signal includes：Gear after switching；After the second preset time period, send and be gradually reduced successively to electric machine controller MCU
PID torque commands；Gear after handover is forward gear, and PID torque commands are less than when sliding energy regenerating torque command,
Control electric automobile exits cruise state；Gear after handover is non-forward gear, and PID torque commands are PID zero-turns
During square order, control electric automobile exits cruise state, so as to avoid cruise motor negative torque during descending from moving back suddenly
Go out, it is to avoid the speed of electric automobile is raised suddenly during descending, improve the security and comfortableness of vehicle.
The detailed description of each functions of modules may be referred to Fig. 1 to embodiment illustrated in fig. 3 in above-described embodiment, no longer enter herein
Row is described in detail.
Electric automobile cruise operates the knot of exit control system when Fig. 8 is a kind of descending provided in an embodiment of the present invention
Structure schematic diagram, as shown in figure 8, including：Entire car controller VCU81, motor 82 and electric machine controller MCU83；
The entire car controller VCU81 is connected with the electric machine controller MCU83；The motor 82 and the motor control
Device MCU83 connections.
The entire car controller 81 is used for, and obtains the cruise state of electric automobile and the output of motor in electric automobile
Torque；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive
Signal is exited to cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether the electric automobile is configured with BAS；
The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention,
Brake force is increased to maximum by BAS in very short time, then sends the torque commands of PID zero to electric machine controller MCU,
The electric automobile is controlled to exit cruise state.
The detailed description of each device function may be referred to Fig. 1 to embodiment illustrated in fig. 3 in the present embodiment, no longer carry out herein
Describe in detail.
Control device is exited in the operation of electric automobile cruise when Fig. 9 is another descending provided in an embodiment of the present invention
Structural representation.Control device is exited in the operation of electric automobile cruise during the descending includes：
Memory 1001, processor 1002 and it is stored in the calculating that can be run on memory 1001 and on processor 1002
Machine program.
Electric automobile cruise when processor 1002 realizes the descending provided in above-described embodiment when performing described program
Operate withdrawal control method.
Further, the operation of electric automobile cruise is exited control device and also included during descending：
Communication interface 1003, for the communication between memory 1001 and processor 1002.
Memory 1001, for depositing the computer program that can be run on processor 1002.
Memory 1001 may include high-speed RAM memory, it is also possible to also including nonvolatile memory (non-
Volatile memory), for example, at least one magnetic disk storage.
Processor 1002, electric automobile constant speed is patrolled when the descending described in above-described embodiment is realized during described program for performing
Boat operation withdrawal control method.
If memory 1001, processor 1002 and the independent realization of communication interface 1003, communication interface 1003, memory
1001 and processor 1002 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard
Architecture (Industry Standard Architecture, referred to as ISA) bus, external equipment interconnection
(Peripheral Component, referred to as PCI) bus or extended industry-standard architecture (Extended Industry
Standard Architecture, referred to as EISA) bus etc..The bus can be divided into address bus, data/address bus, control
Bus processed etc..For ease of representing, only represented in Fig. 9 with a thick line, it is not intended that only one bus or a type of
Bus.
Optionally, on implementing, if memory 1001, processor 1002 and communication interface 1003, are integrated in one
Realized on block chip, then memory 1001, processor 1002 and communication interface 1003 can complete mutual by internal interface
Communication.
Processor 1002 is probably a central processing unit (Central Processing Unit, referred to as CPU), or
Person is specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), or quilt
It is configured to implement one or more integrated circuits of the embodiment of the present invention.
Further, the embodiment of the present invention also provides a kind of non-transitorycomputer readable storage medium, is stored thereon with
Computer program, it is characterised in that electric automobile constant speed is patrolled the program realizes descending as described above when being executed by processor when
Boat operation withdrawal control method.
Further, the embodiment of the present invention also provides a kind of computer program product, when in the computer program product
Instruction processing unit when performing, electric automobile cruise operation withdrawal control method, methods described bag when performing a kind of descending
Include：
Obtain the cruise state of electric automobile and the output torque of motor in electric automobile；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive
Signal is exited to cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether the electric automobile is configured with BAS；
The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention,
Brake force is increased to maximum by BAS in very short time, then sends the torque commands of PID zero to electric machine controller MCU,
The electric automobile is controlled to exit cruise state.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, fragment or the portion of the code of one or more executable instructions for the step of realizing custom logic function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list for the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress for combining these instruction execution systems, device or equipment and using
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wirings
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, can even is that can be in the paper of printing described program thereon or other are suitable for computer-readable medium
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.Such as, if realized with hardware with another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With the logic gates for realizing logic function to data-signal from
Scattered logic circuit, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can be compiled
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
Rapid to can be by program to instruct the hardware of correlation to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is realized using in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although having been shown and retouching above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (12)
1. electric automobile cruise operates withdrawal control method during a kind of descending, it is characterised in that including：
Obtain the cruise state of electric automobile and the output torque of motor in electric automobile；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive and determine
Signal is exited in speed cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals or
Gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal aperture
Whether the dBPS/dt that advances the speed is more than or equal to K values and judges whether the electric automobile is configured with BAS；It is described
Brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K values,
And the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention, system
Brake force is increased to maximum by dynamic auxiliary system in very short time, then sends the torque commands of PID zero, control to electric machine controller MCU
Make the electric automobile and exit cruise state.
2. according to the method described in claim 1, it is characterised in that also include：
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt less than K values, or
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K values, and institute
State electric automobile and be not configured with BAS, then send the PID torques life being gradually reduced successively to electric machine controller MCU
Order；When the PID torque commands are less than and parse obtained Brake energy recovery torque command according to brake pedal aperture BPS,
The electric automobile is controlled to exit cruise state.
3. according to the method described in claim 1, it is characterised in that also include：
If receiving the cancel key signals, cue is sent to the corresponding driver of electric automobile, point out described in drive
The person of sailing will move out constant speed navigational state；
After the first preset time period, the PID torque commands being gradually reduced are sent successively to electric machine controller MCU；In the PID
Torque command controls the electric automobile to exit cruise state less than when sliding energy regenerating torque command.
4. according to the method described in claim 1, it is characterised in that also include：
If receiving the gear switch signal, cue is sent to the corresponding driver of electric automobile, point out described in drive
The person of sailing will move out constant speed navigational state；The gear switch signal includes：Gear after switching；
After the second preset time period, the PID torque commands being gradually reduced are sent successively to electric machine controller MCU；Cut described
Gear after changing is forward gear, and the PID torque commands control the electronic vapour less than when sliding energy regenerating torque command
Car exits cruise state；Gear after the switching is non-forward gear, and the PID torque commands are PID zero-turn squares
During order, the electric automobile is controlled to exit cruise state.
5. control device is exited in the operation of electric automobile cruise during a kind of descending, it is characterised in that including：
Acquisition module, for obtaining the cruise state of electric automobile and the output torque of motor in electric automobile；
First judge module, for being active in the cruise state, and the output torque is bears during torque,
Judge whether that receiving cruise operation exits signal；Signal is exited in the cruise operation to be included：Brake pedal signal,
Cancel key signals or gear switch signal；
Second judge module, for when receiving the brake pedal signal, judge brake pedal aperture BPS whether be more than 0,
Judge whether the brake pedal aperture dBPS/dt that advances the speed is more than or equal to and K values and judges whether the electric automobile is configured with
BAS；The brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed
dBPS/dt；
Determining module, for being more than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed dBPS/dt
More than or equal to K values, and the electric automobile is when being configured with BAS, determines that the corresponding driver of electric automobile has promptly
Brake force is increased to maximum by braking intention, BAS in very short time, then sends PID zero to electric machine controller MCU
Torque command, controls the electric automobile to exit cruise state.
6. device according to claim 5, it is characterised in that also include：
First sending module, for being more than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed
DBPS/dt is less than K values, if or the brake pedal aperture BPS more than 0, and the brake pedal aperture is advanced the speed dBPS/
Dt is more than or equal to K values, and the electric automobile is when being not configured with BAS, to electric machine controller MCU send successively by
Decrescence small PID torque commands；It is less than the Brake Energy for parsing and obtaining according to brake pedal aperture BPS in the PID torque commands
When amount reclaims torque command, the electric automobile is controlled to exit cruise state.
7. device according to claim 5, it is characterised in that also include：
First reminding module, for when receiving the cancel key signals, sending and carrying to the corresponding driver of electric automobile
Show signal, point out the driver to will move out constant speed navigational state；
Second sending module, for after the first preset time period, sending the PID being gradually reduced successively to electric machine controller MCU
Torque command；When the PID torque commands are less than and slide energy regenerating torque command, the electric automobile is controlled to exit constant speed
Cruising condition.
8. device according to claim 5, it is characterised in that also include：
Second reminding module, for when receiving the gear switch signal, sending and carrying to the corresponding driver of electric automobile
Show signal, point out the driver to will move out constant speed navigational state；The gear switch signal includes：Gear after switching；
3rd sending module, for after the second preset time period, sending the PID being gradually reduced successively to electric machine controller MCU
Torque command；Gear after the switching is forward gear, and the PID torque commands are less than and slide energy regenerating torque command
When, control the electric automobile to exit cruise state；Gear after the switching is non-forward gear, and the PID turns
When square order is zero torque commands of PID, the electric automobile is controlled to exit cruise state.
9. electric automobile cruise operates exit control system during a kind of descending, it is characterised in that including：
Entire car controller VCU, motor and electric machine controller MCU；
The entire car controller VCU is connected with the electric machine controller MCU；The motor is connected with the electric machine controller MCU；
The entire car controller is used for, and obtains the cruise state of electric automobile and the output torque of motor in electric automobile；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive and determine
Signal is exited in speed cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals or
Gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal aperture
Whether the dBPS/dt that advances the speed is more than or equal to K values and judges whether the electric automobile is configured with BAS；It is described
Brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K values,
And the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention, system
Brake force is increased to maximum by dynamic auxiliary system in very short time, then sends the torque commands of PID zero, control to electric machine controller MCU
Make the electric automobile and exit cruise state.
10. control device is exited in the operation of electric automobile cruise during a kind of descending, it is characterised in that including：
Memory, processor and storage are on a memory and the computer program that can run on a processor, it is characterised in that institute
Electric automobile cruise operation when realizing the descending as described in any in claim 1-4 when stating computing device described program
Withdrawal control method.
11. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the program
Control is exited in the operation of electric automobile cruise when the descending as described in any in claim 1-4 is realized when being executed by processor
Method.
12. a kind of computer program product, when the instruction processing unit in the computer program product is performed, is performed under one kind
Electric automobile cruise operates withdrawal control method during slope, and methods described includes：
Obtain the cruise state of electric automobile and the output torque of motor in electric automobile；
It is active in the cruise state, and the output torque is when bearing torque, to judge whether to receive and determine
Signal is exited in speed cruise operation；Signal is exited in the cruise operation to be included：Brake pedal signal, cancel key signals or
Gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is more than 0, judges brake pedal aperture
Whether the dBPS/dt that advances the speed is more than or equal to K values and judges whether the electric automobile is configured with BAS；It is described
Brake pedal signal includes：Brake pedal aperture BPS and brake pedal aperture are advanced the speed dBPS/dt；
If the brake pedal aperture BPS is more than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K values,
And the electric automobile is configured with BAS, it is determined that the corresponding driver of electric automobile has brake hard intention, system
Brake force is increased to maximum by dynamic auxiliary system in very short time, then sends the torque commands of PID zero, control to electric machine controller MCU
Make the electric automobile and exit cruise state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710526833.5A CN107323309B (en) | 2017-06-30 | 2017-06-30 | Method, device and system for controlling exit of electric vehicle cruise control operation in downhill |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710526833.5A CN107323309B (en) | 2017-06-30 | 2017-06-30 | Method, device and system for controlling exit of electric vehicle cruise control operation in downhill |
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| CN107323309B CN107323309B (en) | 2019-08-02 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962833A (en) * | 2019-12-05 | 2020-04-07 | 中国重汽集团济南动力有限公司 | Control method and control system for matching vehicle cruising and neutral sliding |
| CN112109724A (en) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Adaptive cruise control system activation method, vehicle, and readable storage medium |
| CN112208348A (en) * | 2019-07-10 | 2021-01-12 | 北汽福田汽车股份有限公司 | Torque control method and device, storage medium and vehicle-mounted terminal |
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