CN107323309B - Electric car cruise operates withdrawal control method, apparatus and system when descending - Google Patents
Electric car cruise operates withdrawal control method, apparatus and system when descending Download PDFInfo
- Publication number
- CN107323309B CN107323309B CN201710526833.5A CN201710526833A CN107323309B CN 107323309 B CN107323309 B CN 107323309B CN 201710526833 A CN201710526833 A CN 201710526833A CN 107323309 B CN107323309 B CN 107323309B
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- Prior art keywords
- brake pedal
- electric car
- cruise
- signal
- pedal aperture
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention proposes that electric car cruise operates withdrawal control method, apparatus and system when a kind of descending, wherein method includes: to be active in cruise state, and output torque be negative torque when, judge whether to receive brake pedal signal, cancel key signals or gear switch signal；Receiving brake pedal signal, and brake pedal aperture BPS is greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and electric car be configured with brake assist system when, determine that the corresponding driver of electric car has emergency braking intention, brake force is increased to maximum in a very short period of time by brake assist system, then zero torque command of PID is sent to electric machine controller MCU, control electric car exits cruise state, to avoid cruise motor negative torque when descending from exiting suddenly, the speed of electric car when descending is avoided to increase suddenly, improve safety and the comfort of vehicle.
Description
Technical field
The present invention relates to electric car constant speed when the safety control technology field of electric car more particularly to a kind of descending to patrol
Boat operation withdrawal control method, apparatus and system.
Background technique
Current electric car 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 car exits cruise state.
When vehicle is in descending operating condition cruise, if suffered gradient power is greater than the sum of every running resistance, to make speed
It keeps stablizing, motor exports braking moment.When driver's brake pedal, switching gear or triggering cancel key, according to
Above-mentioned control method, the negative torque of cruise motor are decreased to zero suddenly, will cause speed and increase suddenly, influence vehicle safety
Property.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose that control is exited in the operation of electric car cruise when a kind of descending
Method, the negative torque of cruise motor is decreased to zero suddenly when for solving descending in the prior art leads to vehicle safety difference
Problem.
Second object of the present invention is to propose that control device is exited in the operation of electric car cruise when a kind of descending.
Third object of the present invention is to propose that electric car cruise operates exit control system when a kind of descending.
Fourth object of the present invention is to propose that control dress is exited in the operation of electric car cruise when another descending
It sets.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
6th purpose of the invention is to propose a kind of computer program product.
In order to achieve the above object, electric car cruise operates when first aspect present invention embodiment proposes a kind of descending
Withdrawal control method, comprising:
Obtain the cruise state of electric car and the output torque of motor in electric automobile；
Be active in the cruise state, and the output torque be negative torque when, judge whether to receive
Signal is exited to cruise operation；It includes: brake pedal signal, cancel key signals that signal is exited in the cruise operation
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；
In the brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention,
Brake force is increased to maximum in a very short period of time by brake assist system, then sends zero torque command of PID to electric machine controller MCU,
It controls the electric car and exits cruise state.
Electric car cruise operates withdrawal control method when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving brake pedal
Signal, and brake pedal aperture BPS is greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and electronic vapour
When vehicle is configured with brake assist system, determine that the corresponding driver of electric car has emergency braking intention, brake assist system exists
Brake force is increased into maximum in very short time, then sends zero torque command of PID to electric machine controller MCU, control electric car moves back
Cruise state out, so that cruise motor negative torque when descending be avoided to exit suddenly, electric car when avoiding descending
Speed increases suddenly, improves safety and the comfort of vehicle.
In order to achieve the above object, electric car cruise operates when second aspect of the present invention embodiment proposes a kind of descending
Exit control device, comprising:
Module is obtained, for obtaining the cruise state of electric car and the output torque of motor in electric automobile；
First judgment module, for being active in the cruise state, and the output torque is negative and turns
When square, judge whether that receiving cruise operation exits signal；It includes: brake pedal that signal is exited in the cruise operation
Signal, cancel key signals or gear switch signal；
Second judgment 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 value and judges whether the electric car matches
It is equipped with brake assist system；It include: that brake pedal aperture BPS and brake pedal aperture increase speed in the brake pedal signal
Rate dBPS/dt；
Determining module, for being greater than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed
DBPS/dt be more than or equal to K value, and the electric car be configured with brake assist system when, determine the corresponding driving of electric car
Member has emergency braking intention, and brake force is increased to maximum in a very short period of time by brake assist system, then sends out to electric machine controller MCU
Zero torque command of PID is sent, the electric car is controlled and exits cruise state.
Control device is exited in the operation of electric car cruise when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving brake pedal
Signal, and brake pedal aperture BPS is greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and electronic vapour
When vehicle is configured with brake assist system, determine that the corresponding driver of electric car has emergency braking intention, brake assist system exists
Brake force is increased into maximum in very short time, then sends zero torque command of PID to electric machine controller MCU, control electric car moves back
Cruise state out, so that cruise motor negative torque when descending be avoided to exit suddenly, electric car when avoiding descending
Speed increases suddenly, improves safety and the comfort of vehicle.
In order to achieve the above object, electric car cruise operates when third aspect present invention embodiment proposes a kind of descending
Exit control system, comprising:
Entire car controller VCU, motor, electric machine controller MCU；
The entire car controller VCU is connect with the electric machine controller MCU；The motor and the electric machine controller MCU
Connection；
The entire car controller is used for, and the output of the cruise state and motor in electric automobile that obtain electric car turns
Square；
Be active in the cruise state, and the output torque be negative torque when, judge whether to receive
Signal is exited to cruise operation；It includes: brake pedal signal, cancel key signals that signal is exited in the cruise operation
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；
In the brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention,
Brake force is increased to maximum in a very short period of time by brake assist system, then sends zero torque command of PID to electric machine controller MCU,
It controls the electric car and exits cruise state.
In order to achieve the above object, electric car cruise is grasped when fourth aspect present invention embodiment proposes another descending
Exit control device, comprising: memory, processor and storage are on a memory and the computer journey that can run on a processor
Sequence, which is characterized in that electric car cruise is grasped when the processor realizes descending as described above when executing described program
Make withdrawal control method.
To achieve the goals above, 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
Electric car cruise operates withdrawal control method when device is able to carry out descending as described above.
To achieve the goals above, sixth aspect present invention embodiment proposes a kind of computer program product, when described
When instruction processing unit in computer program product executes, control is exited in the operation of electric car cruise when executing a kind of descending
Method, which comprises
Obtain the cruise state of electric car and the output torque of motor in electric automobile；
Be active in the cruise state, and the output torque be negative torque when, judge whether to receive
Signal is exited to cruise operation；It includes: brake pedal signal, cancel key signals that signal is exited in the cruise operation
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；
In the brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention,
Brake force is increased to maximum in a very short period of time by brake assist system, then sends zero torque command of PID to electric machine controller MCU,
It controls the electric car and exits cruise state.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Electric car 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 car cruise operates withdrawal control method when Fig. 2 is another descending provided in an embodiment of the present invention
Flow diagram；
Electric car cruise operates withdrawal control method when Fig. 3 is another descending provided in an embodiment of the present invention
Flow diagram；
The knot of control device is exited in the operation of electric car 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 car cruise when Fig. 5 is another descending provided in an embodiment of the present invention
Structural schematic diagram；
Control device is exited in the operation of electric car cruise when Fig. 6 is another descending provided in an embodiment of the present invention
Structural schematic diagram；
Control device is exited in the operation of electric car cruise when Fig. 7 is another descending provided in an embodiment of the present invention
Structural schematic diagram；
Electric car 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 car cruise when Fig. 9 is another descending provided in an embodiment of the present invention
Structural schematic diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings describe when the descending of the embodiment of the present invention electric car cruise operation withdrawal control method,
Apparatus and system.
Electric car 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, when the descending electric car cruise operation withdrawal control method the following steps are included:
The output torque of S101, the cruise state for obtaining electric car and motor in electric automobile.
When the executing subject of electric car cruise operation withdrawal control method is descending when descending provided by the invention
Control device is exited in the operation of electric car cruise, and the operation of electric car cruise exits control device and specifically may be used when descending
Think entire car controller (Vehicle Control Unit, VCU), the hardware or soft being either mounted in entire car controller
Part.Entire car controller VCU is responsible for upper layer coordinated control, for sending to electric machine controller (Moter Control Unit, MCU)
Order, and receive the signal of electric machine controller MCU upload.The signal that entire car controller VCU is acquired 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 logic.
S102, be active in cruise state, and output torque be negative torque when, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；It includes: brake pedal signal, cancel key signals or gear that signal is exited in cruise operation
Switching signal.
Wherein, when cruise state is active, entire car controller VCU sends PID to electric machine controller MCU
Torque command TPID, control target vehicle speed is V0.If entire car controller VCU sends PID torque command T to electric machine controller MCUPID
< 0, i.e. motor export braking moment, show that gradient power suffered by electric car is greater than the sum of every running resistance, at this time electronic vapour
Vehicle is in descending operating condition.At this point, electric car can exit cruise shape if receiving cruise operation exits signal
State.
If S103, receiving brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether electric car is configured with brake assist system；Braking
In pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt.
Wherein, if entire car controller VCU receives brake pedal signal, brake pedal can be executed and exit subprogram,
Such as step 104.
If 104, brake pedal aperture BPS is greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value,
And electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention, brakes auxiliary
Brake force is increased to maximum in a very short period of time by auxiliary system, then sends zero torque command of PID, control electricity to electric machine controller MCU
Electrical automobile exits cruise state.
Wherein, zero torque command of PID is sent to electric machine controller MCU, is to reduce motor braking torque pair as far as possible
The influence of brake assist system improves the safety of electric car.Zero torque command of PID refers to TPID=0.
Further, in this embodiment if the method can also include: that brake pedal aperture BPS is greater than 0, and makes
Dynamic pedal opening advances the speed dBPS/dt less than K value, if brake pedal aperture BPS be greater than 0, and brake pedal aperture increases
Rate of acceleration dBPS/dt is more than or equal to K value, and electric car is not configured with brake assist system, then successively to electric machine controller MCU
Send the PID torque command being gradually reduced；It is less than the braking parsed according to brake pedal aperture BPS in PID torque command
When energy regenerating torque command, control electric car exits cruise state.
Specifically, it is greater than 0 in brake pedal aperture BPS, and brake pedal aperture advances the speed dBPS/dt less than K value
In the case of, or in brake pedal aperture BPS greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and
In the case that electric car is not configured with brake assist system, in order to guarantee when being parsed according to brake pedal aperture BPS
When Brake energy recovery torque command is less than the negative torque of cruise motor, the accurate braking intention for responding driver, i.e. speed
It does not increase, entire car controller VCU continues to send PID torque command T to electric machine controller MCUPID, control electric car speed is still
It is so V0.The Brake energy recovery torque command T parsed according to brake pedal aperture BPSRegIt is only used as built-in variable, temporarily not
It sends.With the increase of brake pedal aperture BPS, PID torque command 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 command TPIDLess than according to brake pedal aperture
The Brake energy recovery torque command T that BPS is parsedRegWhen, cruise state exits, and vehicle enters braking mode, vehicle
Controller VCU sends Brake energy recovery torque command T to electric machine controller MCUReg。
Electric car cruise operates withdrawal control method when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving brake pedal
Signal, and brake pedal aperture BPS is greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and electronic vapour
When vehicle is configured with brake assist system, determine that the corresponding driver of electric car has emergency braking intention, brake assist system exists
Brake force is increased into maximum in very short time, then sends zero torque command of PID to electric machine controller MCU, control electric car moves back
Cruise state out, so that cruise motor negative torque when descending be avoided to exit suddenly, electric car when avoiding descending
Speed increases suddenly, improves safety and the comfort of vehicle.
Electric car cruise operates withdrawal control method when Fig. 2 is another descending provided in an embodiment of the present invention
Flow diagram.As shown in Fig. 2, when the descending electric car cruise operation withdrawal control method the following steps are included:
The output torque of S201, the cruise state for obtaining electric car and motor in electric automobile.
S202, be active in cruise state, and output torque be negative torque when, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；It includes: brake pedal signal, cancel key signals or gear that signal is exited in cruise operation
Switching signal.
If S203, receiving cancel key signals, to electric car, corresponding driver issues standby signal, and prompt is driven
The person of sailing will move out constant speed navigational state.
Specifically, if the driver of electric car presses cancel key, i.e. cancel=1, then entire car controller VCU can be with
Cancel key signals are received, cancel key is executed and exits subprogram, the content executed such as step 204.
S204, after the first preset time period, the PID torque command being gradually reduced successively is sent to electric machine controller MCU；
When PID torque command is less than and slides energy regenerating torque command, control electric car 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 guarantee safety and comfort of the electric car during descending, it needs to keep electric car speed slowly varying.Vehicle
Controller VCU reminds driver's cruise that will exit, and after time t (1-3s), entire car controller VCU is to motor control
Device MCU successively sends the PID torque command being gradually reduced, so that TPIDSlowly reduce.When the PID that entire car controller VCU is sent turns
Square order TPIDLess than sliding energy regenerating torque command TCoaWhen, cruise state exits, and vehicle enters sliding mode.
Electric car cruise operates withdrawal control method when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving cancel key
When signal, to electric car, corresponding driver issues standby signal, and driver is prompted to will move out constant speed navigational state；First
After preset time period, the PID torque command being gradually reduced successively is sent to electric machine controller MCU；It is less than in PID torque command and slides
When row energy regenerating torque command, control electric car exits cruise state, to avoid cruise motor when descending
Negative torque is exited suddenly, and the speed of electric car when descending is avoided to increase suddenly, improves safety and the comfort of vehicle.
Electric car cruise operates withdrawal control method when Fig. 3 is another descending provided in an embodiment of the present invention
Flow diagram.As shown in figure 3, when the descending electric car cruise operation withdrawal control method the following steps are included:
The output torque of S301, the cruise state for obtaining electric car and motor in electric automobile.
S302, be active in cruise state, and output torque be negative torque when, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；It includes: brake pedal signal, cancel key signals or gear that signal is exited in cruise operation
Switching signal.
If S303, receiving gear switch signal, to electric car, corresponding driver issues standby signal, and prompt is driven
The person of sailing will move out constant speed navigational state；It include: the gear after switching in gear switch signal.
Wherein, when the driver of electric car switches gear, entire car controller VCU can receive gear switch letter
Number, it executes gear switch and exits subprogram, the content that following steps 304 execute.
S304, after the second preset time period, the PID torque command being gradually reduced successively is sent to electric machine controller MCU；
Gear after handover is forward gear, and PID torque command, less than when sliding energy regenerating torque command, control electric car moves back
Cruise state out；Gear after handover be non-forward gear, and PID torque command be zero torque command 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 guarantee safety and comfort of the electric car during descending, it needs to keep car speed slowly varying.Full-vehicle control
Device VCU reminds driver's cruise state that will exit, and after time t (1-3s), entire car controller VCU is to motor control
Device MCU successively sends the PID torque command being gradually reduced, so that TPIDSlowly reduce.Before if the gear after switching is D/E/S etc.
Into gear, as the PID torque command T that entire car controller VCU is sentPIDLess than sliding energy regenerating torque command TCoaWhen, constant speed is patrolled
Boat state exits, 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 command T that electric machine controller MCU is sentPIDWhen=0, cruise state is exited, and vehicle enters neutral position sliding mode.
Electric car cruise operates withdrawal control method when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving gear switch
When signal, to electric car, corresponding driver issues standby signal, and driver is prompted to will move out constant speed navigational state；Gear is cut
Change include: in signal switching after gear；After the second preset time period, successively sends and be gradually reduced to electric machine controller MCU
PID torque command；Gear after handover is forward gear, and PID torque command is less than when sliding energy regenerating torque command,
Control electric car exits cruise state；Gear after handover is non-forward gear, and PID torque command is PID zero-turn
When square order, control electric car exits cruise state, so that cruise motor negative torque when descending be avoided to move back suddenly
Out, it avoids the speed of electric car when descending from increasing suddenly, improves safety and the comfort of vehicle.
The knot of control device is exited in the operation of electric car 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, it includes: to obtain module 41, that control device is exited in the operation of electric car cruise when the descending
One judgment module 42, the second judgment module 43 and determining module 44.
Wherein, module 41 is obtained, for obtaining the cruise state and the output of motor in electric automobile of electric car
Torque；
First judgment module 42, for being active in the cruise state, and the output torque is negative
When torque, judge whether that receiving cruise operation exits signal；It includes: that braking is stepped on that signal is exited in the cruise operation
Partitioned signal, cancel key signals or gear switch signal；
Second judgment module 43, for whether when receiving the brake pedal signal, judging brake pedal aperture BPS
Greater than 0, judge whether the brake pedal aperture dBPS/dt that advances the speed is more than or equal to K value and whether judges the electric car
Configured with brake assist system；It include: that brake pedal aperture BPS and brake pedal aperture increase in the brake pedal signal
Rate dBPS/dt；
Determining module 44, for being greater than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed
DBPS/dt be more than or equal to K value, and the electric car be configured with brake assist system when, determine the corresponding driving of electric car
Member has emergency braking intention, and brake force is increased to maximum in a very short period of time by brake assist system, then sends out to electric machine controller MCU
Zero torque command of PID is sent, the electric car is controlled and exits cruise state.
The operation of electric car cruise exits control device and is specifically as follows full-vehicle control when descending provided by the invention
Device (Vehicle Control Unit, VCU), the hardware or software being either mounted in entire car controller.Entire car controller
VCU is responsible for upper layer coordinated control, orders for sending 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 acquired 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 logic.
Wherein, when cruise state is active, entire car controller VCU sends PID to electric machine controller MCU
Torque command TPID, control target vehicle speed is V0.If entire car controller VCU sends PID torque command T to electric machine controller MCUPID
< 0, i.e. motor export braking moment, show that gradient power suffered by electric car is greater than the sum of every running resistance, at this time electronic vapour
Vehicle is in descending operating condition.At this point, electric car can exit cruise shape if receiving cruise operation exits signal
State.
Wherein, zero torque command of PID is sent to electric machine controller MCU, is to reduce motor braking torque pair as far as possible
The influence of brake assist system improves the safety of electric car.Zero torque command of PID refers to TPID=0.
Further, in conjunction with reference Fig. 5, on the basis of the embodiment shown in fig. 4, the device can also include:
One sending module 45, for being greater than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed dBPS/dt
Less than K value, if the brake pedal aperture BPS be greater than 0, and the brake pedal aperture dBPS/dt that advances the speed is greater than
Equal to K value, and when the electric car is not configured with brake assist system, successively sends and be gradually reduced to electric machine controller MCU
PID torque command；It is less than the Brake energy recovery parsed according to brake pedal aperture BPS in the PID torque command
When torque command, controls the electric car and exit cruise state.
Specifically, it is greater than 0 in brake pedal aperture BPS, and brake pedal aperture advances the speed dBPS/dt less than K value
In the case of, or in brake pedal aperture BPS greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and
In the case that electric car is not configured with brake assist system, in order to guarantee when being parsed according to brake pedal aperture BPS
When Brake energy recovery torque command is less than the negative torque of cruise motor, the accurate braking intention for responding driver, i.e. speed
It does not increase, entire car controller VCU continues to send PID torque command T to electric machine controller MCUPID, control electric car speed is still
It is so V0.The Brake energy recovery torque command T parsed according to brake pedal aperture BPSRegIt is only used as built-in variable, temporarily not
It sends.With the increase of brake pedal aperture BPS, PID torque command 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 command TPIDLess than according to brake pedal aperture
The Brake energy recovery torque command T that BPS is parsedRegWhen, cruise state exits, 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 car cruise when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving brake pedal
Signal, and brake pedal aperture BPS is greater than 0, and brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and electronic vapour
When vehicle is configured with brake assist system, determine that the corresponding driver of electric car has emergency braking intention, brake assist system exists
Brake force is increased into maximum in very short time, then sends zero torque command of PID to electric machine controller MCU, control electric car moves back
Cruise state out, so that cruise motor negative torque when descending be avoided to exit suddenly, electric car when avoiding descending
Speed increases suddenly, improves safety and the comfort of vehicle.
Further, in conjunction with reference Fig. 6, on the basis of the embodiment shown in fig. 4, the device can also include:
One cue module 46 and the second sending module 47.
Wherein, the first cue module 46, for being driven to electric car is corresponding when receiving the cancel key signals
The person of sailing issues standby signal, and the driver is prompted to will move out constant speed navigational state；
Second sending module 47, for successively sending and being gradually reduced to electric machine controller MCU after the first preset time period
PID torque command；When the PID torque command is less than and slides energy regenerating torque command, controls the electric car and move back
Cruise state out.
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 guarantee safety and comfort of the electric car during descending, it needs to keep electric car speed slowly varying.Vehicle
Controller VCU reminds driver's cruise that will exit, and after time t (1-3s), entire car controller VCU is to motor control
Device MCU successively sends the PID torque command being gradually reduced, so that TPIDSlowly reduce.When the PID that entire car controller VCU is sent turns
Square order TPIDLess than sliding energy regenerating torque command TCoaWhen, cruise state exits, and vehicle enters sliding mode.
Control device is exited in the operation of electric car cruise when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving cancel key
When signal, to electric car, corresponding driver issues standby signal, and driver is prompted to will move out constant speed navigational state；First
After preset time period, the PID torque command being gradually reduced successively is sent to electric machine controller MCU；It is less than in PID torque command and slides
When row energy regenerating torque command, control electric car exits cruise state, to avoid cruise motor when descending
Negative torque is exited suddenly, and the speed of electric car when descending is avoided to increase suddenly, improves safety and the comfort of vehicle.
Further, in conjunction with reference Fig. 7, on the basis of the embodiment shown in fig. 4, the device can also include:
Two cue modules 48 and third sending module 49.
Wherein, the second cue module 48, for being driven to electric car is corresponding when receiving the gear switch signal
The person of sailing issues standby signal, and the driver is prompted to will move out constant speed navigational state；It include: switching in the gear switch signal
Gear afterwards；
Third sending module 49, for successively sending and being gradually reduced to electric machine controller MCU after the second preset time period
PID torque command；Gear after the switching is forward gear, and the PID torque command turns less than energy regenerating is slided
When square order, controls the electric car and exit cruise state；Gear after the switching is non-forward gear, and described
When PID torque command is zero torque command of PID, controls the electric car and 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 guarantee safety and comfort of the electric car during descending, it needs to keep car speed slowly varying.Full-vehicle control
Device VCU reminds driver's cruise state that will exit, and after time t (1-3s), entire car controller VCU is to motor control
Device MCU successively sends the PID torque command being gradually reduced, so that TPIDSlowly reduce.Before if the gear after switching is D/E/S etc.
Into gear, as the PID torque command T that entire car controller VCU is sentPIDLess than sliding energy regenerating torque command TCoaWhen, constant speed is patrolled
Boat state exits, 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 command T that electric machine controller MCU is sentPIDWhen=0, cruise state is exited, and vehicle enters neutral position sliding mode.
Control device is exited in the operation of electric car cruise when the descending of the embodiment of the present invention, by cruise shape
State is active, and output torque be negative torque when, judge whether to receive cruise operation and exit signal；Constant speed is patrolled
It includes: brake pedal signal, cancel key signals or gear switch signal that signal is exited in boat operation；Receiving gear switch
When signal, to electric car, corresponding driver issues standby signal, and driver is prompted to will move out constant speed navigational state；Gear is cut
Change include: in signal switching after gear；After the second preset time period, successively sends and be gradually reduced to electric machine controller MCU
PID torque command；Gear after handover is forward gear, and PID torque command is less than when sliding energy regenerating torque command,
Control electric car exits cruise state；Gear after handover is non-forward gear, and PID torque command is PID zero-turn
When square order, control electric car exits cruise state, so that cruise motor negative torque when descending be avoided to move back suddenly
Out, it avoids the speed of electric car when descending from increasing suddenly, improves safety and the comfort of vehicle.
In above-described embodiment the detailed description of each functions of modules can illustrated embodiment referring to figs. 1 to Fig. 3, herein no longer into
Row is described in detail.
Electric car 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, comprising: entire car controller VCU81, motor 82 and electric machine controller MCU83；
The entire car controller VCU81 is connect with the electric machine controller MCU83；The motor 82 and the motor control
Device MCU83 connection.
The entire car controller 81 is used for, and obtains the cruise state and the output of motor in electric automobile of electric car
Torque；
Be active in the cruise state, and the output torque be negative torque when, judge whether to receive
Signal is exited to cruise operation；It includes: brake pedal signal, cancel key signals that signal is exited in the cruise operation
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；
In the brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention,
Brake force is increased to maximum in a very short period of time by brake assist system, then sends zero torque command of PID to electric machine controller MCU,
It controls the electric car and exits cruise state.
In the present embodiment the detailed description of each device function can illustrated embodiment referring to figs. 1 to Fig. 3, no longer carry out herein
It is described in detail.
Control device is exited in the operation of electric car cruise when Fig. 9 is another descending provided in an embodiment of the present invention
Structural schematic diagram.The operation of electric car cruise exits control device and includes: when the descending
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 car cruise when processor 1002 realizes the descending provided in above-described embodiment when executing described program
Operate withdrawal control method.
Further, control device is exited in the operation of electric car cruise when descending further include:
Communication interface 1003, for the communication between memory 1001 and processor 1002.
Memory 1001, for storing the computer program that can be run on processor 1002.
Memory 1001 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
Processor 1002, electric car constant speed is patrolled when realizing descending described in above-described embodiment when for executing described program
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..Only to be indicated with a thick line in Fig. 9, it is not intended that an only bus or a type of convenient for indicating
Bus.
Optionally, in specific implementation, if memory 1001, processor 1002 and communication interface 1003, are integrated in one
It is realized on block chip, then memory 1001, processor 1002 and communication interface 1003 can be completed mutual by internal interface
Communication.
Processor 1002 may be 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, which is characterized in that electric car 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 execute when, when executing a kind of descending electric car cruise operate withdrawal control method, the method packet
It includes:
Obtain the cruise state of electric car and the output torque of motor in electric automobile；
Be active in the cruise state, and the output torque be negative torque when, judge whether to receive
Signal is exited to cruise operation；It includes: brake pedal signal, cancel key signals that signal is exited in the cruise operation
Or gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal
Whether the aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；
In the brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K
Value, and the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention,
Brake force is increased to maximum in a very short period of time by brake assist system, then sends zero torque command of PID to electric machine controller MCU,
It controls the electric car and exits 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 specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, 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 instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when 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 section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (12)
1. electric car cruise operates withdrawal control method when a kind of descending characterized by comprising
Obtain the cruise state of electric car and the output torque of motor in electric automobile；
Be active in the cruise state, and the output torque be negative torque when, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；Cruise operation exit signal include: brake pedal signal, cancel key signals or
Gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal aperture
Whether the dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；It is described
In brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K value,
And the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention, system
Brake force is increased to maximum in a very short period of time by dynamic auxiliary system, then sends zero torque command of PID, control to electric machine controller MCU
It makes the electric car and exits cruise state.
2. the method according to claim 1, wherein further include:
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt less than K value, or
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K value, and institute
It states electric car and is not configured with brake assist system, then successively send the PID torque life being gradually reduced to electric machine controller MCU
It enables；When the PID torque command is less than the Brake energy recovery torque command parsed according to brake pedal aperture BPS,
It controls the electric car and exits cruise state.
3. the method according to claim 1, wherein further include:
If receiving the cancel key signals, standby signal is issued to the corresponding driver of electric car, is driven described in prompt
The person of sailing will move out cruise state；
After the first preset time period, the PID torque command being gradually reduced successively is sent to electric machine controller MCU；In the PID
Torque command controls the electric car and exits cruise state less than when sliding energy regenerating torque command.
4. the method according to claim 1, wherein further include:
If receiving the gear switch signal, standby signal is issued to the corresponding driver of electric car, is driven described in prompt
The person of sailing will move out cruise state；It include: the gear after switching in the gear switch signal；
After the second preset time period, the PID torque command being gradually reduced successively is sent to electric machine controller MCU；It is cut described
Gear after changing is forward gear, and the PID torque command controls the electronic vapour less than when sliding energy regenerating torque command
Vehicle exits cruise state；Gear after the switching is non-forward gear, and the PID torque command is PID zero-turn square
When order, controls the electric car and exit cruise state.
5. control device is exited in the operation of electric car cruise when a kind of descending characterized by comprising
Module is obtained, for obtaining the cruise state of electric car and the output torque of motor in electric automobile；
First judgment module, for being active in the cruise state, and the output torque be negative torque when,
Judge whether that receiving cruise operation exits signal；Cruise operation exit signal include: brake pedal signal,
Cancel key signals or gear switch signal；
Second judgment module, for when receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0,
Judge whether the brake pedal aperture dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with
Brake assist system；It include: that brake pedal aperture BPS and brake pedal aperture are advanced the speed in the brake pedal signal
dBPS/dt；
Determining module, for being greater 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 value, and when the electric car is configured with brake assist system, determine that the corresponding driver of electric car has promptly
Brake force is increased to maximum in a very short period of time by braking intention, brake assist system, then sends PID zero to electric machine controller MCU
Torque command controls the electric car and exits cruise state.
6. device according to claim 5, which is characterized in that further include:
First sending module, for being greater than 0 in the brake pedal aperture BPS, and the brake pedal aperture is advanced the speed
DBPS/dt is less than K value, if the brake pedal aperture BPS be greater than 0, and the brake pedal aperture is advanced the speed dBPS/
Dt is more than or equal to K value, and when the electric car is not configured with brake assist system, to electric machine controller MCU successively send by
Decrescence small PID torque command；It is less than the Brake Energy parsed according to brake pedal aperture BPS in the PID torque command
When amount recycling torque command, controls the electric car and exit cruise state.
7. device according to claim 5, which is characterized in that further include:
First cue module, for issuing and mentioning to the corresponding driver of electric car when receiving the cancel key signals
Show signal, the driver is prompted to will move out cruise state；
Second sending module, for successively sending the PID being gradually reduced to electric machine controller MCU after the first preset time period
Torque command；When the PID torque command is less than and slides energy regenerating torque command, controls the electric car and exit constant speed
Cruising condition.
8. device according to claim 5, which is characterized in that further include:
Second cue module, for issuing and mentioning to the corresponding driver of electric car when receiving the gear switch signal
Show signal, the driver is prompted to will move out cruise state；It include: the gear after switching in the gear switch signal；
Third sending module, for successively sending the PID being gradually reduced to electric machine controller MCU after the second preset time period
Torque command；Gear after the switching is forward gear, and the PID torque command is less than and slides energy regenerating torque command
When, it controls the electric car and exits cruise state；Gear after the switching is non-forward gear, and the PID turns
When square order is zero torque command of PID, controls the electric car and exit cruise state.
9. electric car cruise operates exit control system when a kind of descending characterized by comprising
Entire car controller VCU, motor and electric machine controller MCU；
The entire car controller VCU is connect with the electric machine controller MCU；The motor is connect with the electric machine controller MCU；
The entire car controller is used for, and obtains the cruise state of electric car and the output torque of motor in electric automobile；
Be active in the cruise state, and the output torque be negative torque when, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；Cruise operation exit signal include: brake pedal signal, cancel key signals or
Gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal aperture
Whether the dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；It is described
In brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K value,
And the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention, system
Brake force is increased to maximum in a very short period of time by dynamic auxiliary system, then sends zero torque command of PID, control to electric machine controller MCU
It makes the electric car and exits cruise state.
10. control device is exited in the operation of electric car cruise when a kind of descending characterized by comprising
Memory, processor and storage are on a memory and the computer program that can run on a processor, which is characterized in that institute
Electric car cruise when realizing the descending as described in any in claim 1-4 when processor executes described program is stated to operate
Withdrawal control method.
11. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
Control is exited in the operation of electric car cruise when realizing the descending as described in any in claim 1-4 when being executed by processor
Method.
12. a kind of computer program product executes one kind when the instruction in the computer program product is executed by processor
Electric car cruise operates withdrawal control method when descending, which comprises
Obtain the cruise state of electric car and the output torque of motor in electric automobile；
Be active in the cruise state, and the output torque be negative torque when, it is fixed to judge whether to receive
Signal is exited in speed cruise operation；Cruise operation exit signal include: brake pedal signal, cancel key signals or
Gear switch signal；
If receiving the brake pedal signal, judge whether brake pedal aperture BPS is greater than 0, judges brake pedal aperture
Whether the dBPS/dt that advances the speed is more than or equal to K value and judges whether the electric car is configured with brake assist system；It is described
In brake pedal signal include: brake pedal aperture BPS and brake pedal aperture is advanced the speed dBPS/dt；
If the brake pedal aperture BPS is greater than 0, and the brake pedal aperture advances the speed dBPS/dt more than or equal to K value,
And the electric car is configured with brake assist system, it is determined that the corresponding driver of electric car has emergency braking intention, system
Brake force is increased to maximum in a very short period of time by dynamic auxiliary system, then sends zero torque command of PID, control to electric machine controller MCU
It makes the electric car and exits cruise state.
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| CN201710526833.5A CN107323309B (en) | 2017-06-30 | 2017-06-30 | Electric car cruise operates withdrawal control method, apparatus and system when descending |
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| CN201710526833.5A CN107323309B (en) | 2017-06-30 | 2017-06-30 | Electric car cruise operates withdrawal control method, apparatus and system when descending |
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| CN112208348B (en) * | 2019-07-10 | 2022-05-24 | 北汽福田汽车股份有限公司 | Torque control method and device, storage medium and vehicle-mounted terminal |
| 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 |
| CN112109724B (en) * | 2020-06-30 | 2022-07-29 | 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 |
| CN112896154A (en) * | 2021-02-03 | 2021-06-04 | 神龙汽车有限公司 | Active collision avoidance system for training vehicle in driving school and control method thereof |
| CN116163844B (en) * | 2023-04-21 | 2023-07-18 | 潍柴动力股份有限公司 | In-cylinder brake automatic control method, engine and vehicle |
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