CN107933375A - Electric vehicle control method - Google Patents

Electric vehicle control method Download PDF

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Publication number
CN107933375A
CN107933375A CN201711023810.9A CN201711023810A CN107933375A CN 107933375 A CN107933375 A CN 107933375A CN 201711023810 A CN201711023810 A CN 201711023810A CN 107933375 A CN107933375 A CN 107933375A
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Prior art keywords
vehicle
value
tire pressure
setting
information
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CN201711023810.9A
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不公告发明人
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Individual
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Priority to CN201711023810.9A priority Critical patent/CN107933375A/en
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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
    • 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
    • B60L2240/48—Drive Train control parameters related to transmissions
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions

Abstract

The invention discloses a kind of electric vehicle control method, comprise the following steps：S100：Obtain battery SOC, value；S200：When judging that estimate S is more than the threshold value of setting, into intelligent driving pattern；S300：Obtain the gear and accelerator pedal information of vehicle；S400：Obtain and include at least the traffic information that driver selectes road conditions and bend information；S500：According to the traffic information got, adjustment damping and tire pressure.The present invention improves the handling and comfort of electric car.

Description

Electric vehicle control method
The application is application number CN 2015108597994, November 30 2015 applying date, entitled " electric vehicle control The divisional application of method processed ".
Technical field
The invention belongs to automation field, more particularly to a kind of electric vehicle control method.
Background technology
Electric automobile refers to using vehicle power supply as power, drives wheels travel with motor, meets road traffic, security legislation The vehicle of requirements, electric automobile during traveling will not discharge toxic gas, i.e. zero-emission electric automobile (Zero ), EmissionVehicle compared with traditional combustion engine automobile, electric automobile has the following advantages that:Toxic gas is not discharged, it is right Air is pollution-free；Energy efficiency is high, is especially suitable for continually starting parking；Noise is low, and the noise of motor is much smaller than internal combustion engine Car；Simple in structure easy-maintaining, transmission parts are few, manipulate simple；Energy variation, using coal, waterpower, nuclear energy, wind-force, too It is positive can etc. energy conversion power for electric energy, above-mentioned advantage determines electric automobile on environmentally friendly and energy saving with incomparable excellent Gesture, makes its prospect be had an optimistic view of extensively.Meanwhile energy source is extensive, use of the people to electric power is also accumulated from rich experience, hair Exhibition electric automobile is presently believed to be one of most promising measure for solving future source of energy and environmental problem, is opened as various countries The principal direction of green-emitting automobile.But current electric vehicle in terms of driving experience and riding comfort with traditional internal combustion car Also have certain gap.
The content of the invention
The defects of for the prior art, the present invention provides a kind of electric vehicle control method.
A kind of electric vehicle control method, comprises the following steps：S100：Obtain the voltage and current letter at power battery end Number, according to the mathematical model for the power battery established, integrated using ampere-hour, the filter of state observer and adaptive spreading kalman Ripple method estimates battery SOC respectively, and estimate is weighted, and obtains the current SOC value S of power battery；S200：Work as judgement When estimate S is more than the threshold value of setting, into intelligent driving pattern；When judging that estimate S is less than or equal to the threshold value of setting, Start timing, after timing duration T is more than the duration T0 of setting, when judging that estimate S is less than or equal to the threshold value of setting, move back Go out intelligent driving pattern；S300：Obtain the gear and accelerator pedal information of vehicle；S400：Acquisition is selected including at least driver The traffic information of road conditions and bend information, the bend information include bend length, bend curvature and preset distance inner curve Quantity；S500：According to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P；According to gear information With accelerator pedal information be based on vehicle damping a reference value Z and tire pressure a reference value P calculate first damping repair Z1 on the occasion of with the first tire pressure Correction value P1；According to bend information be based on first damping repair Z1 on the occasion of with the first tire pressure correction value P1 calculate second damping correction value Z2 and the second tire pressure correction value P2.
Optionally, the mathematical model of the power battery is：
In formula, XkRepresent the state vector of battery pack, ykRepresent battery terminal voltage, η is the coulombic efficiency factor, and C holds to be total Amount, E0For full of the open-circuit voltage under electricity condition, R is the internal resistance of cell, K0、K1、K2、K3For battery polarization internal resistance, △ t are sampling week Phase, imkFor current measurement value, iskFor current sensor current drift estimate, W1And W2、VkFor mutually independent white noise, SOC is battery capacity, and K represents k-th state value, K=0,1,2,3,4,5 ....
Optionally, current integration method, state observer method and adaptive extended kalman filtering method is respectively adopted respectively to estimate SOC value of battery is counted, SOC state estimation S1, S2, S3 is obtained, then S1, S2, S3 is weighted, obtain final SOC estimation S；
S=ω1S1+ω2s2+ω3s3 (3)
Wherein ω1、ω2、ω3For weighting coefficient, ω1+ω2+ω3=1.
Optionally, charged when SOC estimation S is less than given threshold by charging circuit, 220V alternating currents are whole through D1-D4 Stream, C5 filter to obtain 300V or so direct currents, this voltage charges to C4, are formed and opened through TF1 high-voltage windings, TF2 main windings and V2 Streaming current, TF2 feedback windings produce induced voltage, V1, V2 is turned in turn, and voltage, warp are produced in TF1 low-voltage power supplies winding D9, D10 rectification, C8 filtering, power to IR3M02, LM2902, V3, and V4；8 feet of IR3M02,11 castor streams output pulse, push away Dynamic V3, V4, encourage V1, V2 through TF2 feedback windings, make V1, V2, and slave mode, TF2 output winding voltages are transferred to by self-excitation state Rise, for this voltage through R29, R26,1 foot of IR3M02 is fed back to after R27 partial pressures makes output voltage stabilization on 45V, and R30 is electricity Sample resistance is flowed, R30 produces pressure drop during charging, and for this voltage through R11,15 feet that R12 feeds back to IR3M02 make charging current constant In 2.8A or so, charging current produces pressure drop on D20, and 3 feet of LM2902 are reached through R42,2 foot output HIGH voltages is lighted and fills Electric light, while 7 feet output low-voltage, floating charge lamp extinguish, charger enters constant-current charging phase, and 7 foot low-voltages drag down D19 anodes Voltage, make the 1 foot voltage of IR3M02 reduce, cause charger maximum output voltage to reach 50V, when cell voltage rises to During 46V, into constant-voltage phase, when charging current is reduced to 0.1A -0.2A, the 3 foot voltages of LM2902 reduce, and the output of 1 foot is low Voltage, rechargeable lamp extinguishes, while 7 foot output HIGH voltages, floating charge lamp are lighted, and 7 foot high voltages raise the voltage of D19 anodes, The 1 foot voltage of IR3M02 rises, and output voltage is reduced to 45V.
Optionally, the gear information of vehicle is obtained by gear position detecting unit, the gear position detecting unit includes gearshift and dials Piece, first detection module, the second detection module and comparison module, gearshift plectrum connect with first detection module and the second detection module Connect, first detection module and the second detection module are connected with comparison module, when driver sends gearshift/gear by plectrum of shifting gears After signal, first detection module and the second detection module receive the signal that gearshift plectrum is sent, first detection module and the second inspection Survey module to send the first gear information detected and the second gear information to comparison module, comparison module compares the first gear Information and the second gear information when the two is consistent then using the first gear information or the second gear information as current gear information, The control system of vehicle is sent to, when the two is inconsistent, then judges that there are failure for gearshift.
Optionally, the traffic information of a plurality of road is pre-stored, vehicle place road is judged according to vehicle present position, from pre- The bend information of the road is read in the traffic information of storage.
Optionally, the different damping a reference value Z and tire pressure a reference value P, reception being pre-stored corresponding to more a variety of road conditions drive The road conditions that the person of sailing is selected by selection key, select corresponding damping a reference value Z and tire pressure a reference value from pre-stored data P, selected a reference value is sent to electronic regulation unit, and vehicle damping and tire pressure size are adjusted by electronic regulation unit, with Reach a reference value.
Optionally, when vehicle is in high tap position and accelerator pedal depression amount is more than the threshold value of setting, in damping a reference value Z On the basis of plus setting value △ Z1 to obtain the first damping correction value Z1, subtract setting value on the basis of tire pressure a reference value P △ P1 are to obtain the first tire pressure correction value P1, i.e.,：Z1=Z+ △ Z1, P1=P- △ P1；When vehicle is in high tap position and accelerates to step on When plate depression amount is less than or equal to the threshold value of setting, maintain vehicle damping a reference value Z and tire pressure a reference value P constant, i.e. Z1=Z, P1=P；When vehicle is in low-grade location and accelerator pedal depression amount is more than given threshold, subtract on the basis of a reference value Z is damped Setting value △ Z2 are removed to obtain the first damping correction value Z1, setting value △ P2 are added on the basis of tire pressure a reference value P to obtain First tire pressure correction value P1, i.e.,：Z1=Z- △ Z2, P1=P+ △ P2；When vehicle is in low-grade location and accelerator pedal depression amount is small When given threshold, maintain damping a reference value Z constant, subtracted on the basis of tire pressure a reference value P setting value △ P3 with Obtain the first tire pressure correction value P1, i.e. Z1=Z, P1=P- △ P3.
Optionally, whether the location determination vehicle being presently according to the bend information and vehicle that get is on bend Or in the predetermined distance for entering bend or in the scheduled time.
Optionally, when bend length D is more than the threshold value of setting and bend curvature is more than the angle of setting, in the first damping Setting value △ Z3 are subtracted on the basis of correction value Z1 to obtain the second damping correction value Z2, on the basis of the first tire pressure correction value P1 On subtract setting value △ P4 to obtain the second tire pressure correction value P2, i.e.,：Z2=Z1- △ Z3, P2=P1- △ P4；As bend length D When threshold value and bend curvature more than setting are less than or equal to the angle of setting, show that the bend that vehicle is passed through is more slow at this time With, maintain first damping correction value Z1 and the first tire pressure correction value P1 it is constant, i.e.,：Z2=Z1, P2=P1；When bend length D is small When the threshold value and bend curvature of setting are more than the angle of setting, setting value △ is subtracted on the basis of the first damping correction value Z1 Z4 is remained unchanged i.e. with obtaining the second damping correction value Z2 in the first tire pressure correction value P1：Z2=Z1- △ Z4, P2=P1；When curved Road length D is less than the threshold value of setting and when bend curvature is less than the angle of setting, maintains the first damping correction value Z1 constant, the Setting value △ P5 are subtracted on the basis of one tire pressure correction value P1 to obtain the second tire pressure correction value P2, i.e.,：Z2=Z1, P2=P1- △P5。
The beneficial effects of the invention are as follows：By accurate mathematical model, estimate SOC value using a variety of methods, obtain more Add accurately SOC value, accurate foundation is provided for the manipulation of electric car；Operation signal and the road surface of driver are considered Situation, adjusts vehicle damping and tire pressure so that Vehicle handling and comfort obtains in real time according to different manipulations and pavement behavior To improve.
Brief description of the drawings
Fig. 1 is the flow chart of control method of the present invention；
Fig. 2 is the structure chart of charging circuit；
Fig. 3 is the structure diagram of gear position detecting unit；
Fig. 4 is the flow chart of step S500.
Embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention Embodiment be described in detail, make the above and other purpose of the present invention, feature and advantage will become apparent from.Complete Identical reference numeral indicates identical part in portion's attached drawing.Not deliberately attached drawing drawn to scale, it is preferred that emphasis is show this hair Bright purport.
Referring to Fig. 1, in order to improve the driving experience of electric vehicle (handling) and comfort, the present invention is first according to dynamic The electricity (SOC) of power battery determines the drive pattern of vehicle, after the requirement of intelligent drives pattern is met, vehicle detection gearshift plectrum Input signal, gear is detected, while present road situation is identified in vehicle, according to the gear and road detected The damping of condition adjustment vehicle suspension system and tire pressure, so as to improve handling, seating the comfort of vehicle.
S100：The voltage and current signal at power battery end is obtained, according to the mathematical model for the power battery established, is adopted Integrated with ampere-hour, state observer and adaptive extended kalman filtering method estimate battery SOC respectively, estimate is weighted Calculate, obtain the current SOC value S of power battery.
Specifically, current sensor can be used, voltage sensor measures the terminal voltage of power battery pack and defeated respectively Go out electric current.The mathematical model of power battery has a variety of, such as preferable equivalent model, internal resistance of the preferable equivalent model battery at present Regard fixed value as, the difference of internal resistance of cell when not accounting for battery charging, electric discharge, therefore also just can not embody charging, electric discharge When SOC difference, this model and actual value gap are larger；The defects of Thevenin models, Thevenin models is in circuit Parameter is all definite value, they are the functions of SOC in fact；RC models, RC models can preferably simulate electricity than Thevenin model The dynamic characteristic in pond, but the temperature effect of battery is have ignored, polarity effect is considered not abundant enough；EMF models and RC models Compared with Thevenin models, in addition to more considering the dynamic characteristic of battery, also preferably consider chemical polarization concentration polarization The influence of the factors such as change, but also have ignored temperature effect.The present invention uses built-up pattern, its discrete state space equation for this For：
In formula, Xk represents the state vector of battery pack, and yk represents battery terminal voltage, and η is the coulombic efficiency factor, and C holds to be total Amount, E0 are full of the open-circuit voltage under electricity condition, and R is the internal resistance of cell, and K0, K1, K2, K3 are battery polarization internal resistance, and △ t are sampling Cycle, imk are current measurement value, and isk is current sensor current drift estimate, and W1 and W2, Vk are mutually independent white noise Sound, SOC are battery capacity, and K represents k-th state value, K=0,1,2,3,4,5 ....
Then according to the mathematical model of battery pack, current integration method, state observer method and adaptive extension is respectively adopted Kalman filtering method estimates SOC value of battery respectively, obtains SOC state estimation S1, S2, S3, then S1, S2, S3 are added Power calculates, and obtains final SOC estimation S.
S=ω1S1+ω2s2+ω3s3 (3)
Wherein ω1、ω2、ω3For weighting coefficient, ω1+ω2+ω3=1.Using a variety of methods respectively to the lotus of power battery Electricity condition SOC estimated, well row weighted calculation of spouting to estimated result draws final estimate, improves power battery The estimated accuracy of SOC.
When SOC estimation S is less than given threshold, remind driver to charge, charging electricity as shown in Figure 2 can be used Road, through D1-D4 rectifications, C5 filters to obtain 300V or so direct currents 220V alternating currents.This voltage charges to C4, through TF1 high voltage windings Group, TF2 main windings, V2 etc. form starting current.TF2 feedback windings produce induced voltage, V1, V2 is turned in turn.Therefore exist TF1 low-voltage power supplies winding produces voltage, and through D9, D10 rectifications, C8 filtering, powers to IR3M02, LM2902, V3, V4 etc..At this time Output voltage is relatively low.Its 8 foot after IR3M02 starts, 11 castor streams output pulse, promotes V3, V4, is encouraged through TF2 feedback windings V1,V2.Make V1, V2, slave mode is transferred to by self-excitation state.TF2 output winding voltages rise, this voltage is through R29, R26, R27 1 foot (Voltage Feedback) of IR3M02 is fed back to after partial pressure makes output voltage stabilization on 41.2V.R30 is current sampling resistor, is filled R30 produces pressure drop when electric.This voltage through R11, R12 feed back to IR3M02 15 feet (current feedback) make charging current constant 1.8A left and right.In addition charging current produces pressure drop on D20, and 3 feet of LM2902 are reached through R42.Light 2 foot output HIGH voltages Rechargeable lamp, while 7 feet output low-voltage, floating charge lamp extinguish.Charger enters constant-current charging phase.And 7 foot low-voltage drag down The voltage of D19 anodes.Make the 1 foot voltage of IR3M02 reduce, this will cause charger maximum output voltage to reach 44.8V.Work as electricity When cell voltage rises to 44.8V, into constant-voltage phase.The 3 foot voltages of LM2902 when charging current is reduced to 0.3A -0.4A Reduce, 1 foot output low-voltage, rechargeable lamp extinguishes.7 foot output HIGH voltages, floating charge lamp are lighted at the same time.And 7 foot high voltage raise The voltage of D19 anodes.The 1 foot voltage of IR3M02 is set to increase, this will cause charger output voltage to reduce onto 41.2V.Charging Device enters floating charge.
S200：When judging that estimate S is more than the threshold value of setting, into intelligent driving pattern；When judgement estimate S is less than Or equal to setting threshold value when, start timing, when timing duration T be more than setting duration T0 after, when judge estimate S be less than or Equal to setting threshold value when, exit intelligent driving pattern.
For electric car, the handling and comfort that is taking of its vehicle depends primarily upon vehicle suspension system damping Size, three aspects of the type of drive of the size of tire pressure and motor.In order to reach preferably it is handling with comfort, it is necessary to By multiple electronic devices to being adjusted in real time in terms of above three, this control model adjusted in real time can be referred to as intelligence Energy driving model, intelligent driving pattern undoubtedly adds the consumption of electric power, in order to when battery capacity SOC is too low so that dynamic Power battery meets the needs of normally travel, only just enters intelligence when judging that estimate S is more than the threshold value of setting in the present invention Driving model, this threshold value can be the 30% of power battery total electricity, i.e., when estimate S is more than the 30% of battery total electricity When, then allow vehicle to enter intelligent driving pattern, the current suspension system of vehicle is then maintained when estimate S is less than or equal to 30% The type of drive of size, the size of tire pressure and motor that system damps.Further, since power battery has showing for " power down " As, i.e., when moment obtaining larger electric power from power battery, estimate S can be less than its actual electricity at this time, such as when vehicle is real During border electricity residue 35%, the driving force of the vehicle of moment raising at this time, then estimate S can be 25% or so, and ought recover again During driven, estimate S can be risen to 35%, this has resulted in the abnormal of intelligent driving pattern and has exited.In this regard, in order to It can preferably judge whether vehicle answers into/out intelligent driving pattern at this time, and the present invention sets a timing module, when judgement is estimated When evaluation S is less than or equal to the threshold value of setting, timing module starts timing, after timing duration T is more than the duration T0 of setting, if Estimate S is still less than or equal to the threshold value of setting at this time, then exits intelligent driving pattern.The setting of duration T0, shows herein The electricity of battery is in lasting reduction in period, and this reduction is due to not caused by " power down ", so just so that sentencing It is fixed more accurate.
S300：Obtain the gear and accelerator pedal information of vehicle.
Entering the gear and accelerator pedal information of intelligence acquisition vehicle first, gear information and accelerator pedal information show Driver current driving intention, for example, high tap position and the accelerator pedal stepped on deeply show driver at this time want to obtain bigger plus Speed, and low-grade location and the accelerator pedal stepped on deeply show that driver wants to obtain bigger torque at this time.Acquisition for pedal information It can be detected by corresponding detector, these detection means are the prior art, are repeated no more.Since gearshift wraps Mechanical structure is contained and also contains numerous electrical equipments, the failure of any one mechanism can cause that correct shelves cannot be obtained Position information.In this regard, the present invention provides a gear position detecting unit, as shown in figure 3, it can include gearshift plectrum, the first detection mould Block, the second detection module and comparison module, gearshift plectrum are connected with first detection module and the second detection module, the first detection mould Block and the second detection module are connected with comparison module, after driver sends gearshift/gear signal by plectrum of shifting gears, the first inspection Survey module and the second detection module receives the signal that gearshift plectrum is sent, first detection module and the second detection module will detect The first gear information and the second gear information send to comparison module, comparison module compares the first gear information and the second gear Information, then using the first gear information or the second gear information as current gear information, is sent to the control of vehicle when the two is consistent System processed, when the two is inconsistent, then judge gearshift there are failure, this failure can be for example open circuit, short circuit or Mechanical breakdown lamp, comparison module send alarm, such as can be sound-light alarms.
S400：Obtain and include at least the traffic information that driver selectes road conditions and bend information, the bend information includes The quantity of bend length, bend curvature and preset distance inner curve.
Road conditions be determine the size of vehicle suspension system damping, the main of the type of drive of the size of tire pressure and motor because Element, in order to improve handling and riding comfort, such as wet and slippery road conditions require low tire pressure, and the road surface of hollow then requires less Damping, and the more road of bend then requires larger damping and relatively low tire pressure, straight road then needs to use high rotating speed Type of drive etc..
For for example wet and slippery road conditions of some road conditions, hollow road conditions etc., driver can readily be recognized by observation, be passed through Selection key can send corresponding traffic information to vehicle control system, these buttons can include wet and slippery, hollow, put down Directly, accumulated snow etc., and can not be obtained for bend information driver by observing, bend information can include bend length, curved The quantity of road curvature and preset distance inner curve, such as the quantity of the inner curve in 2 kms.Bend length, curvature and quantity Damping and tire pressure with vehicle is closely bound up, it affects the handling of vehicle and the comfort taken.Such as larger curvature Then need the suspension damping of bigger and relatively low tire pressure.
For this reason, the present invention is pre-stored the traffic information of a plurality of road, the road according to where vehicle present position judges vehicle, The information of the road is read from pre-stored traffic information.The location of vehicle can be by such as global positioning system (GPS) provide.The location of bend, length, curvature and quantity on this road are contained in pre-stored traffic information.
S500：Vehicle damping and tire pressure are adjusted according to gear information, accelerator pedal information and traffic information.Such as Fig. 3 institutes Show, the present invention passes through to trailer reversing behavior and condition of road surface, the damping of adjustment vehicle, tire pressure, so as to improve the behaviour of vehicle Control property and the comfort driven.
S501：According to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P.Specifically, Driver selects corresponding road conditions by selection key as previously described, and this road conditions can be wet and slippery, hollow, straight, accumulated snow etc. Deng different damping a reference value Z and tire pressure benchmark Value Data corresponding to every kind of road conditions being pre-stored with vehicle, when getting road After condition information, vehicle selects corresponding damping a reference value and tire pressure a reference value P from pre-stored data, by selected a reference value Send to electronic regulation unit, vehicle damping and tire pressure size are adjusted by electronic regulation unit, to reach a reference value.It is such as right For damping, it can be damped by adjusting the decrement of elastomeric element to adjust vehicle, for tire pressure, electricity can be passed through The stroke of cylinder that machine driving is connected with tire adjusts tire pressure.
S502：According to gear information and accelerator pedal information calculate the first damping repair Z1 on the occasion of with the first tire pressure correction value P1.The vehicle of the present invention has high tap position and low-grade location, and high tap position has the gearratio of bigger, low suitable for high vehicle speeds Gear contributes to the moment of torsion of vehicle acquisition bigger.The depression amount of accelerator pedal can reflect that driver currently wishes vehicle output work The size of rate.To in this present invention, when vehicle is in high tap position and accelerator pedal depression amount is more than the threshold value of setting, table at this time Bright driver thinks the acceleration of acquisition bigger, and faster speed, demonstrates the need for the chassis compared with " hard " at this time, and the present invention is hindering for this Subtracted on the basis of Buddhist nun's a reference value Z plus setting value △ Z1 with obtaining the first damping correction value Z1 on the basis of tire pressure a reference value P Setting value △ P1 are removed to obtain the first tire pressure correction value P1, i.e., when vehicle is in high tap position and accelerator pedal depression amount is more than setting Threshold value when：Z1=Z+ △ Z1, P1=P- △ P1, are improved, tire pressure reduces, that is, damps by the damping of this adjustment vehicle Rise improve the handling of high speed, the reduction of tire pressure improves the comfort of seating.Accordingly when vehicle is in high tap position And accelerator pedal depression amount, when being less than or equal to the threshold value of setting, driver is in the driving condition of more " gentle " at this time, this When maintain vehicle damping a reference value Z and tire pressure a reference value P it is constant；Set when vehicle is in low-grade location and accelerator pedal depression amount and is more than When determining threshold value, show that driver wants to obtain more large torque at this time, the present invention subtracts setting on the basis of a reference value Z is damped for this Value △ Z2 add setting value △ P2 to obtain the first tire to obtain the first damping correction value Z1 on the basis of tire pressure a reference value P Correction value P1 is pressed, i.e., when vehicle is in low-grade location and accelerator pedal depression amount is more than the threshold value of setting：Z1=Z- △ Z2, P1= P+ △ P2, the increase of the reduction tire pressure of damping contribute to the moment of torsion of vehicle output bigger；When vehicle is in low-grade location and accelerates to step on When plate depression amount is less than or equal to given threshold, show that vehicle is in starting state or in the poor road surface row of road conditions at this time Sail, such as potted road surface or wet-skid road surface, need to improve the earth-grasping force of tire at this time, the present invention maintains damping a reference value Z not for this Become, setting value △ P3 are subtracted on the basis of tire pressure a reference value P to obtain the first tire pressure correction value P1, i.e. Z1=Z, P1=P- △ P3, the appropriate of tire pressure reduce the earth-grasping force for helping to obtain bigger, improve Vehicle handling.
S503：Second damping correction value Z2 and the second tire pressure correction value P2 is calculated according to bend information.
Whether the location determination vehicle that the bend information and vehicle that vehicle control system is got before are presently in " turning ", i.e. whether vehicle is on bend or in the predetermined distance into bend or in the scheduled time, for example, entering In being waited in 600 meters of bend or in 5 seconds etc..When bend length D is more than the angle set more than the threshold value and bend curvature of setting When spending, show that the bend that vehicle is passed through is more difficult by the way that vehicle needs the earth-grasping force of bigger and lower center of gravity, is this at this time Invention subtracts setting value △ Z3 to obtain the second damping correction value Z2, in the first tire pressure on the basis of the first damping correction value Z1 Setting value △ P4 are subtracted on the basis of correction value P1 to obtain the second tire pressure correction value P2, i.e., when bend length D is more than setting When threshold value and bend curvature are more than the angle of setting：Z2=Z1- △ Z3, P2=P1- △ P4, damping and the reduction of tire pressure reduce Vehicle's center of gravity adds vehicle earth-grasping force, contributes to curved；When bend length D be more than setting threshold value and bend curvature be less than or Equal to setting angle when, show that the bend that vehicle is passed through more relaxes at this time, for this present invention maintain first damping correct Value Z1 and the first tire pressure correction value P1 are constant, i.e.,：Z2=Z1, P2=P1；When bend length D is less than the threshold value of setting and bend song Degree more than setting angle when, show the more difficult earth-grasping force and more that bigger is needed by, vehicle of bend that vehicle is passed through at this time Low center of gravity, but for length is curved, vehicle is relatively easy to by the way that the present invention is on the basis of the first damping correction value Z1 for this On subtract setting value △ Z4 to obtain the second damping correction value Z2, remain unchanged i.e. in the first tire pressure correction value P1：Z2=Z1- △ Z4, P2=P1；When bend length D is less than the threshold value of setting and bend curvature is less than the angle of setting, show that vehicle exists at this time More relaxed by one small curved, the present invention maintains the first damping correction value Z1 constant for this, in the first tire pressure correction value P1 On the basis of subtract setting value △ P5 to obtain the second tire pressure correction value P2, i.e., when bend length D is less than the threshold value of setting and curved When road curvature is less than the angle of setting：Z2=Z1, P2=P1- △ P5.
Further, it is easy if speed is excessive at this time to endanger when the quantity of preset distance inner curve is more than setting value Danger, to this present invention when the quantity of preset distance inner curve is more than setting value, obtains the speed of vehicle, when speed is more than setting During threshold value, such as 80KM/h, alarm is sent to driver at this time, reminds driver's slow down.Tire pressure and the tune of damping It is whole to be carried out according to the scheduled time.For example, a trailer reversing signal can be updated within each minute.
Many details are elaborated in the above description in order to fully understand the present invention.But above description is only Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this Invention from specific implementation disclosed above limitation.Any those skilled in the art are not departing from the technology of the present invention at the same time In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible Changes and modifications, or it is revised as the equivalent embodiment of equivalent variations.Every content without departing from technical solution of the present invention, according to this The technical spirit of invention still falls within skill of the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments In the range of the protection of art scheme.

Claims (1)

1. a kind of electric vehicle control method, it is characterised in that comprise the following steps：
S100：The voltage and current signal at power battery end is obtained, according to the mathematical model for the power battery established, using peace Shi Jifen, state observer and adaptive extended kalman filtering method estimate battery SOC respectively, and meter is weighted to estimate Calculate, obtain the current SOC value S of power battery；
S200：When judging that estimate S is more than the threshold value of setting, into intelligent driving pattern；When judgement estimate S is less than or waits When the threshold value of setting, start timing, after timing duration T is more than the duration T0 of setting, when judgement estimate S is less than or equal to During the threshold value of setting, intelligent driving pattern is exited；
S300：Obtain the gear and accelerator pedal information of vehicle；
S400：Obtain and include at least the traffic information that driver selectes road conditions and bend information, the bend information includes bend The quantity of length, bend curvature and preset distance inner curve；
S500：According to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P；According to gear information and Accelerator pedal information is repaiied Z1 based on vehicle damping a reference value Z and tire pressure a reference value P the first dampings of calculating and is repaiied on the occasion of with the first tire pressure On the occasion of P1；First damping is based on according to bend information and repaiies Z1 on the occasion of calculating the second damping correction value Z2 with the first tire pressure correction value P1 With the second tire pressure correction value P2；
Current integration method, state observer method and adaptive extended kalman filtering method is respectively adopted and estimates SOC value of battery respectively, SOC state estimation S1, S2, S3 are obtained, then S1, S2, S3 are weighted, obtains final SOC estimation S；
S=ω1S1+ω2s2+ω3s3 (3)
Wherein ω1、ω2、ω3For weighting coefficient, ω1+ω2+ω3=1.
CN201711023810.9A 2015-11-30 2015-11-30 Electric vehicle control method Pending CN107933375A (en)

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