CN107933376A - It is anti-to slip by slope control method, device and vehicle - Google Patents
It is anti-to slip by slope control method, device and vehicle Download PDFInfo
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- CN107933376A CN107933376A CN201710995215.5A CN201710995215A CN107933376A CN 107933376 A CN107933376 A CN 107933376A CN 201710995215 A CN201710995215 A CN 201710995215A CN 107933376 A CN107933376 A CN 107933376A
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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
- B60L15/2009—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 for braking
- B60L15/2018—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 for braking for braking on a slope
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/421—Speed
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This disclosure relates to a kind of prevent slipping by slope control method, device and vehicle, the described method includes：Obtain the gear information of gas pedal status information, brake pedal status information, motor speed information and vehicle；The gas pedal status information represent gas pedal be not operated, the brake pedal status information represent brake pedal be not operated, the gear information represent the vehicle be currently at reverse gear shift or forward gear and the motor speed to drop to default rotary speed threshold value or the motor speed be zero, then control the vehicle to enter and anti-slip by slope pattern.Pass through above-mentioned technical proposal, judge whether vehicle needs to enter by the current state of vehicle to prevent slipping by slope control model, it is possible to prevente effectively from judge delay, prevent slipping by slope pattern so as to control vehicle to enter in time, effectively avoid the generation of vehicle anti-slide phenomenon, vehicle response speed is improved, providing technology for safe driving ensures.At the same time, it is not necessary to increase new component, effectively save resource.
Description
Technical field
This disclosure relates to field of vehicle control, and in particular, to one kind is anti-to slip by slope control method, device and vehicle.
Background technology
When vehicle is when on ramp, no matter vehicle is in starting state or transport condition, if braking system and correlation
When control strategy discomfort or driver's misoperation, due to the gravity of vehicle itself, then vehicle anti-slide easily occurs and shows
As so as to cause vehicle to collide, causing traffic accident.
In the prior art, using the braking system with upward slope miscellaneous function the operations such as brake can be coordinated to prevent in vehicle
Only vehicle anti-slide.But the above-mentioned braking system with upward slope miscellaneous function is when realizing, it is necessary in retarder or miscellaneous part
Increase concerned brake system, so that the complexity of braking system can be increased, and increase integral vehicle cost.
Vehicle also prevents vehicle anti-slide using the dynamical system being made of motor, electric machine controller and related sensor.
In the implementation, it is necessary to vehicle first carry out in short-term, short-range working status for slipping by slope, could judging vehicle, control afterwards
Vehicle processed, which enters, to be prevented slipping by slope pattern.Therefore, above-mentioned implementation is there are certain judgement delay, and there are security risk.
The content of the invention
To solve the above-mentioned problems, the purpose of the disclosure is to provide one kind and prevents slipping by slope control method, device and vehicle.
To achieve these goals, according to the first aspect of the disclosure, there is provided one kind is anti-to slip by slope control method, the method
Including：
Obtain the gear information of gas pedal status information, brake pedal status information, motor speed information and vehicle；
Represent that gas pedal is not operated, the brake pedal status information represents system in the gas pedal status information
Dynamic pedal is not operated, the gear information represents that the vehicle is currently at reverse gear shift or forward gear and the motor turns
Prompt drop is zero to default rotary speed threshold value or the motor speed, then controls the vehicle to enter and prevent slipping by slope pattern.
Alternatively, the method further includes：
In the case where vehicle entrance is prevented slipping by slope pattern, current vehicle speed is obtained；
According to the difference between default target vehicle speed and the current vehicle speed, the compensation torque value of motor is determined；
The work of the motor is controlled according to the compensation torque value.
Alternatively, the method further includes：
Controlled according to the compensation torque value work of the motor when be up to preset duration when, obtain again currently
Speed；
When the current vehicle speed is less than the target vehicle speed, return described according to default target vehicle speed and described current
Difference between speed, the step of determining the compensation torque value of motor；
When the current vehicle speed is greater than or equal to the target vehicle speed, controls the vehicle to exit and described anti-slip by slope mould
Formula.
Alternatively, the difference according between default target vehicle speed and the current vehicle speed, determines that the compensation of motor is turned round
Square value, including：
The compensation torque value is determined by the following formula：
Tq=P × Δ V+I × Δ V
Wherein, TqFor the compensation torque value；Δ V=V2-V1, V2Represent the target vehicle speed, V1Represent the current vehicle
Speed；P is proportion adjustment parameter；I is differential adjustment parameter.
Alternatively, the method further includes：
In the case where vehicle entrance is prevented slipping by slope pattern, information of voice prompt is exported, the information of voice prompt is used
Had been enter into vehicle described in prompting driver and prevent slipping by slope pattern.
According to the second aspect of the disclosure, there is provided one kind is anti-to slip by slope control device, and described device includes：
First acquisition module, for obtain gas pedal status information, brake pedal status information, motor speed information and
The gear information of vehicle；
First control module, for the gas pedal status information represent gas pedal be not operated, the braking
Pedal state information represents that brake pedal is not operated, the gear information represents that the vehicle is currently at reverse gear shift or advance
It is zero that gear and the motor speed, which drop to default rotary speed threshold value or the motor speed, then controls the vehicle to enter
It is anti-to slip by slope pattern.
Alternatively, described device further includes：
Second acquisition module, in the case of preventing slipping by slope pattern in vehicle entrance, obtains current vehicle speed；
Determining module, for according to the difference between default target vehicle speed and the current vehicle speed, determining the compensation of motor
Torque value；
Second control module, for controlling the work of the motor according to the compensation torque value.
Alternatively, described device further includes：
3rd acquisition module, for controlled according to the compensation torque value work of the motor when when default
When long, current vehicle speed is obtained again；
3rd acquisition module is additionally operable to, when the current vehicle speed of its acquisition is less than the target vehicle speed, trigger institute
Determining module is stated according to the difference between default target vehicle speed and the current vehicle speed, determines the compensation torque value of motor；
3rd control module, for when the current vehicle speed is greater than or equal to the target vehicle speed, controlling the vehicle
Exit and described anti-slip by slope pattern.
Alternatively, the determining module is used for：
The compensation torque value is determined by the following formula：
Tq=P × Δ V+I × Δ V
Wherein, TqFor the compensation torque value；Δ V=V2-V1, V2Represent the target vehicle speed, V1Represent the current vehicle
Speed；P is proportion adjustment parameter；I is differential adjustment parameter.
Alternatively, described device further includes：
Output module, in the case of preventing slipping by slope pattern in vehicle entrance, exports information of voice prompt, institute's predicate
Sound prompt message prevents slipping by slope pattern for prompting vehicle described in driver to have been enter into.
According to the third aspect of the disclosure, there is provided a kind of vehicle, the vehicle include：
Anti- described in second aspect slips by slope control device.
In the above-mentioned technical solutions, gas pedal status information, brake pedal status information, motor speed information and vehicle
Gear information can pass through the existing component retrieval on vehicle, it is not necessary to increase new component, so as to reduce braking
The complexity of system, effectively save resource.Meanwhile judge whether vehicle needs to slip by slope control into anti-by the current state of vehicle
Molding formula, it is possible to prevente effectively from as first pass through in the prior art in short-term, short-range slip by slope carry out judging that caused judgement is prolonged
When, prevent slipping by slope pattern so as to control vehicle to enter in time, effectively avoid the generation of vehicle anti-slide phenomenon, improve vehicle response speed
Degree, provides technology for safe driving and ensures.Slipped by slope in several cases, into anti-in addition, aforesaid way can be adapted for vehicle
The judgement and control of pattern, are more bonded the use demand of user, lift user experience.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is the anti-flow chart for slipping by slope control method provided according to a kind of embodiment of the disclosure；
Fig. 2 is the anti-flow chart for slipping by slope control method provided according to the another embodiment of the disclosure；
Fig. 3 is the anti-flow chart for slipping by slope control method provided according to the another embodiment of the disclosure；
Fig. 4 is the anti-block diagram for slipping by slope control device provided according to a kind of embodiment of the disclosure；
Fig. 5 is the anti-block diagram for slipping by slope control device provided according to the another embodiment of the disclosure.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched
The embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
The disclosure provides one kind and prevents slipping by slope control method.It is to be provided according to a kind of embodiment of the disclosure shown in Fig. 1
The anti-flow chart for slipping by slope control method, as shown in Figure 1, the described method includes：
In S11, the gear of gas pedal status information, brake pedal status information, motor speed information and vehicle is obtained
Position information.
Wherein, the gear information of gas pedal status information, brake pedal status information, motor speed information and vehicle is all
The existing component retrieval on vehicle can be passed through, it is not necessary to increase new component in the car.For example, gas pedal status information
It can be obtained with brake pedal status information by any one of existing component of following vehicle：Displacement sensor, angle sensor
Device, foot brake pedal pressure gauge；Motor speed information can be obtained by speed probe, and the gear information of vehicle can be obtained by shift rod
Take.
In S12, represent that gas pedal is not operated, brake pedal status information represents system in gas pedal status information
Dynamic pedal is not operated, gear information represent vehicle be currently at reverse gear shift or forward gear and motor speed drop to it is default
Rotary speed threshold value or motor speed are zero, then control vehicle to enter and prevent slipping by slope pattern.
Wherein, default rotary speed threshold value can be configured according to motor speed of the vehicle when running at a low speed, illustratively,
Default rotary speed threshold value is 1000rpm.
In one embodiment, gas pedal status information represent gas pedal be not operated, brake pedal status information table
When showing that brake pedal is not operated, gear information represents that vehicle is currently at reverse gear shift or forward gear, under the motor speed of vehicle
When dropping to 1000rpm, represent that driver wants to stop, prevent slipping by slope pattern at this point it is possible to control vehicle to enter.Therefore, in vehicle
When not yet decelerating to zero, control vehicle to enter according to the current state of vehicle and prevent slipping by slope pattern, slowed down with tackling vehicle in time
During be likely to occur slip by slope phenomenon, enter anti-accuracy and the promptness for slipping by slope mode decision so as to improve vehicle,
And then improve the security of vehicle.
In one embodiment, gas pedal status information represent gas pedal be not operated, brake pedal status information table
When showing that brake pedal is not operated, gear information represents vehicle to be currently at reverse gear shift or forward gear and motor speed is zero, table
Show that vehicle is currently at starting state, vehicle has the risk slipped by slope at this time, and control vehicle, which enters, to be prevented slipping by slope pattern, with timely
What reply vehicle was likely to occur in start-up course slips by slope phenomenon, enters the anti-standard for slipping by slope mode decision so as to improve vehicle
Exactness and promptness, and then improve the security of vehicle.
When either condition does not meet in S12, represent that vehicle does not meet the entry condition of anti-slip slope pattern, i.e. vehicle at this time
Do not enter it is anti-slip by slope pattern, or vehicle have been enter into it is anti-slip by slope pattern in the case of, promote vehicle to automatically exit from anti-slipping by slope mould
Formula.
In another embodiment, when gas pedal status information represents that gas pedal is operated, represent that driver is current
Want control vehicle to give it the gun, at this time, vehicle, which does not enter, to be prevented slipping by slope pattern, or is had been enter into vehicle and prevented slipping by slope pattern
In the case of, promote vehicle to automatically exit from preventing slipping by slope pattern.
In another embodiment, when brake pedal status information represents that brake pedal is operated, represent driver to car
Take brake measure, at this time vehicle do not enter it is anti-slip by slope pattern, or vehicle have been enter into it is anti-slip by slope pattern in the case of, promote
Vehicle is set to automatically exit from preventing slipping by slope pattern.
In another embodiment, represent that gas pedal is not operated, brake pedal status is believed in gas pedal status information
When breath represents that brake pedal is not operated, gear information represents that vehicle is currently at reverse gear shift or forward gear, if motor speed is not
Drop to default rotary speed threshold value, represent that vehicle current vehicle speed is larger, vehicle will not slip by slope, then vehicle does not enter anti-slip by slope
Pattern, or vehicle have been enter into it is anti-slip by slope pattern in the case of, promote vehicle to automatically exit from anti-slipping by slope pattern.
In the above-mentioned technical solutions, gas pedal status information, brake pedal status information, motor speed information and vehicle
Gear information can pass through the existing component retrieval on vehicle, it is not necessary to increase new component, so as to reduce braking
The complexity of system, effectively save resource.Meanwhile judge whether vehicle needs to slip by slope control into anti-by the current state of vehicle
Molding formula, it is possible to prevente effectively from as first pass through in the prior art in short-term, short-range slip by slope carry out judging that caused judgement is prolonged
When, prevent slipping by slope pattern so as to control vehicle to enter in time, effectively avoid the generation of vehicle anti-slide phenomenon, improve vehicle response speed
Degree, provides technology for safe driving and ensures.Slipped by slope in several cases, into anti-in addition, aforesaid way can be adapted for vehicle
The judgement and control of pattern, are more bonded the use demand of user, lift user experience.
Alternatively, the gear of gas pedal status information, brake pedal status information, motor speed information and vehicle is being obtained
Before the step of position information, first it can detect vehicle whether there is dependent failure, for example, the relevant portion such as brake pedal, gas pedal
Part structure has fault-free.After definite vehicle is without dependent failure, above-mentioned each information is obtained, thereby may be ensured that above- mentioned information
Accuracy, be further ensured that vehicle enters the accuracy and promptness of the anti-judgement for slipping by slope pattern.
Alternatively, as shown in Fig. 2, on the basis of Fig. 1, in control vehicle into after preventing slipping by slope pattern, the method
Further include：
In S21, current vehicle speed is obtained.
Wherein, current vehicle speed can be obtained by the related vehicle speed sensor of vehicle itself.
In S22, according to the difference between default target vehicle speed and the current vehicle speed, the compensation moment of torsion of motor is determined
Value.
Illustratively, which can be configured according to speed of the vehicle when running at a low speed, i.e. vehicle
When target vehicle speed is kept on gentle road surface, driver's take-off the brake, when not applying other conditions, vehicle can be travelled slowly.When
Vehicle can cause vehicle not slip by slope phenomenon when keeping the target vehicle speed on ramp.
Alternatively, the compensation torque value is determined by the following formula：
Tq=P × Δ V+I × Δ V
Wherein, TqFor the compensation torque value；Δ V=V2-V1, V2Represent the target vehicle speed, V1Represent the current vehicle
Speed；P is proportion adjustment parameter；I is differential adjustment parameter.
Wherein, P, I are adjustable parameter, can carry out real vehicle according to the demand of information of vehicles and vehicle performance and operating mode
Calibration is drawn.Also, its numerical value is related with Δ V, illustratively, P, I proportional relation with Δ V into no fixed slope respectively.
In S23, the work of the motor is controlled according to the compensation torque value.
In this embodiment, when vehicle, which enters, to be prevented slipping by slope pattern, current vehicle speed is obtained, and pass through current vehicle speed and target
Vehicle calculates compensation torque value, afterwards, the work of vehicular electric machine is controlled by compensating torque value, that is, realizes the closed loop of vehicle speed
Adjust, so that the speed of the vehicle moves closer to target vehicle speed.
Through the above technical solutions, controlling vehicular electric machine by compensating torque value, the standard of vehicle speed control can be improved
Exactness and efficiency, so that vehicle in the case where preventing slipping by slope pattern, is realized motor and effectively adjusted.
Alternatively, as shown in figure 3, on the basis of Fig. 2, the method further includes：
In S31, controlled according to the compensation torque value work of the motor when be up to preset duration when, again
Obtain current vehicle speed；
In S32, determine whether current vehicle speed is less than target vehicle speed, when definite current vehicle speed is less than target vehicle speed, turn
Enter S22, when definite current vehicle speed is not less than target vehicle speed, be transferred to S33, wherein, which is more than zero；
In S33, control vehicle, which exits, to be prevented slipping by slope pattern.
In this embodiment, during the work of the motor is controlled according to the compensation torque value, vehicle is worked as
Preceding speed can move closer to target vehicle speed.Therefore, controlled according to the compensation torque value work of the motor when be up to
During preset duration, current vehicle speed is obtained again, to determine the magnitude relationship between current vehicle speed and target vehicle speed at this time.
Illustratively, which can draw according to the multiple test result of real vehicle.According to compensation torque value control
The work of motor when when being up to preset duration, if the current vehicle speed obtained again is less than target vehicle speed, represent that vehicle is current
Speed is smaller, still has the risk that slips by slope, it is necessary to which difference between the current vehicle speed obtained according to target vehicle speed and again, redefines
The compensation torque value of motor, with the work of the compensation torque value control motor according to the motor redefined.When what is obtained again
When current vehicle speed is not less than target vehicle speed, vehicle is represented currently with the speed when on the ramp, can be with temporarily without the risk that slips by slope
Control vehicle, which exits, to be prevented slipping by slope pattern, and pattern is slipped by slope in anti-for a long time to avoid vehicle.
Through the above technical solutions, the work by controlling the motor according to the compensation torque value, so that vehicle
In when preventing slipping by slope pattern, vehicle can have certain speed, so as to avoid vehicle of the prior art from being in anti-slip
During the pattern of slope, the totally stationary caused control delay of vehicle is kept, prevents slipping by slope pattern so as to effectively improve vehicle and be in
When, vehicle is prevented in all cases to slip by slope the promptness and validity of control, increases the security of vehicle.
Alternatively, the method further includes：
In the case where vehicle entrance is prevented slipping by slope pattern, information of voice prompt is exported, the information of voice prompt is used
Had been enter into vehicle described in prompting driver and prevent slipping by slope pattern.
In this embodiment, voice prompt message is exported, driving can be reminded in time into when preventing slipping by slope pattern in vehicle
Member's vehicle, which currently has been enter into, to be prevented slipping by slope pattern, in order to which driver knows the transport condition of current vehicle in time, to ensure to drive
Member's safe driving.
Alternatively, in another embodiment, control vehicle exit it is anti-slip by slope pattern in the case of, prompting can also be exported
Information, the prompt message prevent slipping by slope pattern for prompting vehicle described in driver to have dropped out.Therefore, carrying by prompting message
Show, driver can know the current transport condition of vehicle in time, make accurate counter-measure in time, improve vehicle traveling
Security, so as to ensure the safe driving of driver.Meanwhile user is prompted by voice, can to driver into
While row prompting, avoid impacting sight of driver etc., be further ensured that the safe driving of driver.
According to the second aspect of the disclosure, there is provided one kind is anti-to slip by slope control device, as shown in figure 4, described device 10 includes：
First acquisition module 100, for obtaining gas pedal status information, brake pedal status information, motor speed letter
The gear information of breath and vehicle；
First control module 200, for the gas pedal status information represent gas pedal be not operated, the system
Dynamic pedal state information represents that brake pedal is not operated, the gear information represents that the vehicle is currently at reverse gear shift or preceding
Into gear and the motor speed, to drop to default rotary speed threshold value or the motor speed be zero, then control the vehicle into
Enter and prevent slipping by slope pattern.
Alternatively, as shown in figure 5, described device 10 further includes：
Second acquisition module 300, in the case of preventing slipping by slope pattern in vehicle entrance, obtains current vehicle speed；
Determining module 400, for according to the difference between default target vehicle speed and the current vehicle speed, determining the benefit of motor
Repay torque value；
Second control module 500, for controlling the work of the motor according to the compensation torque value.
Alternatively, described device 10 further includes：
3rd acquisition module, for controlled according to the compensation torque value work of the motor when when default
When long, current vehicle speed is obtained again；
3rd acquisition module is additionally operable to, when the current vehicle speed of its acquisition is less than the target vehicle speed, trigger institute
Determining module is stated according to the difference between default target vehicle speed and the current vehicle speed, determines the compensation torque value of motor；
3rd control module, for when the current vehicle speed is greater than or equal to the target vehicle speed, controlling the vehicle
Exit and described anti-slip by slope pattern.
Alternatively, the determining module 400 is used for：
The compensation torque value is determined by the following formula：
Tq=P × Δ V+I × Δ V
Wherein, TqFor the compensation torque value；Δ V=V2-V1, V2Represent the target vehicle speed, V1Represent the current vehicle
Speed；P is proportion adjustment parameter；I is differential adjustment parameter.
Alternatively, described device 10 further includes：
Output module, in the case of preventing slipping by slope pattern in vehicle entrance, exports information of voice prompt, institute's predicate
Sound prompt message prevents slipping by slope pattern for prompting vehicle described in driver to have been enter into.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (11)
1. one kind is anti-to slip by slope control method, it is characterised in that the described method includes：
Obtain the gear information of gas pedal status information, brake pedal status information, motor speed information and vehicle；
Represent that gas pedal is not operated, the brake pedal status information represents that braking is stepped in the gas pedal status information
Plate is not operated, the gear information represents that the vehicle is currently at reverse gear shift or forward gear and motor speed drop
It is zero to default rotary speed threshold value or the motor speed, then controls the vehicle to enter and prevent slipping by slope pattern.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
In the case where vehicle entrance is prevented slipping by slope pattern, current vehicle speed is obtained；
According to the difference between default target vehicle speed and the current vehicle speed, the compensation torque value of motor is determined；
The work of the motor is controlled according to the compensation torque value.
3. according to the method described in claim 2, it is characterized in that, the method further includes：
Controlled according to the compensation torque value work of the motor when be up to preset duration when, obtain current vehicle again
Speed；
When the current vehicle speed is less than the target vehicle speed, return described according to default target vehicle speed and the current vehicle speed
Between difference, the step of determining the compensation torque value of motor；
When the current vehicle speed is greater than or equal to the target vehicle speed, controls the vehicle to exit and described anti-slip by slope pattern.
4. according to the method in claim 2 or 3, it is characterised in that described according to default target vehicle speed and described current
Difference between speed, determines the compensation torque value of motor, including：
The compensation torque value is determined by the following formula：
Tq=P × Δ V+I × Δ V
Wherein, TqFor the compensation torque value；Δ V=V2-V1, V2Represent the target vehicle speed, V1Represent the current vehicle speed；P
For proportion adjustment parameter；I is differential adjustment parameter.
5. according to the method described in claim 1, it is characterized in that, the method further includes：
In the case where vehicle entrance is prevented slipping by slope pattern, information of voice prompt is exported, the information of voice prompt is used to carry
Show that vehicle described in driver has been enter into prevent slipping by slope pattern.
6. one kind is anti-to slip by slope control device, it is characterised in that described device includes：
First acquisition module, for obtaining gas pedal status information, brake pedal status information, motor speed information and vehicle
Gear information；
First control module, for the gas pedal status information represent gas pedal be not operated, the brake pedal
Status information represent brake pedal be not operated, the gear information represent the vehicle be currently at reverse gear shift or forward gear,
And it is zero that the motor speed, which drops to default rotary speed threshold value or the motor speed, then the vehicle is controlled to enter anti-slip
Slope pattern.
7. device according to claim 6, it is characterised in that described device further includes：
Second acquisition module, in the case of preventing slipping by slope pattern in vehicle entrance, obtains current vehicle speed；
Determining module, for according to the difference between default target vehicle speed and the current vehicle speed, determining the compensation moment of torsion of motor
Value；
Second control module, for controlling the work of the motor according to the compensation torque value.
8. device according to claim 7, it is characterised in that described device further includes：
3rd acquisition module, for controlled according to the compensation torque value work of the motor when be up to preset duration
When, current vehicle speed is obtained again；
3rd acquisition module is additionally operable to, when the current vehicle speed of its acquisition is less than the target vehicle speed, trigger described true
Cover half root tuber determines the compensation torque value of motor according to the difference between default target vehicle speed and the current vehicle speed；
3rd control module, for when the current vehicle speed is greater than or equal to the target vehicle speed, controlling the vehicle to exit
It is described to prevent slipping by slope pattern.
9. the device according to claim 7 or 8, it is characterised in that the determining module is used for：
The compensation torque value is determined by the following formula：
Tq=P × Δ V+I × Δ V
Wherein, TqFor the compensation torque value；Δ V=V2-V1, V2Represent the target vehicle speed, V1Represent the current vehicle speed；P
For proportion adjustment parameter；I is differential adjustment parameter.
10. device according to claim 6, it is characterised in that described device further includes：
Output module, in the case of preventing slipping by slope pattern in vehicle entrance, exports information of voice prompt, the voice carries
Show that information prevents slipping by slope pattern for prompting vehicle described in driver to have been enter into.
11. a kind of vehicle, it is characterised in that the vehicle includes：
Anti- any one of claim 6-10 slips by slope control device.
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