CN108248448A - Pure electric vehicle sanitation cart at the uniform velocity control method and control device - Google Patents
Pure electric vehicle sanitation cart at the uniform velocity control method and control device Download PDFInfo
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- CN108248448A CN108248448A CN201611225298.1A CN201611225298A CN108248448A CN 108248448 A CN108248448 A CN 108248448A CN 201611225298 A CN201611225298 A CN 201611225298A CN 108248448 A CN108248448 A CN 108248448A
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- vehicle
- uniform velocity
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- control
- gas pedal
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
-
- 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 relates to pure electric vehicle sanitation cart at the uniform velocity control methods and control device, detect gear information, speed information, gas pedal opening information, brake pedal opening information and the vehicle trouble messages of vehicle first；Then, when speed is in the operation operating rate section of vehicle, gas pedal aperture does not change in setting time, the gear signal of vehicle for drive shift and in the setting time without gear shift, without effective brake pedal opening amount signal in the setting time, and vehicle cannot not controlled at the uniform velocity failure when, control vehicle at the uniform velocity travelled with current vehicle speed.Pure electric vehicle sanitation cart can be made to be at the uniform velocity transport condition by the control of the at the uniform velocity control method, and it is low speed speed stabilizing driving condition, so, driver's no longer long-time operation gas pedal, do not have to more accurately control gas pedal, reduce pilot control burden and labor operation intensity.
Description
Technical field
The present invention relates to pure electric vehicle sanitation cart at the uniform velocity control methods and control device, belong to pure electric vehicle sanitation cart and at the uniform velocity control
Technical field.
Background technology
State Council's publication in 2014《The General Office of the State Council is about the instruction for accelerating new-energy automobile popularization and application》, should
It is proposed in instruction, is orientated using the main strategic that pure electric drive develops as new-energy automobile, Public Service Field vehicle is made
The breach promoted and applied for new-energy automobile.A part of the environmental sanitation system as Public Service Field, each new-energy automobile show
Model promotes the part that purchase is also used pure electric vehicle sanitation cart to promote and apply work plan as new-energy automobile by municipal government.
New energy sanitation cart, i.e. pure electric vehicle sanitation cart, have relatively easy and ripe technology, charging convenience, zero-emission, the noise small etc. excellent
Point is not only able to that atmosphere pollution content is greatly reduced, but also can reduce the problem that disturbs residents when running operation.
The operation characteristic of sanitation cart has：Working time fixes, works that the road is clear and operation speed of machine is substantially stationary.Sanitation cart
Two kinds are roughly divided into according to the difference of operation type：Sweeper and cleaning vehicle, under normal circumstances, the operating rate of sweeper are basic
In 4-5km/h, the operating rate of cleaning vehicle is substantially in 15-20km/h.
Sanitation cart currently on the market is mostly conventional internal combustion rolling stock, and gear is placed on one grade or two grades during operation,
Speed control is relatively stable.But since pure electric vehicle sanitation cart is mostly level-one or double reduction system, speed is originally to throttle
Aperture is more sensitive, and the speed of sanitation cart, usually than relatively low, under low speed environments, the variation of smaller accelerator open degree may
Very big influence will be caused to speed, so, driver is difficult that accurately control is carried out to gas pedal so that pure electric vehicle environmental sanitation
Vehicle is in low speed speed stabilizing driving condition.Moreover, the control mode of traditional vehicle speed cruise is not particularly suited for sanitation cart, this is special
Car type.
Invention content
The object of the present invention is to provide a kind of pure electric vehicle sanitation cart at the uniform velocity control methods, are difficult to pass through to solve driver
Accurately control is carried out to gas pedal so that the problem of pure electric vehicle sanitation cart is in low speed speed stabilizing driving condition.The present invention carries simultaneously
For a kind of pure electric vehicle sanitation cart constant speed control device.
To achieve the above object, the solution of the present invention includes a kind of pure electric vehicle sanitation cart at the uniform velocity control method, including following
Step：
(1) gear information, speed information, gas pedal opening information, brake pedal opening information and the vehicle of vehicle are detected
Fault message；
(2) when speed is in the operation operating rate section of vehicle, gas pedal aperture does not change in setting time
Become, the gear signal of vehicle for drive shift and in the setting time without gear shift, without effective in the setting time
Brake pedal opening amount signal, and vehicle cannot not controlled at the uniform velocity failure when, control vehicle with the speed at the uniform velocity
Traveling.
When detecting at least one of situations below：Vehicular shift, any two wheel wheel speed error amount it is big
The operation of vehicle is not in change rate threshold value, the speed that the change rate of a setting error amount, speed is set more than one
In operating rate section, gas pedal exports effective opening amount signal again, brake pedal exports effective opening amount signal and vehicle
There is the failure that cannot at the uniform velocity be controlled, control vehicle releasing at the uniform velocity controls.
Wheel wheel speed information is further included in the information of detection, on the basis of each Rule of judgment is satisfied by, if in institute
State any two wheel wheel speed in setting time error amount be less than or equal to one setting error amount, then control vehicle with
The speed at the uniform velocity travels.
When vehicle releasing is controlled at the uniform velocity to control, the warning device being arranged in vehicle is controlled to alarm, driven with reminding
Member's take over vehicle operating.
The gas pedal open range of setting is divided into N number of subinterval, N >=2, gas pedal aperture is only in some subinterval
Assert that gas pedal aperture does not change during interior variation.
A kind of pure electric vehicle sanitation cart constant speed control device, including：
Detection module is opened for detecting the gear information of vehicle, speed information, gas pedal opening information, brake pedal
Spend information and vehicle trouble messages；
Control module is in for working as speed in the operation operating rate section of vehicle, and gas pedal aperture is in setting
It is interior not change, the gear signal of vehicle for drive shift and in the setting time without gear shift, in the setting time
It is interior without effective brake pedal opening amount signal, and vehicle cannot not controlled at the uniform velocity failure when, control vehicle is with institute
Speed is stated at the uniform velocity to travel.
When detecting at least one of situations below：Vehicular shift, any two wheel wheel speed error amount it is big
The operation of vehicle is not in change rate threshold value, the speed that the change rate of a setting error amount, speed is set more than one
In operating rate section, gas pedal exports effective opening amount signal again, brake pedal exports effective opening amount signal and vehicle
There is the failure that cannot at the uniform velocity be controlled, control vehicle releasing at the uniform velocity controls.
Wheel wheel speed information is further included in the information of detection, on the basis of each Rule of judgment is satisfied by, if in institute
State any two wheel wheel speed in setting time error amount be less than or equal to one setting error amount, then control vehicle with
The speed at the uniform velocity travels.
The constant speed control device further includes the control device being arranged in vehicle, when vehicle releasing is controlled at the uniform velocity to control,
The warning device is controlled to alarm, to remind driver's take over vehicle operating.
The gas pedal open range of setting is divided into N number of subinterval, N >=2, gas pedal aperture is only in some subinterval
Assert that gas pedal aperture does not change during interior variation.
At the uniform velocity control method provided by the invention is exclusively used in pure electric vehicle sanitation cart, passes through the control energy of the at the uniform velocity control method
Pure electric vehicle sanitation cart is enough made to be at the uniform velocity transport condition, and be low speed speed stabilizing driving condition, so, driver is no longer for a long time
Gas pedal is operated, does not have to more accurately control gas pedal, reduces pilot control burden and labor operation is strong
Degree.
Also, this is at the uniform velocity in control method, detects some data informations of vehicle first, these data informations at the uniform velocity
Control has close association, such as gear information, speed information, gas pedal information and brake pedal information, then to detecting
Information analyzed, since the operating rate of sanitation cart is relatively low, so, be only in operation operating rate section in speed
It can talk and it is at the uniform velocity controlled；Gas pedal aperture is the most important factor at the uniform velocity controlled, is at the uniform velocity to control
Most intuitive factor of judgment, only gas pedal aperture stabilization can be controlled at the uniform velocity in certain aperture certain time, just expression vehicle,
If the variation of gas pedal aperture is more frequent, just can not at the uniform velocity control；When the gear signal of vehicle is for drive shift and above-mentioned
Without gear shift in certain time, represent that vehicle is in and stablize forward travel state；Since the at the uniform velocity control of sanitation cart is transport condition, that
Effective opening amount signal cannot be exported in the certain time inside brake pedal；Certainly, in order to ensure that vehicle safety is run, vehicle
There cannot be the failure that cannot be at the uniform velocity controlled in.Therefore, the at the uniform velocity control method is using pure electric vehicle sanitation cart as control
Object, analysis, which is directed in pure electric vehicle sanitation cart, influences the key factor at the uniform velocity travelled, the item respectively met to these key factors
Part is analyzed, and finds the condition that each key factor satisfaction at the uniform velocity travels, and at the uniform velocity controlled according to these conditions.So
At the uniform velocity control method can ensure the reliable control that pure electric vehicle sanitation cart at the uniform velocity travels for this.
Description of the drawings
Fig. 1 is the hardware block diagram of at the uniform velocity control system；
Fig. 2 is the overall flow figure of at the uniform velocity control method；
Fig. 3 is a kind of specific embodiment schematic diagram of at the uniform velocity control method.
Specific embodiment
Pure electric vehicle sanitation cart at the uniform velocity control method embodiment
At the uniform velocity control method provided by the invention is suitable for pure electric vehicle sanitation cart, and sanitation cart refers to whole for the city appearance of the city
It manages, clean special-purpose vehicle, the sanitation cart in the present embodiment is：Sprinkling truck, cleaning vehicle, is working except haze vehicle etc. at sweeper
When need the working truck that travels at the uniform speed.And it in order to implement the at the uniform velocity control method in the present embodiment, is also carried in the present embodiment
For a kind of control system of pure electric vehicle sanitation cart, each component part of the system is hardware device.
As shown in Figure 1, the control system includes gear detection module, Bus- Speed Monitoring module, gas pedal Measuring opening mould
Block and brake pedal Measuring opening module, wherein, gear detection module is used to detect the gear information of sanitation cart, Bus- Speed Monitoring mould
Block is used to detect the speed information of sanitation cart, and gas pedal Measuring opening module is used to detect the gas pedal aperture letter of sanitation cart
Breath, brake pedal Measuring opening module are used to detect the brake pedal opening information of sanitation cart.In addition, the control system further includes
Other detection devices, for detecting the fault message of vehicle, these fault messages can interfere the at the uniform velocity control of sanitation cart, because
This, is by the failure that these failures are known as at the uniform velocity being controlled, such as：ABS-system fault, motor overheating, battery overcurrent and hardware
The relevant device for detecting these failures is just no longer embodied etc. various failures, in Fig. 1.Above-mentioned each detection device belongs to routine
Technology, the present embodiment are just no longer described equipment in itself.
In the present embodiment, entire car controller as the core component at the uniform velocity controlled, for the analysis to each related data with
And at the uniform velocity control command is sent out, certainly, as other embodiments, a controller can also be specially set as at the uniform velocity controlling
Control core.
Entire car controller input connects above-mentioned each detection module and for detecting the failure that cannot be at the uniform velocity controlled
Relevant device receives the various data informations of these detection devices detection；Vehicle control unit controls connect electric machine controller, vehicle
Controller analyzes the data information received, and when meeting at the uniform velocity control condition, control life is exported to electric machine controller
It enables, electric machine controller gives driving motor one constant torque (torque), makes its uniform rotation, realizes at the uniform velocity going for sanitation cart
It sails.
Therefore, at the uniform velocity control strategy is loaded in entire car controller, entire car controller is at the uniform velocity controlled by strategy realization,
The strategy is the core procedure at the uniform velocity control method provided by the invention, and the control method is described in detail below.
The first step of the at the uniform velocity control method is detecting step：The gear information of detection vehicle, speed information, throttle are stepped on
Plate information, brake pedal information and vehicle trouble messages have been made that the corresponding detection device for detecting each information due to above-mentioned
Description, just no longer illustrates here.
The second step step in order to control of the at the uniform velocity control method, which is the at the uniform velocity control in entire car controller
Strategy is loaded by way of software program in entire car controller.Fig. 2 is the overall flow figure of the at the uniform velocity control method.
Entire car controller is analyzed according to the data information received, wherein,
For speed information, sanitation cart is that vehicle is in normal operating conditions in the range at the uniform velocity controlled, therefore, " at the uniform velocity
" speed " in control " will be in operation operating rate section.Since the operating rate of sanitation cart is relatively low, moreover, different operating
The operating rate range of the sanitation cart of type is different, for example, sweeper operating rate substantially in 4-5km/h, the work of cleaning vehicle
Speed is substantially in 15-20km/h, moreover, the not necessarily above-mentioned value range of operating rate range, different roads may be just
Different cleaning speed is needed, such as：When road is dirtier, when cleaning, will be slow, can clean up in this way.Accordingly, it is considered to
To above-mentioned each operation operating rate section because usually setting sanitation cart.In short, when at the uniform velocity being controlled, speed information meets
Condition be：Speed is in operation operating rate section.
For gas pedal information, in order to which entire car controller realization is made at the uniform velocity to control, it is necessary to which gas pedal aperture is being set
It is not changed in the fixed time (setting time is chosen according to practical control accuracy), i.e., gas pedal aperture is in the setting
Interior not change, the purpose for setting the setting time is：Entire car controller is stablized true after a certain period of time in gas pedal aperture
Making vehicle needs at the uniform velocity to travel.Also, under actual conditions, since vehicle travels vibrations and other factors etc., at the uniform velocity controlling
When, driver is difficult to control gas pedal aperture within a certain period of time in absolutely constant state, might have about 2% it is inclined
Difference if be directly detected to gas pedal aperture, it is difficult to judge whether gas pedal aperture stablizes setting time, therefore needs
Gas pedal aperture is handled, specially：A gas pedal open range is set, the ranging from normal row of sanitation cart
The range is divided at least two subintervals by the open range for the gas pedal sailed, when gas pedal aperture is only in a certain height
It when changing in section, represents that gas pedal aperture variation degree is little, assert that gas pedal aperture does not change, only work as throttle
From when changing in another subinterval in one of subinterval, expression gas pedal aperture changes pedal aperture
Degree is larger, just assert that gas pedal aperture is changed.Wherein, the number that subinterval divides is set according to actual requirement
Fixed, when the number of division is less, control accuracy is not high, and still, control complexity is low, correspondingly, when the number of division is more, control
Precision processed is high, and still, control complexity is high.Due to the ranging from 0-100% of gas pedal aperture under normal circumstances, so,
Gas pedal open range is set as 0-100% in the present embodiment, and precision 1% divides the gas pedal open range
Pedal signal Fuzzy Processing is 3% precision (can also being adjusted according to actual vehicle situation), i.e. gas pedal by grade processing
Aperture is broadly divided into 33 subintervals in the range of 0-100%, by identifying stabilization feelings of the pedal opening signal in each section
Condition come determine driver's stable operation traveling state, such as：If gas pedal aperture in setting time only [10%,
12%] change in section, then it represents that gas pedal aperture does not change in setting time；If gas pedal aperture is being set
It is changed in [13%, 15%] section in time by being in [10%, 12%] section, then it represents that gas pedal aperture exists
Changed in the setting time.Therefore, when at the uniform velocity being controlled, the condition that throttle information meets is：Gas pedal is opened
Degree does not change within the time of setting.
For gear information, since the sanitation cart factor most basic when at the uniform velocity controlling is to stablize to travel along direction of advance,
So when at the uniform velocity being controlled, the condition that gear information meets is：Gear information is for a certain shelves in drive shift and upper
Gear in setting time is stated not change.
For braking information, in order to which entire car controller realization is made at the uniform velocity to control, brake pedal, which cannot export, effectively to be opened
Spend signal.Wherein, when brake pedal is not operated, effective opening amount signal can not be exported certainly；Brake pedal is only slightly stepped on
When lower, the opening amount signal very little of output can be ignored, it is believed that the opening amount signal is invalid.Therefore, it is at the uniform velocity being controlled
When processed, the condition that braking information meets is：Brake pedal is in above-mentioned setting time without exporting effective opening amount signal.
For fault message, in order to which entire car controller realization is made at the uniform velocity to control, sanitation cart cannot occur carrying out even
The failure of speed control, such as：The various failures such as ABS-system fault, motor overheating, battery overcurrent and hardware.Therefore, it is at the uniform velocity being controlled
When processed, the condition that fault message meets is：The failure that vehicle cannot not controlled at the uniform velocity (can be understood as in above-mentioned setting
The failure that vehicle cannot not controlled at the uniform velocity in time).
In addition, sanitation cart, sometimes for turning, vehicle can not realize automatic turning, so it is even not need to vehicle in turning
Speed control, driver will take over vehicle.So further, turning detection is also needed to when at the uniform velocity controlling, then, upper
State the wheel speed detection module (being not drawn into Fig. 1) being additionally provided in control system for detecting each wheel wheel speed, entire car controller
Sampling connects each wheel speed detection module.The wheel speed of wheel at left and right sides of during due to turning is different, it is also possible to the two of the same side
The wheel speed of a wheel is also different.So the error amount of the wheel wheel speed of any two is calculated, if the mistake there are two vehicle wheel rotational speed
Difference be more than one setting error amount (such as：15r/min), it represents that there are two the wheel speeds of wheel to differ greatly, shows environmental sanitation
Vehicle is being turned.Therefore, correspondingly, if necessary at the uniform velocity being controlled, wheel speed information just needs the condition met to be：It is set above-mentioned
The error amount of the wheel wheel speed for interior any two of fixing time is less than or equal to the error amount of above-mentioned setting.
It can to sum up obtain, when only the following conditions are satisfied by：Speed is in the operation operating rate section of vehicle, throttle is stepped on
Plate aperture does not have to change in setting time, the gear signal of vehicle for drive shift and in the setting time not gear shift, at this
The failure that cannot not controlled at the uniform velocity without effective brake pedal opening amount signal, vehicle in setting time, in the setting
In time the error amount of the wheel wheel speed of any two be less than or equal to one setting error amount, entire car controller export to
One control command of electric machine controller, then one dtc signal corresponding with current vehicle speed of electric machine controller output, control are driven
Dynamic motor is at the uniform velocity travelled with the torque.
Control system can keep current power output, in order to reduce driver's operation complexity, drive under normal circumstances
Member can unclamp gas pedal, and sanitation cart can still remain a constant speed traveling.
Sanitation cart is at the uniform velocity driving process, when entire car controller, which detects, occurs at least one in situations below：
Vehicular shift (other shelves are become from drive shift or become other shelves in drive shift by a certain shelves in drive shift, than
Such as：Reverse gear or 2 grades become in drive shift by 1 grade in drive shift are become from drive shift), the wheel of any two wheel
The error amount of speed be more than setting error amount, speed have significant change (i.e. vehicle speed variation rate is more than the change rate threshold value set, such as
0.5m/s2), speed be not in the operation operating rate section of vehicle (such as speed exceed the operating rate section), oil
Door pedal be operated again (i.e. gas pedal exports effective opening amount signal again, and expression driver has artificial acceleration demand),
Brake pedal exports effective opening amount signal and the failure that cannot be at the uniform velocity controlled, vehicle control unit controls solution occurs in vehicle
Except at the uniform velocity controlling, driver's take over vehicle.In order to remind driver's take over vehicle in time, entire car controller is controlled on vehicle simultaneously
Warning device is alarmed.
Therefore, sanitation cart mainly includes two operational modes：Road work at the uniform velocity control model and normal vehicle operation mould
Formula.Wherein,
Road work at the uniform velocity control model is above-mentioned at the uniform velocity state of a control, and entire car controller determines that road torque (power) is defeated
Go out demand, and then control vehicle torque output, ensure vehicle at the uniform velocity operation.
Normal vehicle operation pattern is the state that driver normally controls vehicle, for example sanitation cart is in the non-work of progress
Industry operating mode, if acceleration and deceleration operate, decelerating turn operates or goes back to factory etc. with higher speed, and driver can carry out just vehicle
Normal manipulation and control.
In addition, in order to realize the slitless connection of vehicle control conversion and power output adjusting, sanitation cart further included ferryman
Condition control model, when sanitation cart is advanced in road work at the uniform velocity control model, receive driver's take over vehicle solicited message or
Be other failures and other need driver's take over vehicle travel when, vehicle need from uniform and automatic control model through the mistake
Ferryman's condition control mode switch is to normal running mode.
Fig. 3 is a kind of flow chart of at the uniform velocity specific embodiment of control method, and certainly, this is a kind of specific reality
Mode is applied, any restriction is not made to above-mentioned at the uniform velocity control method.
As shown in figure 3, vehicle is in the process of moving, the flag bit of entire car controller detection road work at the uniform velocity control model
State.Road work at the uniform velocity control model flag bit represents whether road work at the uniform velocity control model opens work：Work as flag bit
During set (for 1), represent vehicle enter road work at the uniform velocity control model, when flag bit reset (for 0) when, represent vehicle not into
Enter road work at the uniform velocity control model.
According to flag bit state, corresponding control model is determined.
When flag bit state is in reset state, system can carry out classification knowledge for current driver's driver behavior situation
Other places are managed, and determine vehicle subsequent control pattern.If the system detects that Vehicular behavior, which meets road work, at the uniform velocity controls mould
Formula condition, by flag bit set, simultaneity factor enters road work at the uniform velocity control model, the operation of system take over vehicle；If vehicle
Operating condition can not meet road work at the uniform velocity control model unlocking condition, vehicle according to practical driver's operational requirements, into
Row normally travel.
When flag bit state is in SM set mode, system enters road work at the uniform velocity control model, system take over vehicle
Operation；And system can be detected from driver's operation, vehicle running state information, vehicle trouble messages etc., judge that vehicle is
It is no to exit road work at the uniform velocity control model：If detecting that vehicle satisfaction exits the condition of road work at the uniform velocity control model,
System resets flag bit, exits at the uniform velocity control model, into transient working condition control model, while prompts driver's take over vehicle
；If not detecting that vehicle exits road work at the uniform velocity control model, system control vehicle continues with road work at the uniform velocity
Control model is run, while keeps flag bit SM set mode.
Pure electric vehicle sanitation cart constant speed control device embodiment
In the present embodiment, control device is included with lower module：
Detection module is opened for detecting the gear information of vehicle, speed information, gas pedal opening information, brake pedal
Spend information and vehicle trouble messages；
Control module is in for working as speed in the operation operating rate section of vehicle, and gas pedal aperture is in setting
It is interior not change, the gear signal of vehicle for drive shift and in above-mentioned setting time without gear shift, in above-mentioned setting time
It is interior without effective brake pedal opening amount signal, and vehicle cannot not controlled at the uniform velocity failure when, control more than vehicle
Speed is stated at the uniform velocity to travel.
By analysis it is found that two modules of the control device and two masters in pure electric vehicle sanitation cart at the uniform velocity control method
Want step substantially identical, therefore, which is substantially still control method, due in above-mentioned control method embodiment
The control method is made that and is described in detail, is just no longer illustrated here.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.The base of the present invention
This thinking is above-mentioned basic scheme, and for those of ordinary skill in the art, various changes are designed in introduction according to the present invention
The model of shape, formula, parameter do not need to spend creative work.It is right without departing from the principles and spirit of the present invention
The change, modification, replacement and modification that embodiment carries out are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of pure electric vehicle sanitation cart at the uniform velocity control method, which is characterized in that include the following steps：
(1) gear information of detection vehicle, speed information, gas pedal opening information, brake pedal opening information and vehicle event
Hinder information；
(2) when speed is in the operation operating rate section of vehicle, gas pedal aperture does not change in setting time, vehicle
Gear signal for drive shift and in the setting time without gear shift, do not made effectively in the setting time
Dynamic pedal opening signal, and vehicle cannot not controlled at the uniform velocity failure when, control vehicle is at the uniform velocity travelled with the speed.
2. pure electric vehicle sanitation cart according to claim 1 at the uniform velocity control method, which is characterized in that when detecting situations below
At least one of when：Vehicular shift, any two wheel wheel speed error amount be more than one setting error amount, speed change
Rate be more than one setting change rate threshold value, speed be not in the operation operating rate section of vehicle, gas pedal again
The secondary event that exports effective opening amount signal, the effective opening amount signal of brake pedal output and vehicle appearance and cannot at the uniform velocity be controlled
Barrier, control vehicle releasing at the uniform velocity control.
3. pure electric vehicle sanitation cart according to claim 1 at the uniform velocity control method, which is characterized in that also wrapped in the information of detection
Wheel wheel speed information is included, on the basis of each Rule of judgment is satisfied by, if any two wheel in the setting time
The error amount of wheel speed is less than or equal to the error amount of a setting, then vehicle is controlled at the uniform velocity to be travelled with the speed.
4. pure electric vehicle sanitation cart according to claim 2 at the uniform velocity control method, which is characterized in that when control vehicle releasing is even
During speed control, the warning device being arranged in vehicle is controlled to alarm, to remind driver's take over vehicle operating.
5. pure electric vehicle sanitation cart at the uniform velocity control method according to any one of claims 1-4, which is characterized in that will set
Gas pedal open range be divided into N number of subinterval, oil is assert in N >=2 when gas pedal aperture changes only in some subinterval
Door pedal aperture does not change.
6. a kind of pure electric vehicle sanitation cart constant speed control device, which is characterized in that including：
Detection module, for detecting the gear information of vehicle, speed information, gas pedal opening information, brake pedal aperture letter
Breath and vehicle trouble messages；
Control module is in for working as speed in the operation operating rate section of vehicle, and gas pedal aperture is in setting time
Do not change, the gear signal of vehicle without gear shift, does not have in the setting time for drive shift and in the setting time
Have an effective brake pedal opening amount signal, and vehicle cannot not controlled at the uniform velocity failure when, control vehicle is with the vehicle
Speed at the uniform velocity travels.
7. pure electric vehicle sanitation cart constant speed control device according to claim 6, which is characterized in that when detecting situations below
At least one of when：Vehicular shift, any two wheel wheel speed error amount be more than one setting error amount, speed change
Rate be more than one setting change rate threshold value, speed be not in the operation operating rate section of vehicle, gas pedal again
The secondary event that exports effective opening amount signal, the effective opening amount signal of brake pedal output and vehicle appearance and cannot at the uniform velocity be controlled
Barrier, control vehicle releasing at the uniform velocity control.
8. pure electric vehicle sanitation cart constant speed control device according to claim 6, which is characterized in that also wrapped in the information of detection
Wheel wheel speed information is included, on the basis of each Rule of judgment is satisfied by, if any two wheel in the setting time
The error amount of wheel speed is less than or equal to the error amount of a setting, then vehicle is controlled at the uniform velocity to be travelled with the speed.
9. pure electric vehicle sanitation cart constant speed control device according to claim 7, which is characterized in that the constant speed control device
The control device being arranged in vehicle is further included, when vehicle releasing is controlled at the uniform velocity to control, the warning device is controlled to alarm,
To remind driver's take over vehicle operating.
10. the pure electric vehicle sanitation cart constant speed control device according to claim 6-9 any one, which is characterized in that will set
Fixed gas pedal open range is divided into N number of subinterval, N >=2, and gas pedal aperture is assert when changing only in some subinterval
Gas pedal aperture does not change.
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| CN201611225298.1A CN108248448B (en) | 2016-12-27 | 2016-12-27 | Constant-speed control method and control device for pure electric sanitation truck |
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| CN201611225298.1A CN108248448B (en) | 2016-12-27 | 2016-12-27 | Constant-speed control method and control device for pure electric sanitation truck |
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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co., Ltd Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou Patentee before: Zhengzhou Yutong Bus Co., Ltd |