CN108909526A - A kind of single pedal driving mode method for slowing-down control, device and electric car - Google Patents
A kind of single pedal driving mode method for slowing-down control, device and electric car Download PDFInfo
- Publication number
- CN108909526A CN108909526A CN201810671030.3A CN201810671030A CN108909526A CN 108909526 A CN108909526 A CN 108909526A CN 201810671030 A CN201810671030 A CN 201810671030A CN 108909526 A CN108909526 A CN 108909526A
- Authority
- CN
- China
- Prior art keywords
- speed
- vehicle
- accelerator pedal
- indicate
- pedal aperture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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 provides a kind of single pedal driving mode method for slowing-down control, device and electric car, which includes：Under single pedal driving mode, obtains the first accelerator pedal aperture of accelerator pedal and be used to indicate the first speed of vehicle current vehicle speed；According to the first accelerator pedal aperture, determine that the second speed, the second speed are theoretical speed of the vehicle under the first accelerator pedal aperture；When the second speed is less than the first speed, according to the first speed, the second accelerator pedal aperture when vehicle keeps the first speed is obtained；According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, aimed acceleration is obtained, and is slowed down using aimed acceleration control vehicle.Vehicle may be implemented under single pedal driving mode in the present invention, and when being slowed down in different road conditions, driving experience having the same.
Description
Technical field
The present invention relates to Control of Electric Vehicles field, in particular to a kind of single pedal driving mode method for slowing-down control, dress
It sets and electric car.
Background technique
It is exactly the control completed in vehicle travel process by a pedal that the single pedal of electric car, which drives function,.Not only
Mistake when reducing complexity when traditional two pedal control vehicle, while also avoiding traditional two pedal control vehicle is grasped
Make, for example, accelerator pedal may be worked as brake pedal due to missing in a hurry by driver in the case where needing emergency brake, thus
Cause serious consequence.
Electric car currently on the market recycles torque by energization and realizes that single pedal drives function, in city etc.
Driver can be reduced under operating condition and steps on brake pedal, improve vehicle economy.
Existing electric car when driver makes vehicle deceleration by single pedal driving mode, get off by identical pedal opening
Rate of deceleration is greater than horizontal road on up gradient road, is less than horizontal road in the rate of deceleration of descending road, causes to drive
Experience inconsistent, speed is more difficult to control.
Summary of the invention
The present invention provides a kind of single pedal driving mode method for slowing-down control, device and electric cars, existing to solve
When having vehicle to be slowed down in different road conditions under identical pedal opening in single pedal driving mode, driving experience is inconsistent to be asked
Topic.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme that：
According to one aspect of the present invention, a kind of single pedal driving mode method for slowing-down control is provided, including：
Under single pedal driving mode, obtains the first accelerator pedal aperture of accelerator pedal and to be used to indicate vehicle current
First speed of speed；
According to the first accelerator pedal aperture, the second speed is determined, wherein second speed is that vehicle adds first
Theoretical speed under speed pedal aperture；
When second speed is less than first speed, according to first speed, obtains vehicle and keep described the
The second accelerator pedal aperture when one speed；
According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, obtain
Aimed acceleration, and the vehicle is controlled using the aimed acceleration and is slowed down.
Further, described according to the first accelerator pedal aperture, the step of determining the second speed, includes：
The first driving parameters are obtained, according to first driving parameters and the first accelerator pedal aperture, solution side
Journey one obtains the second speed, wherein the first row sails parameter includes：Coefficient of air resistance, front face area, complete vehicle curb weight,
Coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio and radius of wheel；
Equation one：
Wherein, VAPSIndicate the second speed, CDIndicate that coefficient of air resistance, A indicate that front face area, M indicate that vehicle reorganizes and outfit matter
Amount, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate that transmission system transmission ratio, r indicate
Radius of wheel, TvIndicate the torque under the first accelerator pedal aperture and the second speed are corresponding.
Further, described according to first speed, it obtains vehicle and keeps second when first speed to accelerate to step on
The step of plate aperture includes：
The second driving parameters are obtained, according to second driving parameters and first speed, equation two is solved and obtains
Vehicle keeps theoretical torque when first speed, wherein second driving parameters include：Coefficient of air resistance, windward side
Product, complete vehicle curb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio, wheel half
Diameter；
Equation two：
Wherein TAPSIndicate theoretical torque when vehicle keeps first speed, CDIndicate that coefficient of air resistance, A indicate
Front face area, M indicate complete vehicle curb weight, f0Indicate coefficient of rolling resistance constant term, f1Indicate coefficient of rolling resistance first order, i
Indicate that transmission system transmission ratio, r indicate that radius of wheel, V indicate the first speed；
Theoretical torque, the speed of the first speed and vehicle, torque, acceleration when keeping first speed according to vehicle
Preset relation between pedal opening obtains the second accelerator pedal aperture when vehicle keeps first speed.
Further, it is described according to the first accelerator pedal aperture, the second accelerator pedal aperture and it is default plus
Threshold speed, the step of obtaining aimed acceleration include：
According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, solve
Equation three obtains aimed acceleration；
Equation three：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicating predetermined acceleration threshold value, APS indicates the first accelerator pedal aperture,
APSVIndicate the second accelerator pedal aperture.
Further, described after described the step of being slowed down using the aimed acceleration control vehicle
Method further includes：
Obtain the driving wheel slip rate of the vehicle；
When the driving wheel slip rate is more than or equal to default slip rate threshold value, entire car controller is controlled to motor control
Device processed, which is sent, carries the torque command that torque is equal to 0.
Further, described after described the step of being slowed down using the aimed acceleration control vehicle
Method further includes：
First brake pedal of the third accelerator pedal aperture and brake pedal that obtain the accelerator pedal of the vehicle is opened
Degree；
If the third accelerator pedal aperture is equal to 0, and the first brake pedal aperture is equal to 0, in the vehicle
Current vehicle speed when being less than preset vehicle speed threshold value, control entire car controller is sent to electric machine controller carries torque equal to 0
Torque command；
If the third accelerator pedal aperture is greater than 0, and the first brake pedal aperture is equal to 0, according to described the
Three accelerator pedal apertures, determine third speed, wherein the third speed is theory of the vehicle under third accelerator pedal aperture
Speed, when the third speed is more than or equal to the current vehicle speed of vehicle, control entire car controller is sent out to electric machine controller
It send and carries the torque command that torque is greater than 0；
If the first brake pedal aperture is greater than 0, according to the first brake pedal aperture, braking moment is obtained,
Described in braking moment be the first brake pedal aperture under theoretical torque；It obtains entire car controller and is sent to electric machine controller
The torque carried in torque command, when the braking moment is more than or equal to the torque carried in the torque command obtained,
Control vehicle exits the single pedal driving mode.
Another aspect according to the present invention provides a kind of single pedal driving mode deceleration control system, including：
First obtains module, under single pedal driving mode, obtain the first accelerator pedal aperture of accelerator pedal with
And it is used to indicate the first speed of vehicle current vehicle speed；
First computing module, for the second speed being determined, wherein second vehicle according to the first accelerator pedal aperture
Speed is theoretical speed of the vehicle under the first accelerator pedal aperture；
Second computing module, for according to first speed, obtaining when second speed is less than first speed
The second accelerator pedal aperture when keeping first speed to vehicle；
First control module, for according to the first accelerator pedal aperture, the second accelerator pedal aperture and pre-
If acceleration rate threshold, aimed acceleration is obtained, and the vehicle is controlled using the aimed acceleration and is slowed down.
Further, first computing module is specifically used for obtaining the first driving parameters, is joined according to first traveling
The several and described first accelerator pedal aperture solves equation one and obtains the second speed, wherein the first row sails parameter includes：It is empty
Vapour lock force coefficient, front face area, complete vehicle curb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, power train
System transmission ratio, radius of wheel；
Equation one：
Wherein, VAPSIndicate the second speed, CDIndicate that coefficient of air resistance, A indicate that front face area, M indicate that vehicle reorganizes and outfit matter
Amount, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate that transmission system transmission ratio, r indicate
Radius of wheel, TvIndicate the torque under the first accelerator pedal aperture and the second speed are corresponding.
Further, second computing module includes：
First computing unit, for obtaining the second driving parameters, according to second driving parameters and first vehicle
Speed solves equation two and obtains theoretical torque when vehicle keeps first speed, wherein second driving parameters include：It is empty
Vapour lock force coefficient, front face area, complete vehicle curb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, power train
System transmission ratio, radius of wheel；
Equation two：
Wherein TAPSIndicate theoretical torque when vehicle keeps first speed, CDIndicate that coefficient of air resistance, A indicate
Front face area, M indicate complete vehicle curb weight, f0Indicate coefficient of rolling resistance constant term, f1Indicate coefficient of rolling resistance first order, i
Indicate that transmission system transmission ratio, r indicate that radius of wheel, V indicate the first speed；
Second computing unit, for keeping theoretical torque, the first speed and vehicle when first speed according to vehicle
Speed, torque, the preset relation between accelerator pedal aperture, obtain vehicle and keep second when first speed to accelerate
Pedal opening.
Further, first control module is specifically used for being added according to the first accelerator pedal aperture, described second
Speed pedal aperture and predetermined acceleration threshold value solve equation three and obtain aimed acceleration；
Equation three：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicating predetermined acceleration threshold value, APS indicates the first accelerator pedal aperture,
APSVIndicate the second accelerator pedal aperture.
Further, described device further includes：
Second obtains module, for obtaining the driving wheel slip rate of the vehicle；
Second control module, for controlling when the driving wheel slip rate is more than or equal to default slip rate threshold value
Entire car controller sends the torque command for carrying torque and being equal to 0 to electric machine controller.
Further, described device further includes：
Third obtains module, for obtaining the third accelerator pedal aperture and brake pedal of the accelerator pedal of the vehicle
The first brake pedal aperture；
4th control module, if being equal to 0, and the first brake pedal aperture for the third accelerator pedal aperture
Equal to 0, when the current vehicle speed of the vehicle is less than preset vehicle speed threshold value, control entire car controller is taken to electric machine controller transmission
It is equal to 0 torque command with torque；
5th control module, if being greater than 0, and the first brake pedal aperture for the third accelerator pedal aperture
Equal to 0, according to the third accelerator pedal aperture, third speed is determined, wherein the third speed is that vehicle accelerates in third
Theoretical speed under pedal opening controls full-vehicle control when the third speed is more than or equal to the current vehicle speed of vehicle
Device sends the torque command for carrying torque and being greater than 0 to electric machine controller；
6th control module is opened if being greater than 0 for the first brake pedal aperture according to first brake pedal
Degree, obtains braking moment, wherein the braking moment is the theoretical torque under the first brake pedal aperture；Obtain entire car controller
It is sent to the torque carried in the torque command of electric machine controller, the torque life obtained is more than or equal in the braking moment
When the torque carried in order, control vehicle exits the single pedal driving mode.
Another aspect according to the present invention provides a kind of electric car, including：Single pedal as described above drives mould
Formula deceleration control system.
The beneficial effects of the invention are as follows：
Above-mentioned technical proposal determines the second speed, according to the second speed by the first accelerator pedal aperture of accelerator pedal
Determine whether to enter control subpattern of slowing down with the first speed of knowledge vehicle current vehicle speed, if the second speed is less than the first speed
Then enter control subpattern of slowing down, keeps the second accelerator pedal when the first speed to open according to the first accelerator pedal aperture, vehicle
Degree and predetermined acceleration threshold value, determine aimed acceleration, are slowed down using aimed acceleration control vehicle, in this way, even if
Vehicle travels in different road conditions, and driver also being capable of driving experience having the same.
Detailed description of the invention
Fig. 1 shows a kind of single pedal driving mode method for slowing-down control schematic diagrames provided in an embodiment of the present invention；
Fig. 2 indicates a kind of single pedal driving mode method for slowing-down control application schematic diagram provided in an embodiment of the present invention；
Fig. 3 indicates a kind of single pedal driving mode deceleration control system schematic diagram provided in an embodiment of the present invention.
Description of symbols：
31, first module is obtained；32, the first computing module；33, the second computing module；34, the first control module；35,
Two obtain module；36, the second control module；37, third obtains module；38, the 4th control module；39, the 5th control module；
30, the 6th control module.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
As shown in Figure 1, the embodiment of the invention provides a kind of single pedal driving mode method for slowing-down control, which is driven
The mode method for slowing-down control of sailing includes：
S11：Under single pedal driving mode, obtains the first accelerator pedal aperture of accelerator pedal and be used to indicate vehicle
First speed of current vehicle speed；
It should be noted that the open range of accelerator pedal can be 0-100, the first accelerator pedal aperture is currently to trample
Aperture when accelerator pedal, numerical value are greater than 0, and less than 100.When vehicle is in single pedal driving mode, driver is stepped on
Accelerator pedal is stepped on, to generate the first accelerator pedal aperture.
S12：According to the first accelerator pedal aperture, the second speed is determined, wherein the second speed is that vehicle accelerates to step on first
Theoretical speed under plate aperture；
It should be noted that each opening value of vehicle accelerator pedal, respectively corresponds a theoretical speed of vehicle, the reason
It by speed is calculated according to the opening value of accelerator pedal, different from the actual vehicle speed of vehicle, the actual vehicle speed of vehicle is vehicle
Speed of operation in driving process.
S13：When the second speed is less than the first speed, according to the first speed, the when vehicle keeps the first speed is obtained
Two accelerator pedal apertures；
It should be noted that when the second speed is less than the first speed, control vehicle enters deceleration subpattern, make vehicle into
Row slows down.If the second speed is more than or equal to the first speed, the driving mode for maintaining vehicle current accelerates vehicle.
S14：According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, target is obtained
Acceleration, and slowed down using aimed acceleration control vehicle.
It should be noted that predetermined acceleration threshold value is peak acceleration when vehicle is slowed down, it can be according to vehicle
Performance or the experience of designer determine, such as predetermined acceleration threshold value can be -3.5m/2, naturally it is also possible to it is -5m/2
~-6m/2Between any value, but not limited to this.
Closed loop PID (proportional-integral-differential, proportionintegral can be used after aimed acceleration determines
Derivative it) is controlled, so that vehicle is accelerated using aimed acceleration.
In the embodiment of the present invention, by the first accelerator pedal aperture of accelerator pedal, the second speed is determined, according to the second vehicle
First speed of speed and knowledge vehicle current vehicle speed determines whether to enter control subpattern of slowing down, if the second speed is less than the first vehicle
Fast then the second accelerator pedal into control subpattern of slowing down, when according to the first accelerator pedal aperture, vehicle the first speed of holding
Aperture and predetermined acceleration threshold value, determine aimed acceleration, are slowed down using aimed acceleration control vehicle, in this way, i.e.
Travel vehicle in different road conditions, driver also being capable of driving experience having the same.
In order to accurately obtain vehicle corresponding second speed under the first accelerator pedal aperture, in foregoing invention embodiment
On the basis of, in the embodiment of the present invention, according to the first accelerator pedal aperture, the step of determining the second speed, includes：
The first driving parameters are obtained, according to the first driving parameters and the first accelerator pedal aperture, equation one is solved and obtains
Second speed, wherein the first driving parameters include：Coefficient of air resistance, front face area, complete vehicle curb weight, coefficient of rolling resistance
Constant term, coefficient of rolling resistance first order, transmission system transmission ratio and radius of wheel；
Equation one：
Wherein, VAPSIndicate the second speed, CDIndicate that coefficient of air resistance, A indicate that front face area, M indicate that vehicle reorganizes and outfit matter
Amount, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate that transmission system transmission ratio, r indicate
Radius of wheel, TvIndicate the torque under the first accelerator pedal aperture and the second speed are corresponding.
It should be noted that coefficient of air resistance, coefficient of rolling resistance constant term and coefficient of rolling resistance first order difference
It is obtained from aerodynamic Drag Calculation formula and rolling resistance calculation formula.Front face area, complete vehicle curb weight, transmission system pass
Dynamic ratio, radius of wheel can be by the hardware performance gain of parameter of vehicle, can also be by simply measuring, it is easy to
It arrives, details are not described herein.There is fixed relationship between the accelerator pedal aperture of vehicle, the torque of vehicle and the speed of vehicle,
Such as there are preset relation tables, the two in accelerator pedal aperture, the torque of vehicle and the speed of vehicle for determining vehicle
The third party can be determined later, therefore the torque of vehicle can pass through the speed of accelerator pedal aperture and vehicle about vehicle
Relational expression is expressed, in above-mentioned equation one, the second vehicle velocity VAPSIndicate unknown number, torque TvIt can be with about the second speed
VAPSRelational expression show, therefore there is only a unknown number V for above-mentioned equation oneAPS, by solving equation available second
Vehicle velocity VAPS, it can be solved by way of mathematical modeling, but not limited to this.
The second accelerator pedal aperture when the first speed of vehicle holding in order to obtain, on the basis of above-mentioned each inventive embodiments
On, in the embodiment of the present invention, according to the first speed, the step of obtaining the second accelerator pedal aperture when vehicle keeps the first speed
Including：
The second driving parameters are obtained, according to the second driving parameters and the first speed, equation two is solved and obtains vehicle holding
Theoretical torque when the first speed, wherein the second driving parameters include：Coefficient of air resistance, front face area, complete vehicle curb weight,
Coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio, radius of wheel；
Equation two：
Wherein TAPSIndicate theoretical torque when vehicle keeps the first speed, CDIndicate that coefficient of air resistance, A indicate windward
Area, M indicate complete vehicle curb weight, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate
Transmission system transmission ratio, r indicate that radius of wheel, V indicate the first speed；
Theoretical torque, the speed of the first speed and vehicle, torque, accelerator pedal when according to vehicle the first speed of holding
Preset relation between aperture obtains the second accelerator pedal aperture when vehicle keeps the first speed.
It should be noted that coefficient of air resistance, coefficient of rolling resistance constant term and coefficient of rolling resistance first order difference
It is obtained from aerodynamic Drag Calculation formula and rolling resistance calculation formula.Front face area, complete vehicle curb weight, transmission system pass
Dynamic ratio, radius of wheel can be by the hardware performance gain of parameter of vehicle, can also be by simply measuring, it is easy to
It arrives, details are not described herein.There is fixed relationship between the accelerator pedal aperture of vehicle, the torque of vehicle and the speed of vehicle,
Such as there are preset relation tables, the two in accelerator pedal aperture, the torque of vehicle and the speed of vehicle for determining vehicle
The third party can be determined later, by right under the available theoretical torque in the first speed of the first speed and holding of tabling look-up
The the second accelerator pedal aperture answered.
Aimed acceleration when in order to determine that vehicle is slowed down, on the basis of above-mentioned each inventive embodiments, the present invention
In embodiment, according to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, target acceleration is obtained
The step of spending include：
According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, solves equation three and obtain
To aimed acceleration；
Equation three：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicating predetermined acceleration threshold value, APS indicates the first accelerator pedal aperture,
APSVIndicate the second accelerator pedal aperture.
In order to prevent under single pedal driving mode, energy regenerating torque is excessive to cause wheel lock up, real in above-mentioned each invention
On the basis of applying example, in the embodiment of the present invention, after the step of being slowed down using aimed acceleration control vehicle, method is also
Including：
Obtain the driving wheel slip rate of vehicle；
When driving wheel slip rate is more than or equal to default slip rate threshold value, entire car controller is controlled to electric machine controller
It sends and carries the torque command that torque is equal to 0.
It should be noted that default slip rate threshold value can freely be set, such as it can be 10%, but not limited to this.When
Torque is equal to 0, then the motor of vehicle no longer output torque, vehicle exit deceleration subpattern.
There are many case where certain vehicle exits deceleration subpattern or exits single pedal driving mode, accelerate using target
After the step of degree control vehicle is slowed down, method further includes：
Obtain the third accelerator pedal aperture of the accelerator pedal of vehicle and the first brake pedal aperture of brake pedal；
If third accelerator pedal aperture is equal to 0, and the first brake pedal aperture is equal to 0, small in the current vehicle speed of vehicle
When preset vehicle speed threshold value, control entire car controller sends the torque command for carrying torque and being equal to 0 to electric machine controller；
If third accelerator pedal aperture is greater than 0, and the first brake pedal aperture is equal to 0, is opened according to third accelerator pedal
Degree, determines third speed, and wherein third speed is theoretical speed of the vehicle under third accelerator pedal aperture, big in third speed
In or equal to vehicle current vehicle speed when, control entire car controller to electric machine controller send carries torque greater than 0 turn
Square order；
If the first brake pedal aperture is greater than 0, according to the first brake pedal aperture, braking moment is obtained, wherein braking turns
Square is the theoretical torque under the first brake pedal aperture；Acquisition entire car controller, which is sent in the torque command of electric machine controller, to be taken
The torque of band, when braking moment is more than or equal to the torque carried in the torque command obtained, control vehicle, which exits, singly to be stepped on
Plate driving mode.
As shown in Fig. 2, for a kind of single pedal driving mode method for slowing-down control application signal provided in an embodiment of the present invention
Figure, including：
Step S21：Start.
Step S22：Vehicle is under single pedal driving mode, and entire car controller is sent to the torque command of electric machine controller
The torque of middle carrying is greater than 0.
Step S23：The opening value of accelerator pedal is obtained, and parses corresponding theoretical speed, whether judges the theory speed
S22 is thened follow the steps if not less than the current vehicle speed of vehicle if so then execute step S24.Wherein according to the aperture of accelerator pedal
Value calculates its corresponding theoretical speed, can be obtained according to the equation one in foregoing invention embodiment, details are not described herein.
Step S24：Vehicle enters deceleration subpattern, and the theoretical accelerator pedal aperture for maintaining current vehicle speed is calculated, can
To be obtained according to the equation two in foregoing invention embodiment, details are not described herein.
Step S25：According to current accelerator pedal aperture, maintain the theoretical accelerator pedal aperture of current vehicle speed and preset to add
Aimed acceleration is calculated in threshold speed.Aimed acceleration can be obtained by the equation：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicating predetermined acceleration threshold value, APS indicates current accelerator pedal aperture,
APSVIndicate the theoretical accelerator pedal aperture of maintenance current vehicle speed.
Step S26：The torque command that entire car controller is sent to electric machine controller is calculated using closed loop PID control, specifically
, the speed for controlling vehicle increases an aimed acceleration after each fixed cycle, because aimed acceleration is negative value, because
This vehicle slow down.
Step S27：Judge whether to meet accelerator pedal exit criteria or braking exit criteria or parking exit criteria
Or slip rate exit criteria, if meeting one of exit criteria thens follow the steps S28, if all exit criterias are not satisfied
Then follow the steps S26.Wherein accelerator pedal exit criteria is that the aperture of accelerator pedal is greater than 0, and the aperture of brake pedal is equal to 0,
And theoretical speed of the vehicle under the aperture of current accelerator pedal is more than or equal to the current vehicle speed of vehicle；Item is exited in braking
Part is that the aperture of brake pedal is greater than 0；The aperture that exit criteria is accelerator pedal of stopping is equal to 0, and the aperture of brake pedal is equal to
0, and the current vehicle speed of vehicle is less than preset vehicle speed threshold value, and which can appoint between 1km/h~2km/h
One numerical value, but not limited to this；Slip rate exit criteria is that the driving wheel slip rate of vehicle is more than or equal to default slip rate threshold
Value, default slip rate threshold value can freely be set, such as can be 10%, but not limited to this.
Step S28：Exit deceleration subpattern.
Step S29：Terminate.
As shown in figure 3, another aspect according to the present invention, provides a kind of single pedal driving mode deceleration control dress
It sets, which includes：
First obtains module 31, for obtaining the first accelerator pedal aperture of accelerator pedal under single pedal driving mode
And it is used to indicate the first speed of vehicle current vehicle speed；
First computing module 32, for determining the second speed according to the first accelerator pedal aperture, wherein the second speed is vehicle
Theoretical speed under the first accelerator pedal aperture；
Second computing module 33, for according to the first speed, obtaining vehicle holding when the second speed is less than the first speed
The second accelerator pedal aperture when the first speed；
First control module 34, for according to the first accelerator pedal aperture, the second accelerator pedal aperture and default acceleration
Threshold value is spent, obtains aimed acceleration, and slow down using aimed acceleration control vehicle.
First computing module 32 is specifically used for obtaining the first driving parameters, be accelerated according to the first driving parameters and first
Pedal opening solves equation one and obtains the second speed, wherein the first driving parameters include：It is coefficient of air resistance, front face area, whole
Vehicle kerb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio, radius of wheel；
Equation one：
Wherein, VAPSIndicate the second speed, CDIndicate that coefficient of air resistance, A indicate that front face area, M indicate that vehicle reorganizes and outfit matter
Amount, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate that transmission system transmission ratio, r indicate
Radius of wheel, TvIndicate the torque under the first accelerator pedal aperture and the second speed are corresponding.
First control module 34 is specifically used for according to the first accelerator pedal aperture, the second accelerator pedal aperture and presets
Acceleration rate threshold solves equation three and obtains aimed acceleration；
Equation three：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicating predetermined acceleration threshold value, APS indicates the first accelerator pedal aperture,
APSVIndicate the second accelerator pedal aperture.
Second obtains module 35, for obtaining the driving wheel slip rate of vehicle；
Second control module 36, for controlling whole when driving wheel slip rate is more than or equal to default slip rate threshold value
Vehicle controller sends the torque command for carrying torque and being equal to 0 to electric machine controller.
Third obtains module 37, for obtaining the third accelerator pedal aperture and brake pedal of the accelerator pedal of vehicle
First brake pedal aperture；
4th control module 38, if being equal to 0 for third accelerator pedal aperture, and the first brake pedal aperture is equal to 0,
When the current vehicle speed of vehicle is less than preset vehicle speed threshold value, control entire car controller carries torque etc. to electric machine controller transmission
In 0 torque command；
5th control module 39, if being greater than 0 for third accelerator pedal aperture, and the first brake pedal aperture is equal to 0,
According to third accelerator pedal aperture, third speed is determined, wherein third speed is reason of the vehicle under third accelerator pedal aperture
By speed, when third speed is more than or equal to the current vehicle speed of vehicle, control entire car controller is sent to electric machine controller
Carry the torque command that torque is greater than 0；
6th control module 30, according to the first brake pedal aperture, obtains if being greater than 0 for the first brake pedal aperture
Braking moment, wherein braking moment is the theoretical torque under the first brake pedal aperture；It obtains entire car controller and is sent to motor
The torque carried in the torque command of controller is more than or equal to the torque carried in the torque command obtained in braking moment
When, control vehicle exits single pedal driving mode.
Wherein, the second computing module 33 includes：
First computing unit, for obtaining the second driving parameters, according to the second driving parameters and the first speed, solution side
Journey two obtains theoretical torque when vehicle keeps the first speed, wherein the second driving parameters include：Coefficient of air resistance, windward side
Product, complete vehicle curb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio, wheel half
Diameter；
Equation two：
Wherein TAPSIndicate theoretical torque when vehicle keeps the first speed, CDIndicate that coefficient of air resistance, A indicate windward
Area, M indicate complete vehicle curb weight, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate
Transmission system transmission ratio, r indicate that radius of wheel, V indicate the first speed；
Second computing unit, for theoretical torque when keeping the first speed according to vehicle, the first speed and vehicle
Speed, torque, the preset relation between accelerator pedal aperture obtain vehicle and the second accelerator pedal when the first speed are kept to open
Degree.
In the embodiment of the present invention, by the first accelerator pedal aperture of accelerator pedal, the second speed is determined, according to the second vehicle
First speed of speed and knowledge vehicle current vehicle speed determines whether to enter control subpattern of slowing down, if the second speed is less than the first vehicle
Fast then the second accelerator pedal into control subpattern of slowing down, when according to the first accelerator pedal aperture, vehicle the first speed of holding
Aperture and predetermined acceleration threshold value, determine aimed acceleration, are slowed down using aimed acceleration control vehicle, in this way, i.e.
Travel vehicle in different road conditions, driver also being capable of driving experience having the same.
Real another aspect according to the present invention provides a kind of electric car, including as above each inventive embodiments provide
Single pedal driving mode deceleration control system.
In the embodiment of the present invention, by the first accelerator pedal aperture of accelerator pedal, the second speed is determined, according to the second vehicle
First speed of speed and knowledge vehicle current vehicle speed determines whether to enter control subpattern of slowing down, if the second speed is less than the first vehicle
Fast then the second accelerator pedal into control subpattern of slowing down, when according to the first accelerator pedal aperture, vehicle the first speed of holding
Aperture and predetermined acceleration threshold value, determine aimed acceleration, are slowed down using aimed acceleration control vehicle, in this way, i.e.
Travel vehicle in different road conditions, driver also being capable of driving experience having the same.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including element.
Claims (13)
1. a kind of single pedal driving mode method for slowing-down control, which is characterized in that including：
Under single pedal driving mode, obtains the first accelerator pedal aperture of accelerator pedal and be used to indicate vehicle current vehicle speed
The first speed；
According to the first accelerator pedal aperture, the second speed is determined, wherein second speed is that vehicle accelerates to step on first
Theoretical speed under plate aperture；
When second speed is less than first speed, according to first speed, obtains vehicle and keep first vehicle
The second accelerator pedal aperture when fast；
According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, target is obtained
Acceleration, and the vehicle is controlled using the aimed acceleration and is slowed down.
2. single pedal driving mode method for slowing-down control according to claim 1, which is characterized in that described according to described
One accelerator pedal aperture, the step of determining the second speed include：
The first driving parameters are obtained, according to first driving parameters and the first accelerator pedal aperture, solve equation one
The second speed is obtained, wherein the first row sails parameter includes：Coefficient of air resistance, front face area, complete vehicle curb weight, rolling
Resistance coefficient constant term, coefficient of rolling resistance first order, transmission system transmission ratio and radius of wheel；
Equation one：
Wherein, VAPSIndicate the second speed, CDIndicate that coefficient of air resistance, A indicate that front face area, M indicate complete vehicle curb weight, f0
Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate that transmission system transmission ratio, r indicate wheel
Radius, TvIndicate the torque under the first accelerator pedal aperture and the second speed are corresponding.
3. single pedal driving mode method for slowing-down control according to claim 1, which is characterized in that described according to described
One speed, obtaining the step of vehicle keeps the second accelerator pedal aperture when first speed includes：
The second driving parameters are obtained, according to second driving parameters and first speed, equation two is solved and obtains vehicle
Theoretical torque when first speed is kept, wherein second driving parameters include：Coefficient of air resistance, front face area,
Complete vehicle curb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio, radius of wheel；
Equation two：
Wherein TAPSIndicate theoretical torque when vehicle keeps first speed, CDIndicate that coefficient of air resistance, A indicate windward side
Product, M indicate complete vehicle curb weight, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate to pass
Dynamic drive system ratio, r indicate that radius of wheel, V indicate the first speed；
Theoretical torque, the speed of the first speed and vehicle, torque, accelerator pedal when keeping first speed according to vehicle
Preset relation between aperture obtains the second accelerator pedal aperture when vehicle keeps first speed.
4. single pedal driving mode method for slowing-down control according to claim 1, which is characterized in that described according to described
One accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, the step of obtaining aimed acceleration packet
It includes：
According to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value, equation is solved
Three obtain aimed acceleration；
Equation three：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicate predetermined acceleration threshold value, APS indicates the first accelerator pedal aperture, APSVTable
Show the second accelerator pedal aperture.
5. single pedal driving mode method for slowing-down control according to claim 1, which is characterized in that described in the use
After aimed acceleration controls the step of vehicle is slowed down, the method also includes：
Obtain the driving wheel slip rate of the vehicle；
When the driving wheel slip rate is more than or equal to default slip rate threshold value, entire car controller is controlled to electric machine controller
It sends and carries the torque command that torque is equal to 0.
6. single pedal driving mode method for slowing-down control according to claim 1, which is characterized in that described in the use
After aimed acceleration controls the step of vehicle is slowed down, the method also includes：
Obtain the third accelerator pedal aperture of the accelerator pedal of the vehicle and the first brake pedal aperture of brake pedal；
If the third accelerator pedal aperture is equal to 0, and the first brake pedal aperture is equal to 0, in working as the vehicle
When preceding speed is less than preset vehicle speed threshold value, control entire car controller sends the torque for carrying torque and being equal to 0 to electric machine controller
Order；
If the third accelerator pedal aperture is greater than 0, and the first brake pedal aperture is equal to 0, is added according to the third
Speed pedal aperture determines third speed, wherein the third speed is theoretical speed of the vehicle under third accelerator pedal aperture,
When the third speed is more than or equal to the current vehicle speed of vehicle, control entire car controller sends to electric machine controller and carries
There is torque to be greater than 0 torque command；
If the first brake pedal aperture is greater than 0, according to the first brake pedal aperture, braking moment is obtained, wherein institute
Stating braking moment is the theoretical torque under the first brake pedal aperture；Obtain the torque that entire car controller is sent to electric machine controller
The torque carried in order, when the braking moment is more than or equal to the torque carried in the torque command obtained, control
Vehicle exits the single pedal driving mode.
7. a kind of single pedal driving mode deceleration control system, which is characterized in that including：
First obtains module, for obtaining the first accelerator pedal aperture and use of accelerator pedal under single pedal driving mode
In the first speed of instruction vehicle current vehicle speed；
First computing module, for the second speed being determined, wherein second speed is according to the first accelerator pedal aperture
Theoretical speed of the vehicle under the first accelerator pedal aperture；
Second computing module, for according to first speed, obtaining vehicle when second speed is less than first speed
Keep first speed when the second accelerator pedal aperture；
First control module, for according to the first accelerator pedal aperture, the second accelerator pedal aperture and it is default plus
Threshold speed obtains aimed acceleration, and controls the vehicle using the aimed acceleration and slow down.
8. single pedal driving mode deceleration control system according to claim 7, which is characterized in that described first calculates mould
Block is specifically used for obtaining the first driving parameters, according to first driving parameters and the first accelerator pedal aperture, solves
Equation one obtains the second speed, wherein the first row sails parameter includes：Coefficient of air resistance, front face area, vehicle reorganize and outfit matter
Amount, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system transmission ratio, radius of wheel；
Equation one：
Wherein, VAPSIndicate the second speed, CDIndicate that coefficient of air resistance, A indicate that front face area, M indicate complete vehicle curb weight, f0
Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate that transmission system transmission ratio, r indicate wheel
Radius, TvIndicate the torque under the first accelerator pedal aperture and the second speed are corresponding.
9. single pedal driving mode deceleration control system according to claim 7, which is characterized in that described second calculates mould
Block includes：
First computing unit is asked for obtaining the second driving parameters according to second driving parameters and first speed
It solves equation two and obtains theoretical torque when vehicle keeps first speed, wherein second driving parameters include：Air resistance
Force coefficient, front face area, complete vehicle curb weight, coefficient of rolling resistance constant term, coefficient of rolling resistance first order, transmission system pass
Dynamic ratio, radius of wheel；
Equation two：
Wherein TAPSIndicate theoretical torque when vehicle keeps first speed, CDIndicate that coefficient of air resistance, A indicate windward side
Product, M indicate complete vehicle curb weight, f0Indicate coefficient of rolling resistance constant term, f1Indicate that coefficient of rolling resistance first order, i indicate to pass
Dynamic drive system ratio, r indicate that radius of wheel, V indicate the first speed；
Second computing unit, for theoretical torque when keeping first speed according to vehicle, the first speed and vehicle
Speed, torque, the preset relation between accelerator pedal aperture, obtain the second accelerator pedal when vehicle keeps first speed
Aperture.
10. single pedal driving mode deceleration control system according to claim 7, which is characterized in that first control
Module is specifically used for according to the first accelerator pedal aperture, the second accelerator pedal aperture and predetermined acceleration threshold value,
It solves equation three and obtains aimed acceleration；
Equation three：
a-amax×(APSV- APS)/100=0
Wherein, a indicates aimed acceleration, amaxIndicate predetermined acceleration threshold value, APS indicates the first accelerator pedal aperture, APSVTable
Show the second accelerator pedal aperture.
11. single pedal driving mode deceleration control system according to claim 7, which is characterized in that described device is also wrapped
It includes：
Second obtains module, for obtaining the driving wheel slip rate of the vehicle；
Second control module, for controlling vehicle when the driving wheel slip rate is more than or equal to default slip rate threshold value
Controller sends the torque command for carrying torque and being equal to 0 to electric machine controller.
12. single pedal driving mode deceleration control system according to claim 7, which is characterized in that described device is also wrapped
It includes：
Third obtains module, for obtain the accelerator pedal of the vehicle third accelerator pedal aperture and brake pedal the
One brake pedal aperture；
4th control module, if being equal to 0 for the third accelerator pedal aperture, and the first brake pedal aperture is equal to
0, when the current vehicle speed of the vehicle is less than preset vehicle speed threshold value, control entire car controller is carried to electric machine controller transmission
Torque is equal to 0 torque command；
5th control module, if being greater than 0 for the third accelerator pedal aperture, and the first brake pedal aperture is equal to
0, according to the third accelerator pedal aperture, third speed is determined, wherein the third speed is vehicle in third accelerator pedal
Theoretical speed under aperture, the third speed be more than or equal to vehicle current vehicle speed when, control entire car controller to
Electric machine controller, which is sent, carries the torque command that torque is greater than 0；
6th control module, according to the first brake pedal aperture, obtains if being greater than 0 for the first brake pedal aperture
To braking moment, wherein the braking moment is the theoretical torque under the first brake pedal aperture；Entire car controller is obtained to send
The torque carried into the torque command of electric machine controller is more than or equal in the torque command obtained in the braking moment
When the torque of carrying, control vehicle exits the single pedal driving mode.
13. a kind of electric car, which is characterized in that including：Such as the described in any item single pedal driving modes of claim 7-12
Deceleration control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671030.3A CN108909526A (en) | 2018-06-26 | 2018-06-26 | A kind of single pedal driving mode method for slowing-down control, device and electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671030.3A CN108909526A (en) | 2018-06-26 | 2018-06-26 | A kind of single pedal driving mode method for slowing-down control, device and electric car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909526A true CN108909526A (en) | 2018-11-30 |
Family
ID=64421413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671030.3A Pending CN108909526A (en) | 2018-06-26 | 2018-06-26 | A kind of single pedal driving mode method for slowing-down control, device and electric car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108909526A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103709A (en) * | 2019-05-20 | 2019-08-09 | 北京易控智驾科技有限公司 | A kind of control method, system, equipment and the medium of pedal of vehicles aperture |
| CN110877535A (en) * | 2019-10-24 | 2020-03-13 | 上海伊控动力系统有限公司 | Single-pedal control method for urban low-speed following road condition of pure electric vehicle |
| CN110979028A (en) * | 2019-12-31 | 2020-04-10 | 厦门金龙联合汽车工业有限公司 | Control method for acceleration limitation of pure electric bus |
| CN111409450A (en) * | 2020-03-31 | 2020-07-14 | 东风航盛（武汉）汽车控制系统有限公司 | Single-pedal mode control method for vehicle |
| CN112659915A (en) * | 2020-12-24 | 2021-04-16 | 浙江合众新能源汽车有限公司 | Pure electric vehicle stable parking control method and device |
| CN112757906A (en) * | 2020-12-30 | 2021-05-07 | 浙江合众新能源汽车有限公司 | Electric vehicle driving mode control method and device |
| WO2021139710A1 (en) * | 2020-01-07 | 2021-07-15 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit, and new-energy vehicle |
| CN113260529A (en) * | 2019-02-11 | 2021-08-13 | 宝马股份公司 | Control unit for providing single pedal feel and/or crawling functionality |
| CN113400951A (en) * | 2020-03-16 | 2021-09-17 | 北京新能源汽车股份有限公司 | Control method and device for motor output torque and electric automobile |
| CN113511209A (en) * | 2021-05-19 | 2021-10-19 | 东风汽车集团股份有限公司 | Method, device and equipment for determining vehicle driving mode and storage medium |
| CN114407677A (en) * | 2022-01-29 | 2022-04-29 | 中国第一汽车股份有限公司 | Method and device for acquiring torque required by driver |
| CN114407847A (en) * | 2022-02-25 | 2022-04-29 | 吉林大学 | Single-pedal wire-controlled chassis automobile auxiliary braking method based on machine learning |
| CN114670666A (en) * | 2021-06-23 | 2022-06-28 | 北京新能源汽车股份有限公司 | Torque control method and device and vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922988A (en) * | 2016-06-03 | 2016-09-07 | 北京车和家信息技术有限责任公司 | Vehicle control method and control device and vehicle |
| CN107187317A (en) * | 2017-05-22 | 2017-09-22 | 北京新能源汽车股份有限公司 | Control method, device, entire car controller and the automobile of automobile driving speed |
| CN107215242A (en) * | 2017-04-07 | 2017-09-29 | 东风特汽（十堰）专用车有限公司 | A kind of descending control system and method |
| CN107310428A (en) * | 2017-06-14 | 2017-11-03 | 北京新能源汽车股份有限公司 | Control method and device based on electric vehicle |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
-
2018
- 2018-06-26 CN CN201810671030.3A patent/CN108909526A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922988A (en) * | 2016-06-03 | 2016-09-07 | 北京车和家信息技术有限责任公司 | Vehicle control method and control device and vehicle |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| CN107215242A (en) * | 2017-04-07 | 2017-09-29 | 东风特汽（十堰）专用车有限公司 | A kind of descending control system and method |
| CN107187317A (en) * | 2017-05-22 | 2017-09-22 | 北京新能源汽车股份有限公司 | Control method, device, entire car controller and the automobile of automobile driving speed |
| CN107310428A (en) * | 2017-06-14 | 2017-11-03 | 北京新能源汽车股份有限公司 | Control method and device based on electric vehicle |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113260529A (en) * | 2019-02-11 | 2021-08-13 | 宝马股份公司 | Control unit for providing single pedal feel and/or crawling functionality |
| CN110103709A (en) * | 2019-05-20 | 2019-08-09 | 北京易控智驾科技有限公司 | A kind of control method, system, equipment and the medium of pedal of vehicles aperture |
| CN110877535A (en) * | 2019-10-24 | 2020-03-13 | 上海伊控动力系统有限公司 | Single-pedal control method for urban low-speed following road condition of pure electric vehicle |
| CN110979028A (en) * | 2019-12-31 | 2020-04-10 | 厦门金龙联合汽车工业有限公司 | Control method for acceleration limitation of pure electric bus |
| CN110979028B (en) * | 2019-12-31 | 2021-05-07 | 厦门金龙联合汽车工业有限公司 | Control method for acceleration limitation of pure electric bus |
| CN113156910B (en) * | 2020-01-07 | 2022-03-08 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit and new energy vehicle |
| WO2021139710A1 (en) * | 2020-01-07 | 2021-07-15 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit, and new-energy vehicle |
| CN113156910A (en) * | 2020-01-07 | 2021-07-23 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit and new energy vehicle |
| CN113400951A (en) * | 2020-03-16 | 2021-09-17 | 北京新能源汽车股份有限公司 | Control method and device for motor output torque and electric automobile |
| CN111409450A (en) * | 2020-03-31 | 2020-07-14 | 东风航盛（武汉）汽车控制系统有限公司 | Single-pedal mode control method for vehicle |
| CN112659915A (en) * | 2020-12-24 | 2021-04-16 | 浙江合众新能源汽车有限公司 | Pure electric vehicle stable parking control method and device |
| CN112659915B (en) * | 2020-12-24 | 2022-08-19 | 浙江合众新能源汽车有限公司 | Pure electric vehicle stable parking control method and device |
| CN112757906A (en) * | 2020-12-30 | 2021-05-07 | 浙江合众新能源汽车有限公司 | Electric vehicle driving mode control method and device |
| CN113511209B (en) * | 2021-05-19 | 2022-06-07 | 东风汽车集团股份有限公司 | Method, device and equipment for determining vehicle driving mode and storage medium |
| CN113511209A (en) * | 2021-05-19 | 2021-10-19 | 东风汽车集团股份有限公司 | Method, device and equipment for determining vehicle driving mode and storage medium |
| CN114670666A (en) * | 2021-06-23 | 2022-06-28 | 北京新能源汽车股份有限公司 | Torque control method and device and vehicle |
| CN114407677A (en) * | 2022-01-29 | 2022-04-29 | 中国第一汽车股份有限公司 | Method and device for acquiring torque required by driver |
| CN114407677B (en) * | 2022-01-29 | 2024-03-15 | 中国第一汽车股份有限公司 | Method and device for obtaining driver demand torque |
| CN114407847A (en) * | 2022-02-25 | 2022-04-29 | 吉林大学 | Single-pedal wire-controlled chassis automobile auxiliary braking method based on machine learning |
| CN114407847B (en) * | 2022-02-25 | 2023-11-17 | 吉林大学 | Single-pedal drive-by-wire chassis automobile auxiliary braking method based on machine learning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108909526A (en) | A kind of single pedal driving mode method for slowing-down control, device and electric car | |
| CN105644560B (en) | A kind of four-wheel wheel hub motor electric vehicle self-adapting cruise control system and method | |
| CN109204260B (en) | Braking force distribution method for electric automobile | |
| CN108437978B (en) | Four wheel hub electricity drive vehicle running surface automatic identification and stability integrated control method | |
| CN106218442B (en) | A kind of electric car max. speed control method and entire car controller | |
| CN103991442B (en) | The composite braking system of a kind of electric vehicle and composite braking method thereof | |
| CN109835335A (en) | Electric vehicle cruise control method and system and vehicle, controller and storage medium | |
| CN106218444A (en) | A kind of pull strength control method for coordinating, system and pure electric automobile | |
| CN103010229B (en) | Locomotive anti-slip sliding method based on rotational speed control | |
| GB2452819A (en) | A method for controlling the motive power system of a vehicle according to the driving style of the driver. | |
| CN104228609A (en) | Vehicle speed control method for wheel hub motor-driven vehicle | |
| JP6018407B2 (en) | Method for selecting vehicle driving type | |
| CN108437793A (en) | A kind of method for controlling driving speed and its system for electric vehicle | |
| CN104553886A (en) | Automatic electric vehicle parking control method and automatic electric vehicle parking control device | |
| CN105196990A (en) | Braking control method for train | |
| CN111038275B (en) | Control method and device for limiting overspeed of pure electric vehicle | |
| CN109204010A (en) | Delay drop control method, device and vehicle in abrupt slope for hybrid vehicle | |
| CN112896161B (en) | Electric automobile ecological self-adaptation cruise control system based on reinforcement learning | |
| CN105946856B (en) | A kind of pure electric drive automobile adaptively slides control method | |
| CN101841288B (en) | Motion control method for vehicle-used electric motors based on electric current control | |
| CN109835317A (en) | Rotating direction control method, device, vehicle and storage medium | |
| CN109760683A (en) | A kind of the pure electric vehicle climbing torque control method and system of distributed driving | |
| CN111688664B (en) | Vehicle speed control method and system for unmanned target collision platform vehicle | |
| CN103010227B (en) | Locomotive anti-slip sliding method based on slip rate control | |
| JP2013014205A (en) | Travel controller of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |