CN108928260A

CN108928260A - Ramp parking control method, system, storage medium and vehicle

Info

Publication number: CN108928260A
Application number: CN201710385023.2A
Authority: CN
Inventors: 张鑫鑫; 杜智勇; 梁岂源; 陈朋
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2017-05-26
Filing date: 2017-05-26
Publication date: 2018-12-04
Anticipated expiration: 2037-05-26
Also published as: CN108928260B

Abstract

The invention discloses a kind of ramp parking control method, system, storage medium and vehicles.The ramp parking control method, including：Obtain the sampled value and vehicle inclination value of throttle signal；If the sampled value of throttle signal is zero and vehicle inclination value is greater than default inclination value, steady slope torque is obtained, steady slope moment of torsion control driving motor is based on, so that vehicle stabilization is on ramp；Obtain steady slope time of the vehicle stabilization on ramp；If the steady slope time reaches parking preset time, locking signal is exported, controls the electromagnetic lock locking driving motor being arranged on driving motor, based on locking signal to realize ramp parking.The ramp parking control method passes through the electromagnetism lock control driving motor locking being arranged on driving motor or unlock, in vehicle hill-hold, instead of tradition machinery parking mode, without proposing higher requirement to mechanical braking；And its ramp parking process is simple to operate, and it is lower to the dependence of mechanical braking, be conducive to the safety for increasing driving.

Description

Ramp parking control method, system, storage medium and vehicle

Technical field

The present invention relates to technical field of vehicle more particularly to a kind of ramp parking control method, system, storage medium and Vehicle.

Background technique

For the vehicles such as automobile, lorry, fork truck, certain gradient can be climbed up and realize that ramp parking is that it must Indispensable function.Ramp parking is vehicle by that can be parked on the slope of certain tilt angle under the action of external force.Tradition When vehicle hill-hold, need to step on brake is parked in vehicle on slope, then pull-up parking brake, overcomes itself by mechanical friction Gravity and reside in vehicle on slope.Parking function is realized according to mechanical braking, and very high, Er Qieji is required to mechanical braking Tool brake operating is more complicated, increases the safety of driving.

For Counterbalanced forklift, maximum carrying capacity is related to its own weight, carrying capacity it is bigger and itself Weight is also bigger, and the Counterbalanced forklift that such as maximum carrying capacity is 3.5T, its own weight reaches 5-6T.Therefore, for itself weight Measure heavier fork truck, when on ramp, due to self gravity so that its on ramp it is suffered along ramp downwards under Sliding power is larger, realizes ramp parking according to mechanical braking mode, very high to mechanical braking requirement, and mechanical braking is grasped It makes comparisons complexity, increases the safety of driving.

Summary of the invention

The present invention provides a kind of ramp parking control method, system, storage medium and vehicle, is adopted with solving existing vehicle The problems of ramp parking function is realized with mechanical braking mode.

In a first aspect, the present invention provides a kind of ramp parking control method, including：

Obtain the sampled value and vehicle inclination value of throttle signal；

If the sampled value of the throttle signal is zero and the vehicle inclination value is greater than default inclination value, steady slope is obtained Torque is based on the steady slope moment of torsion control driving motor, so that vehicle stabilization is on ramp；

Obtain steady slope time of the vehicle stabilization on ramp；

If the steady slope time reaches the parking preset time, locking signal is exported, is based on the locking signal control Driving motor described in the electromagnetic lock locking set on driving motor is set up, to realize ramp parking.

Preferably, the steady slope torque of acquisition, including：

Obtain motor speed value；

The steady slope torque is obtained based on the vehicle inclination value and the motor speed value.

Preferably, described that the steady slope torque is obtained based on the vehicle inclination value and the motor speed value, including：

Inclination value table is inquired based on the vehicle inclination value, obtains inclination angle torque；

Revolution counter is inquired based on the motor speed value, obtains steady slope coefficient；

Using the product of the inclination angle torque and the steady slope coefficient as the steady slope torque.

Preferably, described to be based on the steady slope moment of torsion control driving motor, so that vehicle stabilization is on ramp, including：

The steady slope torque is sent to electric machine controller, so that the electric machine controller controls the driving motor and produces The raw tractive force upward along ramp, the tractive force are equal to sliding force downward along ramp suffered by the vehicle.

Preferably, further include：

Sampled value based on the throttle signal obtains throttle torque；

If the throttle torque is greater than the steady slope torque, unlocking signal is exported, so that described in electromagnetic lock unlock Driving motor.

Preferably, the sampled value based on the throttle signal obtains throttle torque, including：

By the sampled value of the throttle signal divided by throttle signal maximum sampled value, to obtain throttle coefficient；

Motor speed value is obtained, revolving speed-torque meter is inquired based on the motor speed value, to obtain motor output most Large torque；

Using the product of the throttle coefficient and the peak torque of motor output as the throttle torque.

Preferably, further include：

The ramp enabling signal for obtaining parking switch input exports unlocking signal according to the ramp enabling signal, so that The electromagnetic lock unlocks the driving motor.

The present invention also provides a kind of ramp parking control methods, including：

Obtain the sampled value and vehicle inclination value of throttle signal；

The control signal for obtaining lockup switch input exports locking signal based on the control signal；

Driving motor described in the electromagnetic lock locking being arranged on driving motor based on locking signal control, to realize Ramp parking.

The present invention also provides a kind of ramp parking control systems, including entire car controller, driving motor and the driving Motor connected electric machine controller, the electromagnetic lock being arranged on the driving motor and the relay being connected with the electromagnetic lock Device, the electric machine controller are connected with the entire car controller, and the relay is connected with the entire car controller；

The entire car controller, for obtaining the sampled value and vehicle inclination value of throttle signal, if the throttle signal Sampled value is zero and the vehicle inclination value is greater than default inclination value, then obtains steady slope torque, and the steady slope torque is sent To the electric machine controller；

The electric machine controller is based on the steady slope moment of torsion control driving motor for receiving the steady slope torque, with Make vehicle stabilization on ramp；

The entire car controller is also used to obtain steady slope time of the vehicle stabilization on ramp, if when the steady slope Between reach the parking preset time, then to the relay export locking signal；

The relay controls the electromagnetic lock locking institute based on the locking signal for receiving the locking signal Driving motor is stated, to realize ramp parking.

Preferably, the ramp parking control system further includes the obliquity sensor being connected with the entire car controller；

The obliquity sensor is sent to the vehicle control for acquiring vehicle inclination value, and by the vehicle inclination value Device processed；

The electric machine controller is sent to the vehicle control for acquiring motor speed value, and by the motor speed value Device processed；

The entire car controller is inclined for receiving the vehicle inclination value and the motor speed value based on the vehicle Angle value and the motor speed value obtain the steady slope torque.

It is preferably based on the steady slope moment of torsion control driving motor, so that vehicle stabilization is on ramp, including：

Based on the steady slope moment of torsion control driving motor, so that the driving motor generates the tractive force upward along ramp, The tractive force is equal to sliding force downward along ramp suffered by the vehicle.

Preferably, the ramp parking control system further includes the gas pedal sensing being connected with the entire car controller Device；

The accelerator pedal sensor is sent to the vehicle control for obtaining throttle signal, and by the throttle signal Device processed；

The entire car controller, for receiving the throttle signal, by being sampled to the throttle signal, to obtain The sampled value for taking throttle signal, the sampled value based on the throttle signal obtain throttle torque；If the throttle torque is greater than institute Steady slope torque is stated, then exports unlocking signal to the relay；

The relay controls the electromagnetic lock based on the unlocking signal and unlocks institute for receiving the unlocking signal State driving motor.

Preferably, the ramp parking control system further includes the parking switch being connected with the entire car controller；

The parking switch is sent to the vehicle for obtaining ramp enabling signal, and by the ramp enabling signal Controller；

The entire car controller is based on ramp enabling signal, to the relay for receiving the ramp enabling signal Device exports unlocking signal；

The present invention also provides a kind of ramp parking control systems, including entire car controller, driving motor and the driving The connected electric machine controller of motor, the electromagnetic lock being arranged on the driving motor, the relay being connected with the electromagnetic lock with And the lockup switch being connected with the entire car controller, the electric machine controller are connected with the entire car controller, the relay Device is connected with the entire car controller；

The control signal for obtaining control signal, and is sent to the entire car controller by the lockup switch；

The entire car controller is also used to receive the control signal, defeated to the relay based on the control signal Locking signal out；

The present invention also provides a kind of non-volatile computer readable storage medium storing program for executing, are stored thereon with computer program, special Sign is that the computer program realizes the ramp parking control method when being executed by processor.

The present invention also provides a kind of vehicle, including memory and processor, computer journey is stored on the memory Sequence, the computer program realize the ramp parking control method when being executed by the processor.

The present invention has the following advantages that compared with prior art：Parking control method in ramp provided by the present invention is In system, storage medium and vehicle, by the electromagnetism lock control driving motor locking being arranged on driving motor or unlock, in vehicle When ramp parking, instead of tradition machinery parking mode, without proposing higher requirement to mechanical braking.When vehicle driving exists Vehicle inclination value is greater than on the ramp of default inclination value, and it is desirable that only need to unclamp throttle when controlling vehicle realization ramp parking and step on Plate can make sampled value and vehicle inclination angle of the entire car controller according to throttle signal so that the sampled value of its throttle signal is zero Value exports steady slope torque, by vehicle stabilization on ramp；Parking is controlled again stablize steady slope time on ramp reach parking Ramp parking can be realized in preset time；Its ramp parking process is simple to operate, to the dependence of mechanical braking compared with It is low, be conducive to the safety for increasing driving.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：

Fig. 1 is a functional block diagram of ramp parking control system in the embodiment of the present invention 1.

Fig. 2 is a flow chart of parking control method in ramp in the embodiment of the present invention 2.

Fig. 3 is a flow chart of parking control method in ramp in the embodiment of the present invention 3.

Fig. 4 is a flow chart of parking control method in ramp in the embodiment of the present invention 4.

In figure：10, entire car controller；20, driving motor；30, electric machine controller；40, electromagnetic lock；50, relay；60, Accelerator pedal sensor；70, obliquity sensor；80, parking switch；90, lockup switch.

Specific embodiment

For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail A specific embodiment of the invention.

Embodiment 1

Fig. 1 shows the ramp parking control system in the present embodiment.As shown in Figure 1, the ramp parking control system can answer With on vehicle, especially on fork truck.The ramp parking control system includes entire car controller 10, driving motor 20 and driving Motor 20 connected electric machine controller 30, the electromagnetic lock 40 being arranged on driving motor 20 and the relay being connected with electromagnetic lock 40 Device 50, electric machine controller 30 are connected with entire car controller 10, and relay 50 is connected with entire car controller 10.Wherein, full-vehicle control Device 10 is communicated with electric machine controller 30 by CAN bus, and entire car controller 10 can obtain driving electricity by electric machine controller 30 The information such as the motor speed of machine 20 can also realize the control to driving motor 20 by electric machine controller 30.Electromagnetic lock 40 is arranged On driving motor 20, for locking or unlock driving motor 20.Relay 50 is connected with entire car controller 10, and by vehicle Controller 10 controls, to realize locking or unlock electromagnetic lock 40.When vehicle is in off working state, entire car controller 10 is controlled Relay 50 processed disconnects, so that the electromagnetic lock 40 being arranged on driving motor 20 is in lockup state, driving motor 20 stops work Make.Correspondingly, when vehicle is in running order, entire car controller 10 controls relay 50 and is connected, so that setting is driving Electromagnetic lock 40 on motor 20 is in the unlocked state, and driving motor 20 works normally.

Entire car controller 10, for obtaining the sampled value and vehicle inclination value of throttle signal, if the sampled value of throttle signal It is zero and vehicle inclination value is greater than default inclination value, then obtains steady slope torque, and steady slope torque is sent to electric machine controller 30。

Wherein, steady slope torque is torque required for the driving motor 20 for making vehicle stabilization on ramp.The present embodiment In, entire car controller 10 is connected with accelerator pedal sensor 60, for acquiring throttle signal in real time and being sent to entire car controller 10, so that entire car controller 10 samples the throttle signal received, to obtain the sampled value of throttle signal, wherein oil The sampled value of gate signal and the user depth of pedal of stepping on the throttle are related.Specifically, when user steps on the throttle pedal, then vehicle The sampled value for the throttle signal that controller 10 is got is not zero, and determines corresponding throttle according to the depth of stepping on of gas pedal Gear；When user unclamps gas pedal, then the sampled value for the throttle signal that entire car controller 10 is got is zero.

Entire car controller 10 includes ECU, power module, EEPROM memory module and peripheral circuit etc..ECU is vehicle control The control unit of device 10 processed is responsible for receiving digital signal and sampled signal, and is analyzed and processed, final output full-vehicle control Signal.Accelerator pedal sensor 60 provides 5V voltage by entire car controller 10, there is an output signal line and entire car controller 10 It is connected, when accelerator pedal position changes, the potentiometer resistance value inside accelerator pedal sensor 60 changes, and makes The voltage value signal that accelerator pedal sensor 60 exports is obtained to change；This voltage signal passes through the sampling of entire car controller 10 Circuit is input to ECU, and ECU obtains the sampled value of throttle signal.

Wherein, vehicle inclination value refers to inclination value of the vehicle relative to smooth-riding surface, it is understood that for ramp relative to The ramp inclination value of smooth-riding surface, i.e. vehicle inclination value are equal to ramp inclination value.In the present embodiment, obliquity sensor 70 is arranged It is connected on vehicle, and with entire car controller 10, acquires vehicle inclination value in real time, and vehicle inclination value is sent to vehicle control Device 10 processed, so that entire car controller 10 is based on vehicle inclination value and adjusts the controls such as vehicle heading and travel speed ginseng in real time Number avoids vehicle from the accidents such as toppling over.

In the present embodiment, if user drive vehicle on ramp when driving, incline in ramp relative to the ramp of smooth-riding surface When angle value (i.e. vehicle inclination value) is greater than default inclination value, it is desirable to control vehicle in parking on ramp, only need to unclamp throttle and step on Plate, the sampled value zero for the throttle signal that entire car controller 10 can be made to obtain are turned round to export steady slope to electric machine controller 30 Square, so that the torque that electric machine controller 30 is exported based on steady slope moment of torsion control driving motor 20, makes vehicle stabilization on ramp.

It is to be appreciated that being greater than on the ramp for presetting inclination value in driving process when user drives vehicle at ramp inclination angle Unclamp gas pedal, then the sampled value of its throttle signal is zero, and the speed of vehicle rapidly goes to zero at this time, on ramp, due to Gravity, if entire car controller 10 does not export steady slope torque, so that vehicle stabilization on ramp, then vehicle can be fallen back, It is easy to cause safety accident.Therefore, entire car controller 10 is zero in the sampled value for detecting throttle signal and vehicle inclination value is big When default inclination value, steady slope torque need to be exported to electric machine controller 30, by vehicle stabilization on ramp.Conversely, working as user It steps on the throttle pedal, then the sampled value for the throttle signal that entire car controller 10 detects is not zero, and makes vehicle according to the throttle The sampled value normally travel of signal.

In a specific embodiment, ramp parking control system further includes that the inclination angle being connected with entire car controller 10 passes Sensor 70.

Obliquity sensor 70 is sent to entire car controller 10 for acquiring vehicle inclination value, and by vehicle inclination value.

Wherein, vehicle inclination value refers to inclination value of the vehicle relative to smooth-riding surface, it is understood that for ramp relative to The ramp inclination value of smooth-riding surface, i.e. vehicle inclination value are equal to ramp inclination value.Obliquity sensor 70 is arranged on vehicle, real When acquire vehicle inclination value, and vehicle inclination value is sent to entire car controller 10, so that entire car controller 10 is inclined based on vehicle Angle value adjusts the control parameters such as vehicle heading and travel speed in real time, and vehicle is avoided the accidents such as to topple over.

Electric machine controller 30 is sent to entire car controller 10 for acquiring motor speed value, and by motor speed value.

Wherein, electric machine controller 30 is connected with the driving motor 20 of vehicle, matches with driving motor 20, with control Driving motor 20 works, to realize the traveling of control vehicle.Electric machine controller 30 acquires the motor speed of driving motor 20 in real time Value, to be controlled based on driving status (including but not limited to travel speed) of the motor speed value to vehicle.This implementation In example, collected motor speed value is sent to entire car controller 10 by CAN bus by electric machine controller 30.

Entire car controller 10 is based on vehicle inclination value and motor speed for receiving vehicle inclination value and motor speed value Value obtains steady slope torque.

Wherein, entire car controller 10 is previously stored with steady slope torque algorithm, and the steady slope torque algorithm is for calculating vehicle Stablize the steady slope torque on ramp.Specifically, which is input ginseng with vehicle inclination value and motor speed value Number, steady slope torque are output as a result, calculating process is simple and convenient.In the present embodiment, 10 real-time reception inclination angle of entire car controller is passed The vehicle inclination value that sensor 70 is sent, and receive electric machine controller 30 and send motor speed value, call pre-stored steady slope to turn round Square algorithm obtains steady slope torque based on vehicle inclination value and motor speed value, to exist according to steady slope moment of torsion control vehicle stabilization On ramp.

Specifically, the process for obtaining steady slope torque based on vehicle inclination value and motor speed value includes the following steps：

i：Inclination value table is inquired based on vehicle inclination value, obtains inclination angle torque.

ii：Revolution counter is inquired based on motor speed value, obtains steady slope coefficient.

iii：Using the product of inclination angle torque and steady slope coefficient as steady slope torque.

In the present embodiment, the pre-stored steady slope torque algorithm of entire car controller 10 be steady slope torque=inclination angle torque × Steady slope coefficient.Wherein, inclination angle torque can be inquired by pre-stored inclination value table and be obtained, and the inclination value table is whole for showing The corresponding relationship of vehicle inclination value and inclination angle torque can inquire corresponding inclination angle torque according to vehicle inclination value.Steady slope coefficient can It is inquired and is obtained by pre-stored revolution counter, which is used to show the corresponding relationship of motor speed value Yu steady slope coefficient, Corresponding steady slope coefficient can be found according to motor speed value.The acquisition process of the steady slope torque, only need to be according to vehicle inclination value Inclination angle torque and steady slope coefficient can be obtained by tabling look-up with motor speed value, then the product both calculated can obtain steady slope torque, Calculating process is simple and convenient, is not necessarily to complicated calculations, is conducive to improve its treatment effeciency, avoids calculating overlong time and leading to vehicle It is fallen back on ramp and causes safety accident.

Electric machine controller 30 is based on steady slope moment of torsion control driving motor 20, so that vehicle is steady for receiving steady slope torque It is scheduled on ramp.

Specifically, when vehicle driving is on ramp, and user unclamps gas pedal, cause to avoid vehicle reverse The steady slope torque being calculated is sent to electric machine controller 30 by safety accident, entire car controller 10, and electric machine controller 30 will connect The steady slope torque received is exported to driving motor 20, so that driving motor 20 is based on the steady slope torque for vehicle stabilization in ramp On, to achieve the purpose that avoid vehicle reverse.

In a specific embodiment, electric machine controller 30 is based on steady slope moment of torsion control driving motor 20, so that vehicle is steady It is scheduled on ramp and refers to that electric machine controller 30 is based on steady slope moment of torsion control driving motor 20, so that driving motor 20 is generated along slope The upward tractive force in road, tractive force are equal to sliding force downward along ramp suffered by the vehicle.The sliding force is gravity on edge The component in ramp direction.It is to be appreciated that upward tractive force is generated when electric machine controller 30 controls driving motor, if this leads When gravitation is equal to gravity along the downward component in ramp (i.e. vehicle be subject to sliding force), the revolving speed 0 of driving motor 20 can be made, To achieve the purpose that make vehicle stabilization on ramp.

Entire car controller 10 is also used to obtain steady slope time of the vehicle stabilization on ramp, if the steady slope time reaches parking Preset time then exports locking signal to relay 50.

Wherein, parking preset time is the time for being used to judge whether to need parking of systemic presupposition.In vehicle driving or Stablize when on ramp, vehicle is in working condition, at this point, relay 50 is connected, and the electricity being arranged on driving motor 20 Magnetic padlock 40 is in the unlocked state, and driving motor 20 can still work normally.When vehicle driving is at ramp inclination value (i.e. vehicle inclination angle Value) it is greater than on the ramp of default inclination value, and gas pedal is unclamped, so that entire car controller 10 exports steady slope torque with by vehicle Stablize when on ramp, illustrate that user has the intention in ramp parking；Vehicle stabilization is obtained again at the steady slope on ramp Between, to judge whether steady slope time of the vehicle stabilization on ramp reaches parking preset time, to determine whether user wants Realize ramp parking function.Stablize the steady slope time on ramp when parking and reach parking preset time, then entire car controller 10 Locking signal is exported to relay 50, so that relay 50 is disconnected based on locking signal, so that 40 locking driving motor of electromagnetic lock 20, avoid driving motor 20 from working, to realize ramp parking function.

It is to be appreciated that if in parking preset time, user steps on the throttle pedal, at this point, the sampled value of throttle signal It is not zero, entire car controller 10 no longer exports the steady slope torque for making vehicle stabilization on ramp, then is unable to control vehicle and continues surely It is scheduled on ramp, the driving motor 20 of vehicle can carry out normal climbing processing according to the sampled value of throttle signal, then parking is stablized The steady slope time on ramp is not up to parking preset time, cannot export locking signal to relay 50.It is to be appreciated that Parking preset time cannot be too long, to avoid parking efficiency is influenced；Can not be too short, it, can to avoid normal climbing processing is influenced It is set as 2-3 seconds.

Relay 50 controls 40 locking driving motor 20 of electromagnetic lock based on locking signal for receiving locking signal, with Realize ramp parking.

Wherein, relay 50 is connected with entire car controller 10 and the electromagnetic lock being arranged on driving motor 20 40, can basis The locking signal or unlocking signal that entire car controller 10 exports control 40 locking of electromagnetic lock or unlock driving motor 20 respectively.Tool Body, when entire car controller 10 exports locking signal to relay 50, then relay 50 disconnects, so as to be connected with relay 50 Electromagnetic lock 40 be in lockup state so that driving motor 20 stops working.Correspondingly, when entire car controller 10 is to relay 50 output unlocking signals, then relay 50 is connected, so that the electromagnetic lock 40 being connected with relay 50 is in the unlocked state, so that Driving motor 20 can work normally.

In ramp parking control system provided by the present embodiment, pass through the electromagnetic lock 40 being arranged on driving motor 20 The relay 50 being connected with electromagnetic lock 40 cooperates, to realize control 20 locking of driving motor or unlock, in vehicle hill-hold When, instead of tradition machinery parking mode, without proposing higher requirement to mechanical braking.When vehicle driving is in ramp inclination value (i.e. vehicle inclination value) is greater than on the ramp of default inclination value, and it is desirable that need to only unclamp oil when controlling vehicle realization ramp parking Door pedal can make entire car controller 10 export steady slope torque, by vehicle stabilization so that the sampled value of its throttle signal is zero On ramp；Parking is controlled again stablizing steady slope time on ramp and reach parking preset time, ramp parking can be realized； Its ramp parking process is simple to operate, lower to the dependence of mechanical braking, is conducive to the safety for increasing driving.

In a specific embodiment, ramp parking control system further includes that the throttle being connected with entire car controller 10 is stepped on Plate sensor 60.

Accelerator pedal sensor 60 is sent to entire car controller 10 for obtaining throttle signal, and by throttle signal.

Wherein, entire car controller 10 includes ECU, power module, EEPROM memory module and peripheral circuit etc..ECU is whole The control unit of vehicle controller 10 is responsible for receiving digital signal and sampled signal, and is analyzed and processed, final output vehicle Control signal.Accelerator pedal sensor 60 provides 5V voltage by entire car controller 10, there is an output signal line and full-vehicle control Device 10 is connected, and when accelerator pedal position changes, the potentiometer resistance value inside accelerator pedal sensor 60 becomes Change, so that the voltage value signal that accelerator pedal sensor 60 exports changes；This voltage signal is by entire car controller 10 Sample circuit is input to ECU, so that the ECU of entire car controller 10 obtains the sampled value of throttle signal.It is to be appreciated that working as vehicle In ramp parking, if vehicle need to be made to restart and when driving, user can be by pedal of stepping on the throttle, at this point, and throttle The connected accelerator pedal sensor 60 of pedal obtains throttle signal, and throttle signal is sent to entire car controller 10.

Entire car controller 10, for receiving throttle signal, by being sampled to throttle signal, to obtain throttle signal Sampled value, sampled value based on throttle signal obtains throttle torque；If throttle torque is greater than steady slope torque, to relay 50 output unlocking signals.

Specifically, when entire car controller 10 receives the throttle signal of the transmission of accelerator pedal sensor 60, entire car controller 10 pairs of throttle signals received carry out the sampled value that sampling obtains throttle signal, and the sampled value based on throttle signal obtains oil Door torque, and judges whether throttle torque is greater than steady slope torque, to determine that user steps on the throttle pedal and exporting throttle torque is It is no to overcome the steady slope torque for making vehicle realize ramp parking.If throttle torque is greater than steady slope torque, unlocking signal is formed, and The unlocking signal is sent to relay 50, so that relay 50, which controls electromagnetic lock 40 according to unlocking signal, unlocks driving motor 20, so that driving motor 20 restarts.Correspondingly, if throttle torque is not more than steady slope torque, unlock letter can not be formed Number, then electromagnetic lock 40 continues locking driving motor 20, so that vehicle keeps ramp parked state.

In the present embodiment, entire car controller 10 is previously stored with throttle torque algorithm, and the throttle torque algorithm is for calculating The throttle torque of vehicle, the throttle torque algorithm can obtain throttle torque based on the sampled value of throttle signal.Specifically, it uses The process of throttle torque algorithm calculation of throttle torque includes the following steps：

i：By the sampled value of throttle signal divided by throttle signal maximum sampled value, to obtain throttle coefficient.

ii：Motor speed value is obtained, revolving speed-torque meter is inquired based on motor speed value, to obtain the maximum of motor output Torque.

iii：Using the product of throttle coefficient and the peak torque of motor output as throttle torque.

In the present embodiment, the pre-stored throttle torque algorithm of entire car controller 10 be throttle torque=throttle coefficient × The product of the peak torque of motor output.Wherein, throttle coefficient is the sampled value and throttle signal maximum sampled value of throttle signal Quotient, and throttle signal maximum sampled value be constant, can according to the sampled value of the throttle signal acquired in real time calculate obtain correspond to Throttle coefficient.Motor speed value is acquired by the electric machine controller 30 being connected with entire car controller 10 and is sent to full-vehicle control Device 10.The motor speed value that entire car controller 10 will receive inquires pre-stored revolving speed-torque meter, to obtain motor The peak torque of output, then the peak torque of motor output and the product of throttle coefficient are calculated, throttle torque can be obtained.It should Throttle torque arithmetic process is simple and convenient, is not necessarily to complicated calculations, is conducive to improve its treatment effeciency.

Relay 50 unlocks driving motor 20 based on unlocking signal control electromagnetic lock 40 for receiving unlocking signal.

It is to be appreciated that relay 50 is in an off state when vehicle is in ramp parking, it is arranged in driving motor 20 On electromagnetic lock 40 be in lockup state；At this point, relay 50, which is powered, to be connected if relay 50 receives unlocking signal, make The electromagnetic lock 40 that must be arranged on driving motor 20 unlocks, so that driving motor 20 can work normally.

In the specific embodiment, if vehicle is in ramp parked state, user can be made by pedal of stepping on the throttle Must step on the throttle pedal depth reach make its throttle torque be greater than steady slope torque when, can make relay 50 control setting exist Electromagnetic lock 40 on driving motor 20 unlocks, so that the driving motor 20 of vehicle restarts, operating process is simple and convenient.

In another specific embodiment, ramp parking control system further includes the parking being connected with entire car controller 10 Switch 80.

Parking switch 80 is sent to entire car controller 10 for obtaining ramp enabling signal, and by ramp enabling signal.

Parking switch 80 is arranged on vehicle, the independent switch being connected with entire car controller 10.The parking switch 80 packet The switching circuit for including switch key and being connected with switch key, the switching circuit are connected with entire car controller 10.When vehicle is on slope When road parking, if vehicle need to be made to restart and travelled, the switch key of the parking switch 80 can be pressed, then switching circuit obtains Ramp enabling signal is taken, and ramp enabling signal is sent to entire car controller 10.Further, to avoid user misoperation, After settable user's long-pressing parking key preset time, switching circuit can just obtain ramp enabling signal, and be sent to vehicle control Device 10 processed.

Entire car controller 10 is based on ramp enabling signal, exports and solve to relay 50 for receiving ramp enabling signal Lock signal.

Specifically, after entire car controller 10 receives the ramp enabling signal that parking switch 80 is sent, started based on ramp Signal forms unlocking signal, and is sent to relay 50, drives so that relay 50 controls the unlock of electromagnetic lock 40 according to unlocking signal Dynamic motor 20, so that driving motor 20 restarts.When driving motor 20 restarts, driving motor 20 can be according to user The sampled value normally travel of throttle signal stepping on the throttle pedal and inputting.

In the specific embodiment, if vehicle is in ramp parked state, for parking switch 80 can be pressed, so that Electromagnetic lock 40 unlocks driving motor 20, so that the driving motor 20 of vehicle restarts, operating process is more simple and convenient.

Embodiment 2

Fig. 2 shows the ramp parking control systems in the present embodiment.As shown in Fig. 2, the ramp parking control system can answer With on vehicle, especially on fork truck.The ramp parking control system includes entire car controller 10, driving motor 20 and driving The connected electric machine controller 30 of motor 20, the electromagnetic lock 40 being arranged on driving motor 20, the relay being connected with electromagnetic lock 40 50 and the lockup switch 90 that is connected with entire car controller 10, electric machine controller 30 be connected with entire car controller 10, relay 50 with Entire car controller 10 is connected.Wherein, entire car controller 10 is communicated with electric machine controller 30 by CAN bus, entire car controller 10 can obtain the information such as the motor speed of driving motor 20 by electric machine controller 30, can also be realized by electric machine controller 30 Control to driving motor 20.Electromagnetic lock 40 is arranged on driving motor 20, for locking or unlock driving motor 20.Relay Device 50 is connected with entire car controller 10, and is controlled by entire car controller 10, to realize locking or unlock electromagnetic lock 40.In vehicle When in off working state, entire car controller 10 controls relay 50 and disconnects, so as to which the electromagnetic lock on driving motor 20 is arranged in 40 are in lockup state, and driving motor 20 stops working.Correspondingly, when vehicle is in running order, entire car controller 10 It controls relay 50 to be connected, so that the electromagnetic lock 40 being arranged on driving motor 20 is in the unlocked state, driving motor 20 is normal Work.

Lockup switch 90 for obtaining control signal, and sends control signals to entire car controller 10.

Lockup switch 90 is arranged on vehicle, the independent switch being connected with entire car controller 10, the lockup switch 90 packet The switching circuit for including switch key and being connected with switch key, the switching circuit are connected with entire car controller 10.Work as vehicle stabilization When on ramp, it is desirable to which when realizing ramp parking, user can press the switch key of lockup switch 90, so that its switching circuit Control signal is obtained, and sends control signals to entire car controller 10.

Entire car controller 10 is also used to receive control signal, based on control signal acquisition locking signal, to relay 50 Export locking signal.

After entire car controller 10 receives the control signal of the transmission of lockup switch 90, locking letter is formed based on control signal Number, and it is sent to relay 50, so that the electromagnetic lock on driving motor 20 is arranged according to locking signal locking for relay 50 40。

It is to be appreciated that the ramp parking control system further includes the gas pedal sensing being connected with entire car controller 10 Device 60, obliquity sensor 70 and parking switch 80, function realization principle and the ramp parking control system phase in embodiment 1 Together, it will not repeat them here.

In ramp parking control system provided by the present embodiment, pass through the electromagnetic lock 40 being arranged on driving motor 20 The relay 50 being connected with electromagnetic lock 40 cooperates, then the lockup switch 90 being connected with entire car controller 10 manually controls driving 20 locking of motor or unlock, in vehicle hill-hold, instead of tradition machinery parking mode, without to mechanical braking propose compared with High requirement.When vehicle driving is on ramp that ramp inclination value (i.e. vehicle inclination value) is greater than default inclination value, and it is desirable that control When vehicle processed realizes ramp parking, need to only gas pedal be unclamped so that the sampled value of its throttle signal is zero, can make vehicle control Device 10 processed exports steady slope torque, by vehicle stabilization on ramp；The lockup switch being connected with entire car controller 10 is pressed again 90, i.e., exportable locking signal is to realize ramp parking；Its ramp parking process is simple to operate, to mechanical braking according to Rely property lower, is conducive to the safety for increasing driving.

Embodiment 3

Fig. 3 shows the ramp parking control method in the present embodiment.The ramp parking control method is applied in embodiment 1 In ramp parking control system in, executed by the entire car controller 10 of ramp parking control system.In the present embodiment, ramp Parking control system can be applicable on vehicle, especially on fork truck.As shown in Fig. 1, ramp parking control system includes vehicle control Device 10 processed, driving motor 20, the electric machine controller 30 being connected with driving motor 20, the electromagnetic lock being arranged on driving motor 20 40 and the relay 50 that is connected with electromagnetic lock 40, electric machine controller 30 be connected with entire car controller 10, relay 50 and vehicle Controller 10 is connected.Wherein, entire car controller 10 is communicated with electric machine controller 30 by CAN bus, and entire car controller 10 can The information such as the motor speed of driving motor 20 are obtained by electric machine controller 30, can also be realized by electric machine controller 30 to drive The control of dynamic motor 20.Electromagnetic lock 40 is arranged on driving motor 20, for locking or unlock driving motor 20.Relay 50 It is connected with entire car controller 10, and is controlled by entire car controller 10, realizes locking or unlock electromagnetic lock 40.It is in vehicle When off working state, entire car controller 10 controls relay 50 and disconnects, so that the electromagnetic lock 40 being arranged on driving motor 20 In lockup state, driving motor 20 stops working.Correspondingly, when vehicle is in running order, entire car controller 10 is controlled Relay 50 is connected, so that the electromagnetic lock 40 being arranged on driving motor 20 is in the unlocked state, the normal work of driving motor 20 Make.

As shown in figure 3, the ramp parking control method includes the following steps：

S10：Obtain the sampled value and vehicle inclination value of throttle signal.

Wherein, entire car controller 10 is connected with accelerator pedal sensor 60, for acquiring throttle signal in real time and being sent to Entire car controller 10, so that entire car controller 10 samples the throttle signal received, to obtain the sampling of throttle signal Value, the sampled value of the throttle signal and the user depth of pedal of stepping on the throttle are related.Specifically, when user steps on the throttle pedal, The sampled value for the throttle signal that then entire car controller 10 is got is not zero, and determines correspondence according to the depth of stepping on of gas pedal Accelerator gear；When user unclamps gas pedal, then the sampled value for the throttle signal that entire car controller 10 is got is zero.

S20：If the sampled value of throttle signal is zero and vehicle inclination value is greater than default inclination value, steady slope torque is obtained, Make vehicle stabilization on ramp based on steady slope torque.

Wherein, steady slope torque is torque required for the driving motor 20 for making vehicle stabilization on ramp.The present embodiment In, gas pedal is unclamped when user's driving vehicle is greater than on the ramp for presetting inclination value in driving process at ramp inclination angle, so that The sampled value for the throttle signal that entire car controller 10 obtains is zero, then entire car controller 10 obtains steady slope torque, is turned round based on steady slope Square makes vehicle stabilization on ramp.Specifically, if user, which drives vehicle, is greater than the ramp uplink of default inclination value at ramp inclination angle When sailing, it is desirable to vehicle is controlled in parking on ramp, only need to unclamp gas pedal, the oil that entire car controller 10 can be made to obtain The sampled value of gate signal is zero and vehicle inclination value is greater than default inclination value, so that steady slope torque is exported to electric machine controller 30, So that the torque that electric machine controller 30 is exported based on steady slope moment of torsion control driving motor 20, makes vehicle stabilization on ramp, reaches Avoid the purpose of vehicle reverse.It is to be appreciated that gas pedal is unclamped in driving process on ramp when user drives vehicle, Then the sampled value of its throttle signal is zero, and the speed of vehicle rapidly goes to zero at this time, on ramp, due to gravity, if whole Vehicle controller 10 does not export steady slope torque, so that vehicle stabilization on ramp, then vehicle can be fallen back, is easy to cause safety Accident, thus need to first export steady slope torque with by vehicle stabilization on ramp.

Specifically, the steady slope torque of acquisition in step S20 includes the following steps：

S21：Obtain motor speed value.

Specifically, electric machine controller 30 is connected with the driving motor 20 of vehicle, matches with driving motor 20, with control Driving motor 20 processed works, to realize the traveling of control vehicle.The motor that electric machine controller 30 acquires driving motor 20 in real time turns Speed value, to be controlled based on driving status (including but not limited to travel speed) of the motor speed value to vehicle.This reality It applies in example, collected motor speed value is sent to entire car controller 10 by CAN bus by electric machine controller 30.

S22：Steady slope torque is obtained based on vehicle inclination value and motor speed value.

Further, step S22 specifically comprises the following steps：

In a specific embodiment, specifically include vehicle stabilization on ramp based on steady slope torque：By steady slope torque It is sent to electric machine controller 30, so that electric machine controller 30 controls driving motor 20 and generates the tractive force upward along ramp, this is led Gravitation is equal to sliding force downward along ramp suffered by vehicle.The sliding force is gravity in the component along ramp direction.It can be with Understand ground, upward tractive force is generated when electric machine controller 30 controls driving motor 20, if the tractive force is equal to gravity along ramp When downward component (i.e. vehicle be subject to sliding force), the revolving speed 0 of driving motor 20 can be made, so that reaching makes vehicle stabilization Purpose on ramp.

S30：Obtain steady slope time of the vehicle stabilization on ramp.

Wherein, parking preset time is the time for being used to judge whether to need parking of systemic presupposition.In vehicle driving or Stablize when on ramp, vehicle is in working condition, at this point, relay 50 is connected, and the electricity being arranged on driving motor 20 Magnetic padlock 40 is in the unlocked state, and driving motor 20 can still work normally.When vehicle driving is at ramp inclination value (i.e. vehicle inclination angle Value) it is greater than on the ramp of default inclination value, and gas pedal is unclamped, so that entire car controller 10 exports steady slope torque with by vehicle Stablize when on ramp, illustrate that user has the intention in ramp parking；Vehicle stabilization is obtained again at the steady slope on ramp Between, to judge whether steady slope time of the vehicle stabilization on ramp reaches parking preset time, to determine whether user wants Realize ramp parking function.

S40：If the steady slope time reaches parking preset time, locking signal is exported, is existed based on the control setting of locking signal 40 locking driving motor 20 of electromagnetic lock on driving motor 20, to realize ramp parking.

In the present embodiment, stablizes the steady slope time on ramp when parking and reach parking preset time, then entire car controller 10 export locking signal to relay 50, so that relay 50 is disconnected based on locking signal, so that 40 locking of electromagnetic lock driving electricity Machine 20, so that driving motor 20 stops working, to realize ramp parking function.It is to be appreciated that if in parking preset time Interior, user steps on the throttle pedal, at this point, the sampled value of throttle signal is not zero, entire car controller 10, which no longer exports, keeps vehicle steady The steady slope torque being scheduled on ramp is then unable to control vehicle and continues to stablize on ramp, and the driving motor 20 of vehicle can be according to oil The sampled value of gate signal carries out normal climbing processing, then parking stablize the steady slope time on ramp be not up to parking it is default when Between, locking signal cannot be exported to relay 50.It is to be appreciated that parking preset time cannot be too long, to avoid parking is influenced Efficiency；Can not be too short, to avoid normal climbing processing is influenced, can be set as 2-3 seconds.

In parking control method in ramp provided by the present embodiment, by the electromagnetic lock 40 being arranged on driving motor 20, To realize control 20 locking of driving motor or unlock, in vehicle hill-hold, instead of tradition machinery parking mode, without pair Mechanical braking proposes higher requirement.When vehicle driving is greater than default inclination value in ramp inclination value (i.e. vehicle inclination value) On ramp, and it is desirable that gas pedal only need to be unclamped so that the sampled value of its throttle signal is when controlling vehicle realization ramp parking Zero, entire car controller 10 can be made to export steady slope torque, by vehicle stabilization on ramp；Parking is controlled again to stablize in ramp On the steady slope time reach parking preset time, ramp parking can be realized.In the ramp parking control method, ramp parking Process is simple to operate, lower to the dependence of mechanical braking, is conducive to the safety for increasing driving.

In a specific embodiment, which further includes following steps：

S51：Sampled value based on throttle signal obtains throttle torque；If throttle torque is greater than steady slope torque, solution is exported Lock signal, so that electromagnetic lock 40 unlocks driving motor 20.

In the present embodiment, accelerator pedal sensor 60 acquires throttle signal and is sent to entire car controller 10, full-vehicle control Device 10 samples the throttle signal received to obtain the sampled value of throttle signal, and according to the sampled value of throttle signal Corresponding throttle torque is obtained, then judges whether throttle torque is greater than steady slope torque, to determine that user steps on the throttle pedal and defeated Whether throttle torque overcomes the steady slope torque for making vehicle realize ramp parking out.If throttle torque is greater than steady slope torque, formed Unlocking signal, and the unlocking signal is sent to relay 50, it is solved so that relay 50 controls electromagnetic lock 40 according to unlocking signal Driving motor 20 is locked, so that driving motor 20 restarts.It correspondingly, can not if throttle torque is not more than steady slope torque Unlocking signal is formed, then electromagnetic lock 40 continues locking driving motor 20, so that vehicle keeps ramp parked state.

In the present embodiment, entire car controller 10 includes ECU, power module, EEPROM memory module and peripheral circuit etc.. ECU is the control unit of entire car controller 10, is responsible for receiving digital signal and sampled signal, and be analyzed and processed, final defeated Whole vehicle control signal out.Accelerator pedal sensor 60 by entire car controller 10 provide 5V voltage, have an output signal line with it is whole Vehicle controller 10 is connected, the potentiometer resistance value hair when accelerator pedal position changes, inside accelerator pedal sensor 60 Changing, so that the voltage value signal that accelerator pedal sensor 60 exports changes；This voltage signal passes through entire car controller 10 sample circuit is input to ECU, so that the ECU of entire car controller 10 obtains the sampled value of throttle signal.It is to be appreciated that When vehicle is in ramp parking, if vehicle need to be made to restart and when driving, user can by pedal of stepping on the throttle, at this point, with The connected accelerator pedal sensor 60 of gas pedal obtains the sampled value of throttle signal, and the sampled value of throttle signal is sent To entire car controller 10.

In another specific embodiment, which further includes following steps：

S52：The ramp enabling signal that parking switch 80 inputs is obtained, unlocking signal is exported according to ramp enabling signal, with Electromagnetic lock 40 is set to unlock driving motor 20.

After entire car controller 10 receives the ramp enabling signal of the transmission of parking switch 80, it is based on ramp enabling signal shape At unlocking signal, and it is sent to relay 50, so that relay 50, which controls electromagnetic lock 40 according to unlocking signal, unlocks driving motor 20, so that driving motor 20 restarts.When driving motor 20 restarts, driving motor 20 can step on oil according to user Door pedal and the sampled value normally travel of throttle signal inputted.

Embodiment 4

Fig. 4 shows the ramp parking control method in the present embodiment.The ramp parking control method is applied in embodiment 2 In ramp parking control system in, executed by the entire car controller 10 of ramp parking control system.In the present embodiment, ramp Parking control system can be applicable on vehicle, especially on fork truck.As shown in Fig. 1, ramp parking control system includes vehicle control Device 10 processed, driving motor 20, the electric machine controller 30 being connected with driving motor 20, the electromagnetic lock being arranged on driving motor 20 40, the relay 50 being connected with electromagnetic lock 40 and the lockup switch 90 being connected with entire car controller 10, electric machine controller 30 with it is whole Vehicle controller 10 is connected, and relay 50 is connected with entire car controller 10.Wherein, entire car controller 10 and electric machine controller 30 are logical CAN bus communication is crossed, entire car controller 10 can obtain the information such as the motor speed of driving motor 20 by electric machine controller 30, The control to driving motor 20 can also be realized by electric machine controller 30.Electromagnetic lock 40 is arranged on driving motor 20, for locking Only or unlock driving motor 20.Relay 50 is connected with entire car controller 10, and is controlled by entire car controller 10, to realize lock Only or unlock electromagnetic lock 40.When vehicle is in off working state, entire car controller 10 controls relay 50 and disconnects, so as to set The electromagnetic lock 40 set on driving motor 20 is in lockup state, and driving motor 20 stops working.Correspondingly, it is in vehicle When working condition, entire car controller 10 controls relay 50 and is connected, so that the electromagnetic lock 40 being arranged on driving motor 20 is in Unlocked state, driving motor 20 work normally.

S10'：Obtain the sampled value and vehicle inclination value of throttle signal.

S20'：If the sampled value of throttle signal is zero and vehicle inclination value is greater than default inclination value, obtains steady slope and turn round Square makes vehicle stabilization on ramp based on steady slope torque.

S30':The control signal that lockup switch 90 inputs is obtained, locking signal is exported based on control signal.

Lockup switch 90 is arranged on vehicle, the independent switch being connected with entire car controller 10, the lockup switch 90 packet The switching circuit for including switch key and being connected with switch key, the switching circuit are connected with entire car controller 10.Work as vehicle stabilization When on ramp, it is desirable to which when realizing ramp parking, user can press the switch key of lockup switch 90, so that its switching circuit Control signal is obtained, and sends control signals to entire car controller 10, so that entire car controller 10 is based on control signal and generates Locking signal, and the locking signal generated to the output of relay 50.

S40'：The electromagnetic lock locking driving motor being arranged on driving motor is controlled, based on locking signal to realize ramp Parking.

That is 10 locking signal control relay 50 of entire car controller, so that the relay 50 being connected with electromagnetic lock 40 disconnects, The electromagnetic lock 40 being then connected with relay 50 is in lockup state, so that driving motor 20 stops working, to realize that ramp is stayed Vehicle.

In parking control method in ramp provided by the present embodiment, pass through the electromagnetic lock 40 being arranged on driving motor 20 The relay 50 being connected with electromagnetic lock 40 cooperates, then the lockup switch 90 being connected with entire car controller 10 manually controls driving 20 locking of motor or unlock, in vehicle hill-hold, instead of tradition machinery parking mode, without to mechanical braking propose compared with High requirement.When vehicle driving is on ramp that ramp inclination value (i.e. vehicle inclination value) is greater than default inclination value, and it is desirable that control When vehicle processed realizes ramp parking, need to only gas pedal be unclamped so that the sampled value of its throttle signal is zero, can make vehicle control Device 10 processed exports steady slope torque, by vehicle stabilization on ramp；The lockup switch being connected with entire car controller 10 is pressed again 90, i.e., exportable locking signal is to realize ramp parking；Its ramp parking process is simple to operate, to mechanical braking according to Rely property lower, is conducive to the safety for increasing driving.

Embodiment 5

The present embodiment provides a kind of non-volatile computer readable storage medium storing program for executing.The non-volatile computer readable storage Medium is stored thereon with computer program, which is executed by one or more processors so that one or Multiple processors execute the ramp parking control method in embodiment 3 or embodiment 4, and to avoid repeating, which is not described herein again. It is to be appreciated that processor includes entire car controller 10, electric machine controller 30 etc. in embodiment 1.

Embodiment 4

The present embodiment provides a kind of vehicles.The vehicle includes memory (not shown) and processor, on the memory It is stored with computer program, which is executed by one or more processors, so that one or more processing Device executes the ramp parking control method in embodiment 2.Vehicle provided by the present embodiment is equipped with embodiment 1 or embodiment 2 In ramp parking control system, the ramp parking control system include entire car controller 10, driving motor 20, with driving electricity Machine 20 connected electric machine controller 30, the electromagnetic lock 40 being arranged on driving motor 20 and the relay being connected with electromagnetic lock 40 Device 50, electric machine controller 30 and relay 50 are connected with entire car controller 10.With the ramp parking control system in embodiment 1 It compares, the ramp parking control system in embodiment 2 further includes the lockup switch 90 being connected with entire car controller 10.Specifically, Processor includes entire car controller 10, and entire car controller 10 is communicated with electric machine controller 30 by CAN bus, full-vehicle control Device 10 can obtain the information such as the motor speed of driving motor 20 by electric machine controller 30, can also be real by electric machine controller 30 Now to the control of driving motor 20.Electromagnetic lock 40 is arranged on driving motor 20, for locking or unlock driving motor 20.After Electric appliance 50 is connected with entire car controller 10, and is controlled by entire car controller 10, to realize locking or unlock electromagnetic lock 40.In vehicle Be in off working state when, entire car controller 10 control relay 50 disconnect, so as to which the electromagnetism on driving motor 20 is arranged in Lock 40 is in lockup state, and driving motor 20 stops working.Correspondingly, when vehicle is in running order, entire car controller 10 It controls relay 50 to be connected, so that the electromagnetic lock 40 being arranged on driving motor 20 is in the unlocked state, driving motor 20 is normal Work.

Those of ordinary skill in the art may be aware that in conjunction with processor disclosed herein, i.e. central processing unit (CPU, Central Processing Unit, referred to as) is one piece of ultra-large integrated circuit, is the fortune of a computer Calculate core (Core) and control core (Control Unit).Its function is mainly interpretive machine instruction and processing meter Data in calculation machine software, including controller and arithmetic unit.And entire car controller 10 and electric machine controller 30 belong to controller (controller), controller, which refers to, changes the wiring of main circuit or control circuit according to predetermined order and changes electricity in circuit Resistance value enables device to control starting, speed regulation, braking and reversely main of motor.By program counter, command register, refer to Decoder, clock generator and operation controller composition are enabled, it is publication order " policy-making body ", that is, completes to coordinate and refer to Wave the operation of entire computer system.

Those of ordinary skill in the art may be aware that described in conjunction with the examples disclosed in the embodiments of the present disclosure Module and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions It is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Professional technique Personnel can use different methods to achieve the described function each specific application, but this realization should not be recognized It is beyond the scope of this invention.

It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is The specific work process of system, device and module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.

In embodiment provided herein, it should be understood that disclosed device and method, it can be by other Mode realize.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple module or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or module or Communication connection can be electrical property, mechanical or other forms.

The module as illustrated by the separation member may or may not be physically separated, as module The component of display may or may not be physical module, it can and it is in one place, or may be distributed over more On a network module.Some or all of the modules therein can be selected to realize this embodiment scheme according to the actual needs Purpose.

It, can also be in addition, each functional module in each embodiment of the present invention can integrate in a processing module It is that modules physically exist alone, can also be integrated in two or more modules in a module.

If the function is realized and when sold or used as an independent product in the form of software function module, can To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or Say that the part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with It is personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention Step.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various to can store journey The medium of sequence code.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, appoints What those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, answer It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.

Claims

1. a kind of ramp parking control method, which is characterized in that including：

Obtain the sampled value and vehicle inclination value of throttle signal；

If the sampled value of the throttle signal is zero and the vehicle inclination value is greater than default inclination value, steady slope torque is obtained, Based on the steady slope moment of torsion control driving motor, so that vehicle stabilization is on ramp；

Obtain steady slope time of the vehicle stabilization on ramp；

If the steady slope time reaches the parking preset time, locking signal is exported, is set based on locking signal control Driving motor described in the electromagnetic lock locking on driving motor is set, to realize ramp parking.

2. parking control method in ramp according to claim 1, which is characterized in that the steady slope torque of acquisition, including：

Obtain motor speed value；

3. parking control method in ramp according to claim 2, which is characterized in that it is described based on the vehicle inclination value and The motor speed value obtains the steady slope torque, including：

4. parking control method in ramp according to claim 1, which is characterized in that described to be based on the steady slope moment of torsion control Driving motor, so that vehicle stabilization is on ramp, including：

The steady slope torque is sent to electric machine controller, so that the electric machine controller controls the driving motor and generates along slope The upward tractive force in road, the tractive force are equal to sliding force downward along ramp suffered by the vehicle.

5. parking control method in ramp according to claim 1, which is characterized in that further include：

Sampled value based on the throttle signal obtains throttle torque；

If the throttle torque is greater than the steady slope torque, unlocking signal is exported, so that the electromagnetic lock unlocks the driving Motor.

6. parking control method in ramp according to claim 5, which is characterized in that the adopting based on the throttle signal Sample value obtains throttle torque, including：

Motor speed value is obtained, revolving speed-torque meter is inquired based on the motor speed value, is turned round with obtaining the maximum of motor output Square；

7. parking control method in ramp according to claim 1, which is characterized in that further include：

The ramp enabling signal for obtaining parking switch input exports unlocking signal according to the ramp enabling signal, so that described Electromagnetic lock unlocks the driving motor.

8. a kind of ramp parking control method, which is characterized in that including：

Obtain the sampled value and vehicle inclination value of throttle signal；

Driving motor described in the electromagnetic lock locking being arranged on driving motor based on locking signal control, to realize that ramp is stayed Vehicle.

9. a kind of ramp parking control system, which is characterized in that including entire car controller, driving motor and the driving motor Connected electric machine controller, the electromagnetic lock being arranged on the driving motor and the relay being connected with the electromagnetic lock, institute It states electric machine controller to be connected with the entire car controller, the relay is connected with the entire car controller；

The entire car controller, for obtaining the sampled value and vehicle inclination value of throttle signal, if the sampling of the throttle signal Value is zero and the vehicle inclination value is greater than default inclination value, then obtains steady slope torque, and the steady slope torque is sent to institute State electric machine controller；

The electric machine controller is based on the steady slope moment of torsion control driving motor, so that vehicle for receiving the steady slope torque Stablize on ramp；

The entire car controller is also used to obtain steady slope time of the vehicle stabilization on ramp, if the steady slope time reaches To the parking preset time, then locking signal is exported to the relay；

The relay is controlled based on the locking signal and is driven described in the electromagnetic lock locking for receiving the locking signal Dynamic motor, to realize ramp parking.

10. ramp parking control system according to claim 9, which is characterized in that the ramp parking control system is also Including the obliquity sensor being connected with the entire car controller；

The obliquity sensor is sent to the entire car controller for acquiring vehicle inclination value, and by the vehicle inclination value；

The electric machine controller is sent to the entire car controller for acquiring motor speed value, and by the motor speed value；

The entire car controller is based on the vehicle inclination value for receiving the vehicle inclination value and the motor speed value The steady slope torque is obtained with the motor speed value.

11. ramp parking control system according to claim 10, which is characterized in that described to be based on the vehicle inclination value The steady slope torque is obtained with the motor speed value, including：

12. ramp parking control system according to claim 9, which is characterized in that driven based on the steady slope moment of torsion control Dynamic motor, so that vehicle stabilization is on ramp, including：

Based on the steady slope moment of torsion control driving motor, so that the driving motor generates the tractive force upward along ramp, it is described Tractive force is equal to sliding force downward along ramp suffered by the vehicle.

13. ramp parking control system according to claim 9, which is characterized in that the ramp parking control system is also Including the accelerator pedal sensor being connected with the entire car controller；

The accelerator pedal sensor is sent to the entire car controller for obtaining throttle signal, and by the throttle signal；

The entire car controller, for receiving the throttle signal, by being sampled to the throttle signal, to obtain throttle The sampled value of signal, the sampled value based on the throttle signal obtain throttle torque；If the throttle torque is greater than the steady slope Torque then exports unlocking signal to the relay；

The relay controls the electromagnetic lock based on the unlocking signal and unlocks the drive for receiving the unlocking signal Dynamic motor.

14. ramp parking control system according to claim 13, which is characterized in that described based on the throttle signal Sampled value obtains throttle torque, including：

15. ramp parking control system according to claim 9, which is characterized in that the ramp parking control system is also Including the parking switch being connected with the entire car controller；

The parking switch is sent to the full-vehicle control for obtaining ramp enabling signal, and by the ramp enabling signal Device；

The entire car controller is based on ramp enabling signal, exports to the relay for receiving the ramp enabling signal Unlocking signal；

16. a kind of ramp parking control system, which is characterized in that including entire car controller, driving motor and the driving motor Connected electric machine controller, the electromagnetic lock being arranged on the driving motor, the relay being connected with the electromagnetic lock and with The connected lockup switch of the entire car controller, the electric machine controller are connected with the entire car controller, the relay and The entire car controller is connected；

The entire car controller is also used to receive the control signal, is exported and is locked to the relay based on the control signal Stop signal；

17. non-volatile computer readable storage medium storing program for executing, is stored thereon with computer program, which is characterized in that the computer Any one of the claim 1-8 ramp parking control method is realized when program is executed by processor.

18. a kind of vehicle, which is characterized in that including memory and processor, computer program, institute are stored on the memory It states and realizes any one of the claim 1-8 ramp parking control method when computer program is executed by the processor.