CN109591621A - Prevent method, apparatus, vehicle and the medium of car ramp car slipping - Google Patents
Prevent method, apparatus, vehicle and the medium of car ramp car slipping Download PDFInfo
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- CN109591621A CN109591621A CN201811504744.1A CN201811504744A CN109591621A CN 109591621 A CN109591621 A CN 109591621A CN 201811504744 A CN201811504744 A CN 201811504744A CN 109591621 A CN109591621 A CN 109591621A
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- vehicle
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- slope
- operating condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of method, apparatus for preventing car ramp car slipping, vehicle and medium, wherein method includes: shift signal, brake pedal signal, accelerator pedal signal, motor speed and the motor reality output torque for obtaining vehicle；The operating condition of vehicle is judged according to shift signal, brake pedal signal, accelerator pedal signal and motor speed；Determine that the anti-of motor slips by slope the range of speeds according to the operating condition of vehicle；The range of speeds is slipped by slope and when reality output torque is less than target torque when motor speed is in anti-, and control motor enters zero-turn fast mode to prevent car slipping.This method slips by slope function it is determined whether to enable anti-according to the current operating condition of vehicle and status information as a result, and unexpected open is avoided to prevent slipping by slope function, and the reliability and user that improve Anti-slide function drive the safety of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to a kind of method, apparatus for preventing car ramp car slipping, vehicle
And medium.
Background technique
Currently, when starting to walk on the slope in order to avoid electric car, vehicle backward car slipping and cause safety accident, related skill
In art, the rotor speed signal of the motor of vehicle can be acquired by entire car controller, and collected data are sent to electricity
Machine controller, then collected signal is prevented that slipping by slope rotary speed threshold value is compared with preset by electric machine controller, is with judgement
No unlatching is anti-to slip by slope function, however, it is determined that opens and prevents slipping by slope function, then exports when electric machine controller control motor slips under vehicle big
Torque stops at vehicle on ramp.
However, it has been found that when controlling vehicle driving according to the method described above, slips by slope rotary speed threshold value due to anti-and be substantially all
It is fixed setting, this judgment method, it is possible to which causing vehicle to occur, unpredictably unlatching is anti-to slip by slope function, in turn results in vehicle
It shakes under steam, reduces the comfort that user drives vehicle.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of method for preventing car ramp car slipping.This method is preparatory
Be arranged under different operating conditions it is anti-slip by slope the range of speeds, judge that vehicle is current according to collected vehicle status data in practical application
Operating condition, and then obtain it is corresponding it is anti-slip by slope the range of speeds, then whether be in corresponding according to the revolving speed of vehicular electric machine
It is anti-to slip by slope the range of speeds with it is determined whether to enable the anti-of vehicle to slip by slope function, caused by due to vehicle shake
Unexpected open prevents slipping by slope function, improves to open and prevent that the accuracy for slipping by slope function is further determining unlocking vehicle
It is anti-slip by slope function after, control motor enter zero-turn fast mode, stop at vehicle on ramp in time, exist so as to avoid vehicle
Car slipping on ramp improves the safety for driving vehicle.
Second object of the present invention is to propose a kind of device for preventing car ramp car slipping.
Third object of the present invention is to propose a kind of vehicle.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of method for preventing car ramp car slipping, packet
Include following steps:
Shift signal, brake pedal signal, accelerator pedal signal, motor speed and the motor reality output for obtaining vehicle are turned round
Square；
The operating condition of vehicle is judged according to shift signal, brake pedal signal, accelerator pedal signal and motor speed；
Determine that the anti-of motor slips by slope the range of speeds according to the operating condition of vehicle；
The range of speeds is slipped by slope and when reality output torque is less than target torque when motor speed is in anti-, and control motor enters
Zero-turn fast mode is to prevent car slipping.
The method for preventing car ramp car slipping of the embodiment of the present invention obtains shift signal, the brake pedal of vehicle first
Signal, accelerator pedal signal, motor speed and motor reality output torque, then according to shift signal, brake pedal signal, plus
Speed pedal signal and motor speed judge the operating condition of vehicle, and then determine that the anti-of motor slips by slope according to the operating condition of vehicle
The range of speeds, finally when determining that motor speed is in anti-and slips by slope the range of speeds and when reality output torque is less than target torque, control
Motor processed enters zero-turn fast mode to prevent car slipping.This method judges the current fortune of vehicle according to collected vehicle status data
Row operating condition, and whether meet the anti-condition for slipping by slope function of unlocking vehicle under current working, however, it is determined that unlocking vehicle it is anti-slip
Slope function then controls motor and enters zero-turn fast mode, stop at vehicle to prevent car slipping on ramp in time, thus improving
While vehicle drive safety, avoiding vehicle, unexpected open prevents slipping by slope shake caused by function as erroneous judgement, mentions
It is high to open the anti-accuracy for slipping by slope function and user drives the comfort of vehicle.
In addition, the method according to the above embodiment of the present invention for preventing car ramp car slipping, can also have following additional
Technical characteristic:
In an embodiment of the invention, operating condition includes uphill starting operating condition and ramp driving operating condition, according to described
Shift signal, the brake pedal signal, the accelerator pedal signal and the motor speed judge the operation work of the vehicle
Condition, comprising: judge that the vehicle is in the uphill starting operating condition when the following conditions are met: according to the brake pedal signal
Judge that brake pedal is in on-position, also, judges the aperture of accelerator pedal less than first according to the accelerator pedal signal
Aperture threshold value, also, the absolute value of the motor speed is less than the first rotary speed threshold value；Institute is judged when meeting following either condition
State vehicle and be in the ramp driving operating condition: it is more than the second rotary speed threshold value that the motor speed, which continues the first preset time, alternatively,
Judge that the aperture of the accelerator pedal is greater than the second aperture threshold value according to the accelerator pedal signal, alternatively, it is default to continue second
Brake pedal signal is not detected in time, alternatively, judging gear for neutral gear according to the shift signal.
In an embodiment of the invention, before the operating condition for judging the vehicle, the method also includes: according to
The gear signal, the brake pedal signal, the accelerator pedal signal and the motor speed signal judge the vehicle
Whether satisfaction is anti-slips by slope condition, when the vehicle meet it is described it is anti-slip by slope condition when, output is anti-to slip by slope enable signal.
In an embodiment of the invention, the method for car ramp car slipping is prevented further include: sentence when the following conditions are met
The vehicle that breaks meets the anti-slip condition: according to the shift signal, the brake pedal signal and the accelerator pedal
It is forward gear and the switching reversed gear that signal, which judges current gear not, also, the motor speed is less than third rotary speed threshold value.
In an embodiment of the invention, the method for car ramp car slipping is prevented further include: under the zero-turn fast mode,
With closed loop PI adjusting method output motor torque to adjust the motor speed, until the motor reaches zero speed.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of device for preventing car ramp car slipping, packet
It includes:
Obtain module, for obtain the shift signal of vehicle, brake pedal signal, accelerator pedal signal, motor speed and
Motor reality output torque；
Operating condition judgment module, for according to the shift signal, the brake pedal signal, the accelerator pedal signal and
The motor speed judges the operating condition of the vehicle；
Determining module, for determining that the anti-of the motor slips by slope the range of speeds according to the operating condition of the vehicle；
Control module anti-slips by slope the range of speeds and the reality output torque is small for being in described in the motor speed
When target torque, controls the motor and enter zero-turn fast mode to prevent car slipping.
The device for preventing car ramp car slipping of the embodiment of the present invention,
In order to achieve the above object, third aspect present invention embodiment proposes a kind of vehicle, including sensor device, motor are such as
The device of car ramp car slipping is prevented described in above-described embodiment.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, and realizing when which is executed by processor prevents vehicle slope as described in above-described embodiment
The method of road car slipping.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram for the method for preventing car ramp car slipping provided by the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram for the device for preventing car ramp car slipping provided by the embodiment of the present invention；
Fig. 3 is the structural representation for the device that one kind provided by the embodiment of the present invention specifically prevents car ramp car slipping
Figure；And
Fig. 4 is a kind of structural schematic diagram of vehicle provided by the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The embodiment of the present invention since to slip by slope rotary speed threshold value setting unreasonable for vehicle anti-, is led mainly in the related technology
Under causing vehicle suddenly to touch on the brake on level land or put the operating conditions such as step on the gas, influences motor speed and judge that unlatching is anti-to slip by slope function by accident, cause
The technical issues of vehicle is acutely shaken.
Below with reference to the accompanying drawings describe the embodiment of the present invention prevents car ramp vehicle sliding preventing method, device and vehicle.
Fig. 1 is a kind of flow diagram for the method for preventing car ramp car slipping provided by the embodiment of the present invention, such as Fig. 1
It is shown, this prevent the method for car ramp car slipping the following steps are included:
Step 101, shift signal, brake pedal signal, accelerator pedal signal, motor speed and the motor for obtaining vehicle are real
Border output torque.
Specifically, user drives in vehicle processes, entire car controller obtain in real time the shift signal of vehicle, brake pedal and
The vehicle status datas such as aperture, motor current rotating speed and the motor reality output torque of accelerator pedal are convenient for subsequent judgement vehicle
Operating condition and whether open and anti-slip by slope function.
When it is implemented, passing through the sensor being set in advance at various vehicle components as a kind of possible implementation
Above-mentioned vehicle status data is detected, the data that then will test are sent to entire car controller by vehicle-mounted CAN network.Citing and
Speech, after detecting the current gear of vehicle by the gear detection device being arranged on vehicle gear box, by vehicle accelerator signal
It is sent to entire car controller；By being arranged in, the position sensor at brake pedal and accelerator pedal detects dynamic pedal and acceleration is stepped on
Then the current aperture of plate sends entire car controller by CAN bus for brake pedal signal and accelerator pedal signal；Motor
Controller passes through the speed probe being arranged on machine shaft and torque sensor obtains the current revolving speed of motor and output is turned round
Square, the data that then will test out are sent to entire car controller by CAN bus.
It should be noted that can be believed according to the gear got after entire car controller obtains above-mentioned vehicle status data
Number, brake pedal signal, accelerator pedal signal and motor speed signal judge whether to meet and open the anti-basic item for slipping by slope function
Part opens the anti-primary condition for slipping by slope function if meeting, and shows that vehicle is likely to be at the risk on ramp and with car slipping, into
And entire car controller sends to electric machine controller and prevents slipping by slope enable signal, judges whether out convenient for the specific operating condition of subsequent basis
It opens and prevents slipping by slope function.
In an embodiment of the invention, entire car controller is believed according to shift signal, brake pedal signal and accelerator pedal
Number judge whether automobile gear level switches in forward gear and between reversing gear, if user does not pass through brake pedal and believes within a preset time
Number and accelerator pedal change Vehicle Speed and switch the gear of vehicle, it is determined that current gear is not forward gear and reverses gear
Switching.Further, motor speed signal is compared with third rotary speed threshold value, wherein third rotary speed threshold value is preset
Vehicle may have the motor speed threshold value of car slipping risk, for example, being 300 rpms (rpm), however, it is determined that motor current rotating speed
Less than third rotary speed threshold value, then show that motor current rotating speed is smaller, motor occurs under non-gear switch state under normal circumstances
Current rotating speed was less than under the phenomenon that third rotary speed threshold value, then showed that vehicle may have when driving the risk of car slipping on ramp,
And then entire car controller sends to electric machine controller and prevents slipping by slope enable signal.
Step 102, the fortune of vehicle is judged according to shift signal, brake pedal signal, accelerator pedal signal and motor speed
Row operating condition.
Wherein, the operating condition of vehicle includes uphill starting operating condition and ramp driving operating condition, it will be understood that vehicle is in ramp
When upper static starting, user loosens the brake and the possible reversed car slipping of vehicle during bend the throttle, alternatively, vehicle exists
On ramp in driving process, the inadequate vehicle of the aperture of user's stepping on accelerator pedal may also reversed car slipping, therefore, entire car controller root
It whether is above-mentioned according to the shift signal, brake pedal signal, accelerator pedal signal and the motor speed comprehensive descision vehicle that get
Operating condition.
When it is implemented, as an example, if judging that brake pedal is in on-position according to brake pedal signal, than
Such as, brake pedal signal is persistently received within 200ms or more the time, also, accelerator pedal is judged according to accelerator pedal signal
Aperture be less than preset first aperture threshold value, for example the current aperture of accelerator pedal is less than total aperture 1%, also, motor turns
The absolute value of speed for example, being less than 5rpm, then shows that user is loosening the brake and stepping on acceleration less than the first rotary speed threshold value
Pedal determines that vehicle is in uphill starting operating condition to drive vehicle start.
As another example, it will be understood that when vehicle on ramp when driving, user needs step on the accelerator to drive
Motor rotation, advances or falls back to control vehicle on ramp, thus, entire car controller is according to the data received, however, it is determined that
It is more than the second rotary speed threshold value that vehicle, which meets motor speed to continue the first preset time, is greater than for example, motor speed continues 2S or more
Or it is equal to 20rpm, and, judge that the aperture of accelerator pedal is greater than the second aperture threshold value according to accelerator pedal signal, for example,
1.5%, and, continuing such as 1S in the second preset time, brake pedal signal is not detected, and, according to shift signal
Gear is judged for the either condition in the conditions such as neutral gear, then judges that vehicle is in ramp driving operating condition.
Step 103, determine that the anti-of motor slips by slope the range of speeds according to the operating condition of vehicle.
Specifically, presetting anti-under above two operating condition of vehicle slips by slope the range of speeds, and establishes each anti-slip by slope and turn
The mapping relations of fast range and corresponding operating condition, for example, anti-under uphill starting operating condition of preset vehicle slips by slope revolving speed model
It encloses for greater than 15rpm and less than 200rpm, the anti-range of speeds that slips by slope under ramp driving operating condition is greater than 30rpm and to be less than
200rpm.Then, it after determining vehicle current operating condition, is closed according to operating condition and the anti-mapping for slipping by slope the range of speeds
System, determines that the anti-of motor slips by slope the range of speeds under current working, thus, sentenced convenient for subsequent according to information such as the current rotating speeds of motor
It is disconnected whether anti-slip function to be opened under current working.
Step 104, the range of speeds is slipped by slope and when reality output torque is less than target torque when motor speed is in anti-, control
Motor enters zero-turn fast mode to prevent car slipping.
Specifically, determine the current operating condition of vehicle and it is corresponding anti-slip by slope the range of speeds after, entire car controller to
Electric machine controller sends the enable signal of corresponding operating condition, such as, however, it is determined that it is whole when current operating condition is uphill starting
Vehicle controller sends uphill starting enable signal to electric machine controller, and electric machine controller receives the enable signal of operating condition
Afterwards, the revolving speed of motor and reality output torque under current state are continued to test, after detecting motor fault-free, however, it is determined that motor turns
Speed slips by slope the range of speeds and reality output torque is less than the target torque of normal vehicle operation under current working in anti-, then controls
Motor enters zero-turn fast mode to prevent car slipping.Wherein, zero-turn fast mode refers to that motor is in the mode that revolving speed is zero, passes through control
Motor, which stops rotating, drives vehicle to stop movement to prevent car slipping.
When it is implemented, closed-loop proportional-integral (PI) adjusting method tune can be passed through as a kind of possible implementation
The output torque of motor is saved, to gradually reduce the revolving speed of motor, until the revolving speed of motor reaches zero speed.
As a result, when detecting that motor current rotating speed is in the anti-of corresponding operating condition and slips by slope the range of speeds, and motor is actually defeated
When torque is less than target torque out, determines and need to carry out vehicle under current state to prevent to slip by slope control, and then control motor and stop
Rotation is to drive vehicle to stop movement, to achieve the purpose that prevent car slipping on ramp.
Further, before control motor enters zero-turn fast mode to prevent car slipping, it is also necessary to determine the rotation of motor
Direction and current gear.When there is car slipping under different operating conditions, the direction of rotation of motor and the state of gear are different.For example,
When vehicle car slipping under uphill starting operating condition, automobile gear level is forward gear and motor direction of rotation is reverse rotation；Work as vehicle
Under the operating condition of downhill path reverse travel when car slipping, automobile gear level is backward gear and motor direction of rotation is to rotate in the forward direction.
It is introduced under two kinds of operating conditions of uphill starting and ramp driving separately below, control motor enters the judgement of zero-turn fast mode
Process:
Motor is detected when identifying the current operating condition of vehicle is uphill starting operating condition as the first example
Current revolving speed is 20rpm, and the anti-range of speeds that slips by slope under uphill starting operating condition is greater than 15rpm and to be less than 200rpm, should
The revolving speed of motor is in anti-and slips by slope the range of speeds, further, detects that the current output torque of motor is 120N*m, and presets
Uphill starting operating condition under target torque be 150N*m, the current reality output torque of motor be less than preset current working get off
The target torque of normally travel, further, if detecting, automobile gear level is forward gear, and motor direction of rotation is reversed rotation
Turn, then can determine and be slipped after vehicle is generated in uphill starting, and then electric machine controller is immediately controlled motor and enters zero speed mould
Formula is to prevent car slipping.
As second of example, when the operating condition of vehicle is ramp driving, automobile gear level is detected to fall back gear, electricity
Machine direction of rotation is to rotate in the forward direction, and motor speed is 50rpm, and the anti-range of speeds that slips by slope that ramp is risen under driving cycle is
Greater than 30rpm and be less than 200rpm, the revolving speed of the motor be under current working it is anti-slip by slope the range of speeds, further, examine
Measuring the current output torque of motor is 140N*m, and target torque is 170N*m under preset ramp driving operating condition, and motor is worked as
Preceding reality output torque is less than the target torque of normal vehicle operation under preset current working, to show vehicle in descending
It is slipped before being generated when section is moved backward, and then electric machine controller control motor enters zero-turn fast mode to prevent car slipping.
Further determine that vehicle currently specifically runs work by the direction of rotation and current gear that determine motor as a result,
Condition, convenient for being judged whether to prevent vehicle car slipping according to the state parameter under current working, further improving prevents car ramp
The accuracy and timeliness of car slipping.
In conclusion the method for preventing car ramp car slipping of the embodiment of the present invention, the first shift signal of acquisition vehicle,
Then brake pedal signal, accelerator pedal signal, motor speed and motor reality output torque are stepped on according to shift signal, braking
Partitioned signal, accelerator pedal signal and motor speed judge the operating condition of vehicle, and then determine electricity according to the operating condition of vehicle
The anti-of machine slips by slope the range of speeds, finally when determining that motor speed is in anti-and slips by slope the range of speeds and reality output torque is less than target
When torque, control motor enters zero-turn fast mode to prevent car slipping.This method is sentenced according to collected vehicle status data as a result,
The current operating condition of disconnected vehicle, and whether meet the anti-condition for slipping by slope function of unlocking vehicle under current working, however, it is determined that
Meet and open the anti-condition for slipping by slope function under current working, then controls motor and enter zero-turn fast mode, stop at vehicle in time
To prevent car slipping on ramp, so that it is unexpected due to erroneous judgement to avoid vehicle while improving vehicle drive safety
Unlatching it is anti-slip by slope shake caused by function, improve and open the anti-accuracy for slipping by slope function and user drives the comfortable of vehicle
Property.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of device for preventing car ramp car slipping.Fig. 2 is
A kind of structural schematic diagram for the device preventing car ramp car slipping provided by the embodiment of the present invention, as shown in Fig. 2, this prevents vehicle
The device device of ramp car slipping includes: to obtain module 100, operating condition judgment module 200, determining module 300 and control module
400。
Wherein, module 100 is obtained, for obtaining shift signal, brake pedal signal, accelerator pedal signal, the electricity of vehicle
Machine revolving speed and motor reality output torque.
Operating condition judgment module 200, for according to shift signal, brake pedal signal, accelerator pedal signal and motor speed
Judge the operating condition of vehicle.
Determining module 300 determines that the anti-of motor slips by slope the range of speeds for the operating condition according to vehicle.
Control module 400 slips by slope the range of speeds and reality output torque is less than target torsion for being in anti-in motor speed
When square, control motor enters zero-turn fast mode to prevent car slipping.
In a kind of possible implementation of the embodiment of the present invention, operating condition judgment module 200 is specifically used for following when meeting
Judge that vehicle is in uphill starting operating condition when condition: judging that brake pedal is in on-position according to brake pedal signal, also,
The aperture of accelerator pedal is judged less than the first aperture threshold value according to accelerator pedal signal, also, the absolute value of motor speed is less than
First rotary speed threshold value.Alternatively, judging that vehicle is in ramp driving operating condition when meeting following either condition: motor speed continues
One preset time is more than the second rotary speed threshold value, judges that the aperture of accelerator pedal is greater than the second aperture threshold according to accelerator pedal signal
Value, continues the second preset time and brake pedal signal is not detected, judge gear for neutral gear according to shift signal.
Further, in a kind of possible implementation of the embodiment of the present invention, control module 400 is also used in zero speed
Under mode, with closed loop PI adjusting method output motor torque to adjust motor speed, until motor reaches zero speed.
In a kind of possible implementation of the embodiment of the present invention, it is also proposed that a kind of specifically to prevent car ramp car slipping
Device, as shown in figure 3, it further includes slipping by slope that this, which prevents the device of car ramp car slipping, on the basis of device as shown in Figure 2
Judgment module 20.
Wherein, judgment module 20 is slipped by slope for turning according to gear signal, brake pedal signal, accelerator pedal signal and motor
Fast signal judges whether vehicle meets and prevents slipping by slope condition, and when vehicle satisfaction prevents slipping by slope condition, output is anti-to slip by slope enable signal.
It is specifically used for specifically, slipping by slope judgment module 20 according to shift signal, brake pedal signal and accelerator pedal signal
The switching that judge current gear not be forward gear and is reversed gear, also, when motor speed is less than third rotary speed threshold value, judge that vehicle is expired
The anti-slip condition of foot.
It should be noted that the aforementioned explanation to the embodiment of the method for preventing car ramp car slipping, is also applied for this
The device for preventing car ramp car slipping of embodiment, therefore details are not described herein.
In conclusion the device for preventing car ramp car slipping of the embodiment of the present invention, the first shift signal of acquisition vehicle,
Then brake pedal signal, accelerator pedal signal, motor speed and motor reality output torque are stepped on according to shift signal, braking
Partitioned signal, accelerator pedal signal and motor speed judge the operating condition of vehicle, and then determine electricity according to the operating condition of vehicle
The anti-of machine slips by slope the range of speeds, finally when determining that motor speed is in anti-and slips by slope the range of speeds and reality output torque is less than target
When torque, control motor enters zero-turn fast mode to prevent car slipping.The device is sentenced according to collected vehicle status data as a result,
The current operating condition of disconnected vehicle, and whether meet the anti-condition for slipping by slope function of unlocking vehicle under current working, however, it is determined that
The anti-of unlocking vehicle slips by slope function, then controls motor and enter zero-turn fast mode, stops at vehicle in time on ramp to prevent from slipping
Vehicle, so that avoiding vehicle, unexpected open prevents slipping by slope function due to erroneous judgement while improving vehicle drive safety
It is shaken caused by energy, improves the comfort for opening the anti-accuracy for slipping by slope function and user's driving vehicle.
In order to realize above-described embodiment, the embodiment of the present invention also proposed a kind of vehicle, as shown in figure 4, the vehicle 110 wraps
Include sensor device 120, motor 130 and the device 140 for preventing car ramp car slipping as described in above-described embodiment, wherein
Prevent the device 140 of car ramp car slipping from including one in the entire car controller and electric machine controller of vehicle.
In order to realize above-described embodiment, the embodiment of the present application also proposes a kind of non-transitorycomputer readable storage medium,
It is stored thereon with computer program, realize when which is executed by processor prevents car ramp from slipping as described in above-described embodiment
The method of vehicle.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. a kind of method for preventing car ramp car slipping, which is characterized in that the described method includes:
Obtain shift signal, brake pedal signal, accelerator pedal signal, motor speed and the motor reality output torque of vehicle；
According to the judgement of the shift signal, the brake pedal signal, the accelerator pedal signal and the motor speed
The operating condition of vehicle；
Determine that the anti-of the motor slips by slope the range of speeds according to the operating condition of the vehicle；
When the motor speed be in it is described it is anti-slip by slope the range of speeds and when the reality output torque is less than target torque, control
The motor enters zero-turn fast mode to prevent car slipping.
2. the method according to claim 1 for preventing car ramp car slipping, which is characterized in that the operating condition includes slope
Start to walk operating condition and ramp driving operating condition in road, according to the shift signal, the brake pedal signal, the accelerator pedal signal and
The motor speed judges the operating condition of the vehicle, comprising:
Judge that the vehicle is in the uphill starting operating condition when the following conditions are met: being judged according to the brake pedal signal
Brake pedal is in on-position, also, judges the aperture of accelerator pedal less than the first aperture according to the accelerator pedal signal
Threshold value, also, the absolute value of the motor speed is less than the first rotary speed threshold value；
Judge that the vehicle is in the ramp driving operating condition when meeting following either condition: the motor speed continues first
Preset time is more than the second rotary speed threshold value, alternatively, judging that the aperture of the accelerator pedal is greater than according to the accelerator pedal signal
Second aperture threshold value, alternatively, continuing the second preset time is not detected brake pedal signal, alternatively, according to the shift signal
Judge gear for neutral gear.
3. the method according to claim 1 for preventing car ramp car slipping, which is characterized in that in the fortune for judging the vehicle
Before row operating condition, the method also includes:
Judged according to the gear signal, the brake pedal signal, the accelerator pedal signal and the motor speed signal
The vehicle whether meet it is anti-slip by slope condition, when the vehicle meet it is described it is anti-slip by slope condition when, output is anti-to slip by slope enable signal.
4. the method according to claim 3 for preventing car ramp car slipping, which is characterized in that
Judge that the vehicle meets the anti-slip condition when the following conditions are met: according to the shift signal, the braking
It is forward gear and the switching reversed gear that pedal signal and the accelerator pedal signal, which judge current gear not, also, the motor turns
Speed is less than third rotary speed threshold value.
5. the method according to claim 1 for preventing car ramp car slipping, which is characterized in that the method also includes:
Under the zero-turn fast mode, with closed loop PI adjusting method output motor torque to adjust the motor speed, until institute
It states motor and reaches zero speed.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the calculating
Machine program realizes the method according to any one of claims 1 to 5 for preventing car ramp car slipping when being executed by processor.
7. a kind of device for preventing car ramp car slipping, which is characterized in that described device includes:
Module is obtained, for obtaining shift signal, brake pedal signal, accelerator pedal signal, motor speed and the motor of vehicle
Reality output torque；
Operating condition judgment module, for according to the shift signal, the brake pedal signal, the accelerator pedal signal and described
Motor speed judges the operating condition of the vehicle；
Determining module, for determining that the anti-of the motor slips by slope the range of speeds according to the operating condition of the vehicle；
Control module anti-slips by slope the range of speeds and the reality output torque is less than mesh for being in described in the motor speed
When marking torque, controls the motor and enter zero-turn fast mode to prevent car slipping.
8. the device according to claim 7 for preventing car ramp car slipping, which is characterized in that described device further includes slipping by slope
Judgment module, the anti-judgment module that slips by slope is for according to the gear signal, the brake pedal signal, the accelerator pedal
Signal and the motor speed signal judge the vehicle whether meet it is anti-slip by slope condition, and meet in the vehicle described anti-slip
When the condition of slope, output is anti-to slip by slope enable signal.
9. a kind of vehicle, which is characterized in that the vehicle includes sensor device, motor and prevents as claimed in claim 7 or 8
The only device of car ramp car slipping.
10. vehicle according to claim 9, which is characterized in that the device for preventing car ramp car slipping includes described
One in the entire car controller and electric machine controller of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504744.1A CN109591621B (en) | 2018-12-10 | 2018-12-10 | Method, device, vehicle and medium for preventing vehicle from sliding on ramp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504744.1A CN109591621B (en) | 2018-12-10 | 2018-12-10 | Method, device, vehicle and medium for preventing vehicle from sliding on ramp |
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| CN109591621A true CN109591621A (en) | 2019-04-09 |
| CN109591621B CN109591621B (en) | 2021-03-26 |
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| CN201811504744.1A Active CN109591621B (en) | 2018-12-10 | 2018-12-10 | Method, device, vehicle and medium for preventing vehicle from sliding on ramp |
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| CN110329084A (en) * | 2019-07-24 | 2019-10-15 | 江西江铃集团新能源汽车有限公司 | The control method of the anti-slip auxiliary system in electric car slope road |
| CN110605971A (en) * | 2019-09-17 | 2019-12-24 | 中国第一汽车股份有限公司 | Ramp parking control method and system for electric automobile and electric automobile |
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| CN111186309A (en) * | 2020-01-02 | 2020-05-22 | 广汽蔚来新能源汽车科技有限公司 | Electric automobile slope-sliding prevention control system and method, computer equipment and storage medium |
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| CN111890949A (en) * | 2020-07-23 | 2020-11-06 | 奇瑞商用车（安徽）有限公司 | New energy automobile slope-sliding prevention control method |
| CN112113777A (en) * | 2020-09-15 | 2020-12-22 | 中国第一汽车股份有限公司 | Slope signal disabling method, slope signal disabling device and vehicle |
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| CN113561960A (en) * | 2021-06-30 | 2021-10-29 | 东风汽车集团股份有限公司 | Anti-shaking control method and device and vehicle |
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| CN115923738A (en) * | 2022-12-02 | 2023-04-07 | 中国第一汽车股份有限公司 | Downhill control method, device, equipment and storage medium |
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