CN109969161A - A kind of vehicle start method and device - Google Patents
A kind of vehicle start method and device Download PDFInfo
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- CN109969161A CN109969161A CN201711448129.9A CN201711448129A CN109969161A CN 109969161 A CN109969161 A CN 109969161A CN 201711448129 A CN201711448129 A CN 201711448129A CN 109969161 A CN109969161 A CN 109969161A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000004576 sand Substances 0.000 claims abstract description 105
- 238000011217 control strategy Methods 0.000 claims abstract description 45
- 230000005611 electricity Effects 0.000 claims description 12
- 238000012546 transfer Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 241000153246 Anteros Species 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000001172 regenerating effect Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000007858 starting material Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000156302 Porcine hemagglutinating encephalomyelitis virus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The present invention provides a kind of vehicle start method and device, the method is applied to hybrid vehicle, and the automobile includes rear spindle motor, which comprises when detecting that the automobile opens sand ground driving function, obtains the current vehicle speed of the automobile；Judge whether the automobile is in starting state according to the current vehicle speed；If the automobile is in starting state, judge whether the rear spindle motor is in locked rotor condition；If spindle motor is in locked rotor condition after described, the corresponding predetermined control strategy of sand ground starting function is executed；The corresponding predetermined control strategy of sand ground starting function includes: spindle motor output torque in such a way that predetermined torque gradient is incremented by after control is described, and controls the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.It solves and mixed electrical automobile is controlled when sand ground is started to walk by traditional approach 4 wheel driven mode in the prior art, since Motor torque exports abnormal the problem of in turn resulting in the security risk for burning motor.
Description
Technical field
The present invention relates to automotive fields, especially field of hybrid electric vehicles, including a kind of vehicle start method and device.
Background technique
In order to adapt to the vehicle emissions reduction standard of country, electric car and hybrid vehicle become the master of future automobile
Want development trend.It is using driving method under normal conditions for hybrid vehicle, front axle power resources are in conventional engines
And the starting generator BSG (Belt Starter Generator) with the transmission of its belt, rear-wheel is by a motor driven row
It sails, motor power derives from high-tension battery packet, and battery pack can be charged by external power supply by Vehicular charger, can also be by traveling
BSG power generation and energy regenerating carry out energy storage.Under normal conditions, the hybrid electrically four-wheel drive system of above-mentioned driving method can expire
Traveling demand under the certain cross-country operating condition of foot, such as snowfield, muddy ground, sand ground.And in three kinds of road conditions sand ground running resistance, especially
It is that soft sand ground is higher for the power demand of vehicle, need to carries out accurately just can guarantee vehicle gentle start in sand ground.
In the prior art, the vehicle for carrying cross-country operating condition is mostly tradition machinery 4 wheel driven, can by the engine that matches,
Transmission system realizes the reasonable output of power, while controlling the 0%-50%'s, rear axle for realizing front axle by mechanical 4 wheel driven
The power of 50%-100% distributes, but the electric four-wheel drive for mixing motor-car controls, and can not borrow the control principle of mechanical 4 wheel driven,
In particular, if controlling mixed electrical automobile in the starting of sand ground mode using existing mixed dynamic 4 wheel driven, it can be excessive, electric due to running resistance
Machine torque exports the abnormal stall in turn resulting in rear spindle motor, causes vehicle to start to walk to fail in sand ground, burns the safety of motor
Hidden danger.
Summary of the invention
In view of this, due to realizing hybrid vehicle by mixing the electric four-wheel drive control of motor-car in the prior art
It is controlled in the starting of sand ground, causes vehicle the problem of sand ground starts to walk to fail, burn the security risk of motor.
To solve the above problems, the technical scheme of the present invention is realized as follows:
A kind of vehicle start method, the method are applied to hybrid vehicle, and the automobile includes rear spindle motor, described
Method includes: to obtain the current vehicle speed of the automobile when detecting that the automobile opens sand ground driving function；Worked as according to described
Preceding speed judges whether the automobile is in starting state；If the automobile is in starting state, the rear spindle motor is judged
Whether locked rotor condition is in；If spindle motor is in locked rotor condition after described, the corresponding default control of sand ground starting function is executed
Strategy；The corresponding predetermined control strategy of sand ground starting function include: after control is described spindle motor passed with predetermined torque gradient
The mode output torque of increasing, and control the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.
It is further, described that the step of whether automobile is in starting state is judged according to the current vehicle speed, comprising:
If the current vehicle speed is 0, obtains the automobile and currently execute gear；If it is driving gear that the automobile, which currently executes gear,
Then the automobile is in starting state.
Further, if the automobile is in starting state, judge whether the rear spindle motor is in stall shape
The step of state, comprising: if the automobile is in starting state, judge whether the accelerator pedal of the automobile is stepped on；If described
The accelerator pedal of automobile is stepped on, then judges the rear torque of spindle motor and whether the product of motor speed is 0；If the rear axle
The torque of motor and the product of motor speed are 0, then the rear spindle motor is in locked rotor condition.
Further, further includes: if spindle motor is not in locked rotor condition after described, executes the sand ground and drive function pair
The predetermined control strategy answered controls the driving status of the automobile.
Further, described to execute the corresponding predetermined control strategy of the sand ground driving function, control the row of the automobile
The step of sailing state, comprising:
The sand ground is driven the control signal of the corresponding predetermined control strategy of function by hybrid power control unit HCU, point
It is not sent to control unit of engine EMS, motion control unit DCT, vehicle body stability contorting unit ESP, motor control unit
MCU；The hybrid power control unit HCU obtains the control unit of engine EMS, the motion control unit DCT, described
The status signal that vehicle body stability contorting unit ESP, the motor control unit MCU are returned；The hybrid power control unit HCU
In conjunction with the status signal of the return and the electricity of the rear spindle motor, executes the sand ground and drive the corresponding default control of function
System strategy；It includes that the starting torque for controlling the automobile and high speed are turned round that the sand ground, which drives the corresponding predetermined control strategy of function,
Square output provides maximum torque transfer；Antero posterior axis output torque is calculated according to accelerator pedal aperture and is exported.
Compared with the existing technology, vehicle start method of the present invention has the advantage that is worked as by monitoring driver
Preceding operation and vehicle real-time status judge whether vehicle is in sand ground starting operating condition, when detecting that vehicle is in
When step state, rear spindle motor have stall trend, the output of rear axle Motor torque is actively adjusted, while adjusting the slip rate of rear-wheel, with
Auxiliary hybrid power automobile is started to walk in sand ground.With the output torque by control antero posterior axis (especially rear axle), so that vehicle
Start to walk the beneficial effect lighter, driving is safer under sand ground mode.
Another object of the present invention is to propose a kind of vehicle start device, described device is applied to hybrid vehicle,
The automobile includes rear spindle motor, and described device includes: that speed obtains module, detects that the automobile is opened sand ground and driven for working as
When sailing function, the current vehicle speed of the automobile is obtained；Start to walk condition judgment module, for according to current vehicle speed judgement
Whether automobile is in starting state；Motor status judgment module, if being in starting state for the automobile, judge it is described after
Whether spindle motor is in locked rotor condition；Sand ground starting module executes sand ground if being in locked rotor condition for the rear spindle motor
The corresponding predetermined control strategy of the function that starts to walk；The corresponding predetermined control strategy of sand ground starting function includes: after control is described
Spindle motor output torque in such a way that predetermined torque gradient is incremented by, and control after the vehicle body stability contorting unit ESP increases
Drive slip rate thresholding.
Further, start to walk condition judgment module, comprising: shifting state acquisition submodule, if being used for the current vehicle speed
It is 0, then obtains the automobile and currently execute gear；Starting state acquisition submodule, if currently executing gear for the automobile
For driving gear, then the automobile is in starting state.
Further, sand ground starting module, comprising: accelerator pedal state acquisition submodule, if being in for the automobile
Starting state, then judge whether the accelerator pedal of the automobile is stepped on；If the accelerator pedal of the motor status automobile is stepped on,
Judge the rear torque of spindle motor and whether the product of motor speed is 0；If the torque and motor speed of spindle motor after described
Product be 0, then it is described after spindle motor be in locked rotor condition.
Further, further includes: sand ground drives module, if being not in locked rotor condition for the rear spindle motor, executes
The sand ground drives the corresponding predetermined control strategy of function, controls the driving status of the automobile.
Further, the sand ground drives module, comprising: control signal sending submodule, it is single for hybrid power control
The sand ground is driven the control signal of the corresponding predetermined control strategy of function by first HCU, is respectively sent to control unit of engine
EMS, motion control unit DCT, vehicle body stability contorting unit ESP, motor control unit MCU；Status signal acquisition submodule is used
The control unit of engine EMS, the motion control unit DCT, the vehicle are obtained in the hybrid power control unit HCU
The status signal that body stability contorting unit ESP, the motor control unit MCU are returned；Control strategy implementation sub-module is used for institute
Hybrid power control unit HCU is stated in conjunction with the status signal of the return and the electricity of the rear spindle motor, executes the sand
Ground drives the corresponding predetermined control strategy of function；The sand ground drives the corresponding predetermined control strategy of function, described in control
Starting torque and the high torque output of automobile provide maximum torque transfer；Antero posterior axis output is calculated according to accelerator pedal aperture
Torque simultaneously exports.
A kind of vehicle start device and a kind of above-mentioned vehicle start method compared with the existing technology possessed by advantage
Identical, details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of vehicle start method described in the embodiment of the present invention one；
Fig. 2 is one of embodiment of the present invention full-vehicle control configuration diagram；
Fig. 3 is a kind of flow chart of vehicle start method described in the embodiment of the present invention two；
Fig. 4 is one of embodiment of the present invention automobile stress diagram；
Fig. 5 is that the sand ground starting system in the embodiment of the present invention executes flow diagram；
Fig. 6 is a kind of structural block diagram of vehicle start device described in the embodiment of the present invention three；
Fig. 7 is a kind of structural block diagram of vehicle start device described in the embodiment of the present invention three.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment one
It referring to Fig.1, is a kind of flow chart of vehicle start method described in the embodiment of the present invention, the method is applied to mixed
Power vehicle is closed, the automobile includes rear spindle motor, it can specifically include following steps:
Step 101, when detecting that the automobile opens sand ground driving function, the current vehicle speed of the automobile is obtained.
In the embodiment of the present invention, it is in the open state that the full-vehicle control module detects that the sand ground of vehicle drives function
When, the current driving speed of vehicle is obtained by the speed sensor of device on vehicle.
In practical applications, as shown in Fig. 2, leading to when driver's selection uses the sand ground driving mode in off-road mode
It crosses road detection module and detects that present road situation is sand ground, then sand ground drive mode switch is opened, and switch module transmission is driven
Mode switching signal (DrivingMode) is sailed by LIN bus to car body control module BCM (body control module),
BCM converts mode signal (DrvMod) for drive mode switch signal (DrivingMode) and is forwarded to CAN bus, then by
Mode signal (DrvMod) is forwarded to full-vehicle control module by CAN bus.Full-vehicle control module is to sensor signal processing module
Request signal is sent, the current driving speed of vehicle is obtained.
Step 102, judge whether the automobile is in starting state according to the current vehicle speed.
It, can be with according to current vehicle speed and the driving status of vehicle after obtaining current vehicle speed in the embodiment of the present invention
Judge whether current vehicle is in starting state.Such as it is very low in the speed of acquisition, and when vehicle is in driving status, then vehicle
Be in starting state.
Step 103, if the automobile is in starting state, judge whether the rear spindle motor is in locked rotor condition.
In the embodiment of the present invention, in hybrid vehicle, general device has the power of engine and motor as vehicle
Driving, it is generally the case that according to motor dynamical system position, be divided into P0 (motor is arranged in motor front-end wheel system,
Be of coupled connections by belt and engine crankshaft), P1 (motor is arranged in engine flywheel end, is directly of coupled connections with crankshaft),
P2 (motor is arranged among engine and gearbox, passes through clutch control power transmission), P3 are (after motor is arranged in gearbox
End, coupled with output shaft), P4 (motor is arranged in rear axle, separately as drive module output power).P0+P4 power is matched
The hybrid electrically four-wheel drive system set, front axle power resources are in conventional engines and the starting generator BSG being driven with its belt
(Belt Starter Generator), front axle torque T rqAct_FA are engine output torque EngTrqCrankshaftLvl
The sum of with BSG actual torque BSGActTrq, i.e. TrqAct_FA=EngTrqCrankshaftLvl+BSGActTrq；Rear-wheel by
One motor driven traveling, motor power derive from high-tension battery packet, and battery pack can be filled by external power supply by Vehicular charger
Electricity can also carry out energy storage by BSG power generation and energy regenerating in traveling.Vehicle torque passes through hybrid power control unit
HCU (Hybrid Control Unite) control strategy is coordinated, and individually controls antero posterior axis power output according to a certain percentage.
So what is introduced in the embodiment of the present invention is the hybrid electrically four-wheel drive system of P0+P4 power configuration, motor is arranged in
Rear axle, separately as drive module output power, also referred to as eAD, so the moment detects rear axle electricity under sand ground driving mode
The operating condition of machine, judges whether it occurs stall.
Step 104, if spindle motor is in locked rotor condition after described, the corresponding default control plan of sand ground starting function is executed
Slightly；The corresponding predetermined control strategy of sand ground starting function include: after control is described spindle motor be incremented by with predetermined torque gradient
Mode output torque, and control the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.
In the embodiment of the present invention, when detecting that rear spindle motor is in locked rotor condition, then according to pre-set processing mould
Formula coordinates each subsystem of vehicle, controls the driving status in sand ground starting of vehicle.
For example, as shown in Fig. 2, full-vehicle control module is by current vehicle condition and sends corresponding mode signal HCU_
DrvModSelect including control unit of engine EMS (Engine Management System), is passed to each subsystem
Dynamic control unit DCT (Dual Clutch Transmission), vehicle body stability contorting unit ESP (Electronic
Stability Program) and motor control unit MCU (Motor Control Unite), each subsystem is believed according to mode
Number own system available mode is combined, sends status signal to HCU, it is electric that HCU receives each system status signal combination present battery
It measures SOC (State of Charge), spindle motor exports in such a way that predetermined torque gradient is incremented by after the control of torque dispensing controller
Torque, and control vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding, then coordinate driver and input information progress most
Whole execution, to assist vehicle when sand ground starts to walk to drive in stable state.
When in embodiments of the present invention, by detecting that the automobile opens sand ground driving function, the automobile is obtained
Current vehicle speed；Judge whether the automobile is in starting state according to the current vehicle speed；If the automobile is in starting state,
Then judge whether the rear spindle motor is in locked rotor condition；If spindle motor is in locked rotor condition after described, sand ground starting is executed
The corresponding predetermined control strategy of function；The corresponding predetermined control strategy of sand ground starting function includes: the control rear axle electricity
Machine output torque in such a way that predetermined torque gradient is incremented by, and it is sliding to control the vehicle body stability contorting unit ESP increase rear-guard
Shifting rate thresholding.Reach and more accurately assisted driver by sand ground starting predetermined control strategy, control vehicle is stablized in sand ground
The purpose of starting.
Embodiment two
It is a kind of flow chart of vehicle start method described in the embodiment of the present invention referring to Fig. 3, the method is applied to mixed
Power vehicle is closed, the automobile includes rear spindle motor, it can specifically include following steps:
Step 201, when detecting that the automobile opens sand ground driving function, the current vehicle speed of the automobile is obtained.
This step is identical as step 101, and this will not be detailed here.
Step 202, it if the current vehicle speed is 0, obtains the automobile and currently executes gear.
In the embodiment of the present invention, it is 0 when obtaining current vehicle speed, then current drive further is obtained by shift control module
The driving intention of member, reverse gear, driving gear and parking shift can be divided by usually driving gear.
Step 203, if it is driving gear that the automobile, which currently executes gear, the automobile is in starting state.
Step 204, if the automobile is in starting state, judge whether the accelerator pedal of the automobile is stepped on.
Step 205, if the accelerator pedal of the automobile is stepped on, judge it is described after spindle motor torque and motor speed
Whether product is 0.
In the embodiment of the present invention, as vehicle velocity V ehSpd=0, current gear is judged, if being not in driving gear,
When being in Neutral or Parking, vehicle then keeps park mode, i.e. P grades of parking or EPB parking, if at this time at gear
In driving gear, then continue to judge accelerator pedal, if accelerator pedal does not step on (i.e. AccelPedalPosn=0),
Think that driver requests crawling mode, i.e., crawl speed is determined by DCT and calculate engine torque, if detecting accelerator pedal
(i.e. AccelPedalPosn > 0) is stepped on, then judges that vehicle is in Sand drive off.At this time to rear axle Motor torque and electricity
Machine revolving speed is judged, if motor speed and torque product are 0.
Step 206, if the product of the torque of spindle motor and motor speed is 0 after described, the rear spindle motor is in stifled
Turn state.
In the embodiment of the present invention, when motor speed and torque product are 0, then there are stall trend for motor, if motor turns
Speed and torque product are not 0, then it is assumed that motor is working properly, then requests sand ground mode.
Specifically, due to the relationship of energy regenerating, simple motor shape cannot be judged according to the positive and negative of Motor torque signal
State, therefore judged simultaneously using the state of motor speed and torque, so being determined when motor speed and torque product are 0
There are stall trend for motor.
Step 207, if spindle motor is in locked rotor condition after described, the corresponding default control plan of sand ground starting function is executed
Slightly；The corresponding predetermined control strategy of sand ground starting function include: after control is described spindle motor be incremented by with predetermined torque gradient
Mode output torque, and control the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.
In the embodiment of the present invention, if rear spindle motor is in stall trend state, it is corresponding pre- to execute sand ground starting function
If control strategy, sand ground starting preset strategy is as shown in Table 1:
Table one
Wherein, by sending sand ground starting mode signal to each subsystem, such as to ECM (Engine Control
Module engine control module) control signal is sent, torque responsive speed is controlled, to TCU (Transmission Control
Unite control system of speed variator) signal is sent, speed changer transfer of torque is controlled, is that motor sends signal to E-motor, with mesh
Based on marking torque output, according to certain rising gradient output torque, to ESP (Electronic Stability Program
Electronic stabilizing control system) signal is sent, increase rear axle slip rate thresholding.
Specifically, as shown in figure 4, the calculation of target torque Ttgt, wherein the sand ground road surface that vehicle is α in ramp
Upper traveling,
∑ F=Ffa+Fra-Fi-Fj-Ff (1)
Fi=Gsin α (2)
Fj=μ Gcos α (3)
Ft--- tractive force, the sum of automobile front-axle tractive force and rear axle tractive force, Ffa+Fra
Fi--- gradient resistance, component of the automobile gravity along ramp show as automobile grade resistance, and G is acted on automobile
Gravity, G=mg, m are car mass, and g is acceleration of gravity, and α is the gradient.
Fj--- rolling resistance, the automobile gravity component perpendicular to ramp road surface are Gcos α, surface friction coefficient μ.
Ff--- other resistances, the resultant force for other power that when the Accelerating Traveling of Automobiles need to overcome, including air drag, accelerate resistance
Power etc..
When vehicle on ramp when driving, for guarantee vehicle can start to walk need to have ∑ F >=0, it may be assumed that
Ffa+Fra-Fi-Fj-Ff≥0 (4)
Critical condition is taken to consider, ∑ F=0
Fra=Fi+Fj+Ff-Ffa (5)
Thus, target torque Ttgt
Step 208, if spindle motor is not in locked rotor condition after described, it is corresponding default to execute the sand ground driving function
Control strategy controls the driving status of the automobile.
In the embodiment of the present invention, if vehicle rear axle motor is driven there is no stall and stall trend according to sand ground
The mode of sailing continues to control automobile, as shown in Table 2:
Table two
Preferably, step 208 includes sub-step A11-A13；
The sand ground is driven the control of the corresponding predetermined control strategy of function by sub-step A11, hybrid power control unit HCU
Signal processed is respectively sent to control unit of engine EMS, motion control unit DCT, vehicle body stability contorting unit ESP, motor control
Unit MCU processed.
In the embodiment of the present invention, for PHEV (hybrid power) vehicle, there are two power resources are usual, power source one is responsible for
Front axle driving is controlled, torque value is engine torque and Motor torque multiplied by the sum of speed ratio, and power source two is responsible for rear axle driving,
Reared torque derives from 350V high-tension battery and rear spindle motor.Antero posterior axis Torque-sharing strategy and torque framework are all placed in HCU
Among, before being carried out by HCU according to variables such as speed, the gradient, steering wheel angle, static axle load, high-tension battery SOC (battery capacity)
Reared torque controls respectively.Simultaneously when unstable situation (wheel-slip, deceleration excessive, understeer or excessive) occurs for vehicle
When, ESP system controls intervention, carries out torque interference or braking force distribution to antero posterior axis respectively.Vehicle is in road surface row
When sailing, frictional resistance of the tire by ground, this power is decomposed into as longitudinal force and lateral force, and two power are shifting.Longitudinal force
The steering capability of vehicle is influenced, lateral force influences the stabilizing power of vehicle.It is influenced by tire characteristics, lateral force is in a certain range
Linear relationship is presented with tyre skidding rate, after slip rate is more than a certain range (20% or so), non-linear relation is presented in the two,
And stability contorting ability declines, therefore ESP is usually by driving wheel slip-based controller between 15%-20%, existing certain steering
Ability, and guarantee the stability of automobile.
So when the sand ground is driven the correspondence of the corresponding predetermined control strategy of function by hybrid power control unit HCU
Control signal, as torque output signal is sent to control unit of engine EMS and motion control unit DCT, slip-based controller
Signal is sent to vehicle body stability contorting unit ESP and motor control unit MCU.
Sub-step A12, the hybrid power control unit HCU obtain the control unit of engine EMS, transmission control
The status signal that cells D CT processed, the vehicle body stability contorting unit ESP, the motor control unit MCU are returned.
In the embodiment of the present invention, after hybrid power control unit HCU sends control signal, further receives each subelement and return
The status signal returned connects for example, receiving the torque output signal of control unit of engine EMS and the motion control unit DCT
Return the vehicle to the garage and knock off body stability contorting unit ESP and motor control unit MCU return slip-based controller signal.
Sub-step A13, the hybrid power control unit HCU are in conjunction with the status signal of the return and rear axle electricity
The electricity of machine executes the sand ground and drives the corresponding predetermined control strategy of function；The sand ground drives the corresponding default control of function
Strategy processed includes starting torque and the high torque output, offer maximum torque transfer for controlling the automobile；According to accelerator pedal
Aperture calculates antero posterior axis output torque and exports.
In the embodiment of the present invention, according to above-mentioned steps description, when hybrid power control unit HCU receives each subsystem
After the status signal of return, status signal by HCU according to the return, and turned according to the speed, the gradient, steering wheel of current vehicle
The variables such as angle, static axle load, high-tension battery SOC (battery capacity) carry out antero posterior axis torque and control respectively, and antero posterior axis needs to export
Torque and slip-based controller, realize vehicle sand ground starting ancillary control function.
In conclusion as shown in figure 5, the present invention provides a kind of sand ground starting systems, first under sand ground driving mode
Judge speed, the starting state of vehicle is judged by speed and gear, according to rear axle motor speed and torque under starting state
Spindle motor whether there is stall after the value judgement of product, if it is, passing through engine block, speed changer mould in control automobile
Block, motor and electronic stabilizing control system, the gentle start and form state of coordinated control vehicle, and be shown in each parameter and exist
On electronic instrument panel.
In embodiments of the present invention, the hybrid electrically four-wheel drive system configuration based on P0+P4 power configuration, drives for sand ground
Under mode, judge vehicle whether in the state of starting, the further root in sand ground driving mode by detecting Vehicle Speed
Rear axle motor rotation blockage trend is judged according to motor speed and Motor torque jointly according to motor status, there are stall trend when
It waits, based on the calculation method of rear axle target torque, the control mode for realizing sand ground starting mode guarantees vehicle gentle start.
Embodiment three
It is a kind of structural block diagram of vehicle start device described in the embodiment of the present invention referring to Fig. 6, described device is applied to
Hybrid vehicle, the automobile include rear spindle motor, and described device includes:
Speed obtains module 301, starting condition judgment module 302, motor status judgment module 303, sand ground starting module
304。
The interactive relation between the function and each module of each module is described in detail below referring to Fig. 7.
Speed obtains module 301, for obtaining the automobile when detecting that the automobile opens sand ground driving function
Current vehicle speed；
Start to walk condition judgment module 302, for judging whether the automobile is in starting state according to the current vehicle speed；
Preferably, the starting condition judgment module 302, comprising:
Shifting state acquisition submodule 3021 obtains the automobile and currently executes gear if being 0 for the current vehicle speed
Position；
Starting state acquisition submodule 3022, if currently executing gear for the automobile is driving gear, the automobile
In starting state.
Whether motor status judgment module 303 judges the rear spindle motor if being in starting state for the automobile
In locked rotor condition；
It is corresponding to execute sand ground starting function if being in locked rotor condition for the rear spindle motor for sand ground starting module 304
Predetermined control strategy；The corresponding predetermined control strategy of sand ground starting function include: after control is described spindle motor with default
The incremental mode output torque of torque gradient, and control the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.
Preferably, the sand ground starting module 304, comprising:
Accelerator pedal state acquisition submodule 3041 judges the automobile if being in starting state for the automobile
Accelerator pedal whether step on；
Judging submodule 3042 judges the rear axle electricity if the accelerator pedal for the motor status automobile is stepped on
Whether the torque of machine and the product of motor speed are 0；
Determine submodule 3043, if being 0 for the torque of the rear spindle motor and the product of motor speed, the rear axle
Motor is in locked rotor condition.
Preferably, further includes:
Sand ground drives module 305, if being not in locked rotor condition for the rear spindle motor, executes the sand ground and drives function
The corresponding predetermined control strategy of energy, controls the driving status of the automobile.
Preferably, the sand ground drives module 305, comprising:
Signal sending submodule is controlled, it is for hybrid power control unit HCU that sand ground driving function is corresponding pre-
If the control signal of control strategy is respectively sent to control unit of engine EMS, motion control unit DCT, vehicle body stability contorting
Unit ESP, motor control unit MCU；
Status signal acquisition submodule obtains the control unit of engine for the hybrid power control unit HCU
The state that EMS, the motion control unit DCT, the vehicle body stability contorting unit ESP, the motor control unit MCU are returned
Signal；
Control strategy implementation sub-module, for the hybrid power control unit HCU in conjunction with the status signal of the return
And the electricity of the rear spindle motor, it executes the sand ground and drives the corresponding predetermined control strategy of function；The sand ground drives function
The corresponding predetermined control strategy of energy includes that the starting torque for controlling the automobile and high torque output, offer peak torque pass
It passs；Antero posterior axis output torque is calculated according to accelerator pedal aperture and is exported.
In embodiments of the present invention, the hybrid electrically four-wheel drive system configuration based on P0+P4 power configuration, drives for sand ground
Under mode, judge vehicle whether in the state of starting, the further root in sand ground driving mode by detecting Vehicle Speed
Rear axle motor rotation blockage trend is judged according to motor speed and Motor torque jointly according to motor status, there are stall trend when
It waits, based on the calculation method of rear axle target torque, the control mode for realizing sand ground starting mode guarantees vehicle gentle start.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vehicle start method, which is characterized in that the method is applied to hybrid vehicle, and the automobile includes rear axle
Motor, which comprises
When detecting that the automobile opens sand ground driving function, the current vehicle speed of the automobile is obtained；
Judge whether the automobile is in starting state according to the current vehicle speed；
If the automobile is in starting state, judge whether the rear spindle motor is in locked rotor condition；
If spindle motor is in locked rotor condition after described, the corresponding predetermined control strategy of sand ground starting function is executed；The sand ground
The corresponding predetermined control strategy of starting function includes: that the control rear spindle motor exports torsion in such a way that predetermined torque gradient is incremented by
Square, and control the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.
2. vehicle start method according to claim 1, which is characterized in that described according to current vehicle speed judgement
Whether automobile is in the step of starting state, comprising:
If the current vehicle speed is 0, obtains the automobile and currently execute gear；
If it is driving gear that the automobile, which currently executes gear, the automobile is in starting state.
3. vehicle start method according to claim 1, which is characterized in that if the automobile is in starting state,
The step of whether rear spindle motor is in locked rotor condition then judged, comprising:
If the automobile is in starting state, judge whether the accelerator pedal of the automobile is stepped on；
If the accelerator pedal of the automobile is stepped on, judges the rear torque of spindle motor and whether the product of motor speed is 0；
If the product of the torque of spindle motor and motor speed is 0 after described, the rear spindle motor is in locked rotor condition.
4. vehicle start method according to claim 1, which is characterized in that further include:
If spindle motor is not in locked rotor condition after described, executes the sand ground and drive the corresponding predetermined control strategy of function, control
Make the driving status of the automobile.
5. vehicle start method according to claim 1 or 4, which is characterized in that described to execute the sand ground driving function
Corresponding predetermined control strategy, the step of controlling the driving status of the automobile, comprising:
The sand ground is driven the control signal of the corresponding predetermined control strategy of function by hybrid power control unit HCU, is sent out respectively
It send to control unit of engine EMS, motion control unit DCT, vehicle body stability contorting unit ESP, motor control unit MCU；
The hybrid power control unit HCU obtains the control unit of engine EMS, the motion control unit DCT, described
The status signal that vehicle body stability contorting unit ESP, the motor control unit MCU are returned；
The hybrid power control unit HCU is executed in conjunction with the status signal of the return and the electricity of the rear spindle motor
The sand ground drives the corresponding predetermined control strategy of function；It includes controlling that the sand ground, which drives the corresponding predetermined control strategy of function,
Starting torque and the high torque output, offer maximum torque transfer of the automobile are provided；Front and back is calculated according to accelerator pedal aperture
Axis output torque simultaneously exports.
6. a kind of vehicle start device, which is characterized in that described device is applied to hybrid vehicle, and the automobile includes rear axle
Motor, described device include:
Speed obtains module, for when detecting that the automobile opens sand ground driving function, obtain the automobile to work as front truck
Speed；
Start to walk condition judgment module, for judging whether the automobile is in starting state according to the current vehicle speed；
Motor status judgment module judges whether the rear spindle motor is in stifled if being in starting state for the automobile
Turn state；
It is corresponding default to execute sand ground starting function if being in locked rotor condition for the rear spindle motor for sand ground starting module
Control strategy；The corresponding predetermined control strategy of sand ground starting function include: after control is described spindle motor with predetermined torque ladder
The incremental mode output torque of degree, and control the vehicle body stability contorting unit ESP and increase rear-guard slip rate thresholding.
7. vehicle start device according to claim 6, which is characterized in that starting condition judgment module, comprising:
Shifting state acquisition submodule obtains the automobile and currently executes gear if being 0 for the current vehicle speed；
Starting state acquisition submodule, if currently executing gear for the automobile is driving gear, the automobile is in starting
State.
8. vehicle start device according to claim 6, which is characterized in that sand ground starting module, comprising:
Accelerator pedal state acquisition submodule judges that the acceleration of the automobile is stepped on if being in starting state for the automobile
Whether plate is stepped on；
Judging submodule judges the torque of the rear spindle motor if the accelerator pedal for the motor status automobile is stepped on
Whether the product with motor speed is 0；
Determine submodule, if being 0 for the torque of the rear spindle motor and the product of motor speed, the rear spindle motor is in
Locked rotor condition.
9. vehicle start device according to claim 6, which is characterized in that further include:
Sand ground drives module, if being not in locked rotor condition for the rear spindle motor, it is corresponding to execute the sand ground driving function
Predetermined control strategy, control the driving status of the automobile.
10. vehicle start device according to claim 6 or 9, which is characterized in that the sand ground drives module, comprising:
Signal sending submodule is controlled, the sand ground is driven into the corresponding default control of function for hybrid power control unit HCU
The control signal for making strategy, is respectively sent to control unit of engine EMS, motion control unit DCT, vehicle body stability contorting unit
ESP, motor control unit MCU；
Status signal acquisition submodule, for the hybrid power control unit HCU obtain the control unit of engine EMS,
The state letter that the motion control unit DCT, the vehicle body stability contorting unit ESP, the motor control unit MCU are returned
Number；
Control strategy implementation sub-module, for the hybrid power control unit HCU in conjunction with the status signal of the return and
The electricity of spindle motor after described executes the sand ground and drives the corresponding predetermined control strategy of function；The sand ground drives function pair
The predetermined control strategy answered includes starting torque and the high torque output, offer maximum torque transfer for controlling the automobile；Root
Antero posterior axis output torque is calculated according to accelerator pedal aperture and is exported.
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