CN110667403B - Control system and method for turning speed limit of electric vehicle - Google Patents
Control system and method for turning speed limit of electric vehicle Download PDFInfo
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- CN110667403B CN110667403B CN201911224954.XA CN201911224954A CN110667403B CN 110667403 B CN110667403 B CN 110667403B CN 201911224954 A CN201911224954 A CN 201911224954A CN 110667403 B CN110667403 B CN 110667403B
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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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
- 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
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- 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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Abstract
The invention belongs to the technical field of automatic control of electric automobiles, and provides a control system for limiting the turning speed of an electric automobile, which is used for solving the problem that the turning speed of the automobile can not be actively limited at present, and comprises the following components: the device comprises a turning angle acquisition module and a turning speed control module; the turning angle acquisition module is used for acquiring the turning angle of the current automobile; and the turning speed control module is used for correspondingly controlling the turning speed of the automobile according to the running speed and the turning angle of the current automobile. Compared with the prior art, the invention has the advantages that the turning speed can be obtained according to the angle of the steering wheel, the automobile speed is braked according to the turning speed, the safety of the automobile turning is improved, and different braking methods are adopted when the automobile speed is braked, so that the safety of the automobile braking and the comfort of the automobile braking are met; when the automobile turns, if the automobile has an obstacle within the preset safety range, the automobile can be controlled to stop driving, and the turning safety of the automobile is ensured.
Description
Technical Field
The invention belongs to the field of automatic control of electric automobiles, and particularly relates to a control system and method for turning speed limit of an electric automobile.
Background
When the electric automobile turns, if the automobile turning angle is small, but the running speed of the automobile is too high, the automobile is easy to have traffic accidents; if the automobile is when turning, although turning speed is in safe speed range, turning speed is slightly bigger in the turn process, and the comfort level to riding and driving of the passenger and the driver also has great influence, so accurate control of speed when turning the electric automobile achieves safe and comfortable speed when turning the electric automobile, and the problem that needs to be solved at present is solved.
Disclosure of Invention
The present invention provides a turning control system and method for an electric vehicle, which can automatically calculate a turning angle of the electric vehicle and control the vehicle to run within a preset speed safety control range and a preset speed comfort control range according to the calculated turning angle of the electric vehicle, in view of the current situation of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a control system for electric automobile turns speed limit, includes vehicle control unit, machine controller and motor, still includes: a turning angle acquisition module 10 and a turning speed control module 20;
the turning angle obtaining module 10 is configured to obtain a turning angle of the current automobile;
the turning speed control module 20 is used for correspondingly controlling the turning speed of the automobile according to the current running speed and the turning angle of the automobile;
the turning speed control module 20 includes an automobile speed acquisition unit 21 and a turning speed adjustment unit 22;
the automobile speed obtaining unit 21 is configured to obtain a current driving speed of the automobile;
the turning speed adjusting unit 22 is configured to adjust the turning speed of the current automobile to a preset speed safety control range according to the current driving speed of the automobile and the turning angle of the current automobile;
the turning speed adjusting unit 22 includes a turning speed obtaining unit 221, a turning speed safety control unit 222, and a turning speed comfort control unit 223;
the turning speed obtaining unit 221 is configured to obtain a preset speed safety control range and a preset speed comfort control range corresponding to a current turning angle of the vehicle according to the current turning angle of the vehicle;
the turning speed safety control unit 222 is configured to output electric braking through the motor to brake the vehicle speed to be within a preset speed safety control range when the driving speed of the vehicle exceeds the preset speed safety control range corresponding to the current vehicle turning angle;
and the turning speed comfort control unit 223 is used for reducing the output torque of the motor controller through the vehicle control unit when the running speed of the vehicle reaches the preset percentage value of the preset speed safety control range corresponding to the current vehicle turning angle, and controlling the vehicle speed to be within the preset speed comfort control range.
Further, the turning angle acquisition module 10 includes a steering wheel angle sensor 11 and an angle calculation unit 12;
the steering wheel angle sensor 11 is used for acquiring the current angle of the steering wheel;
the angle calculating unit 12 is configured to obtain a turning angle of the current automobile according to the obtained angle of the current steering wheel and a preset angle calculating algorithm.
Further, the system also comprises an obstacle identification module;
the obstacle identification module is used for identifying whether an obstacle exists in a preset safety range of the automobile or not, and controlling the driving force of the automobile to be zero and superposing preset braking force when the obstacle exists in the preset safety range of the automobile, so that the automobile is controlled to stop running.
A control method for limiting the turning speed of an electric vehicle is used for controlling the turning speed of the electric vehicle and comprises the following steps:
s1: acquiring the turning angle of the current automobile;
s2: correspondingly controlling the turning speed of the automobile according to the current running speed and the turning angle of the automobile;
step S2 includes the steps of:
s21: acquiring the current driving speed of the automobile;
s22: adjusting the turning speed of the current automobile to be within a preset speed safety control range according to the running speed of the current automobile and the turning angle of the current automobile;
step S22 includes the steps of:
s221: acquiring a preset speed safety control range and a preset speed comfort control range corresponding to the current automobile turning angle according to the current automobile turning angle;
s222: judging whether the running speed of the automobile exceeds a preset speed safety control range corresponding to the current automobile turning angle or not;
s223: if the running speed of the automobile exceeds a preset speed safety control range corresponding to the current automobile turning angle, outputting electric brake through a motor to brake the automobile speed to be within the preset speed safety control range; if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle, judging whether the running speed of the automobile reaches a preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle;
s224: if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle and the running speed of the automobile reaches the preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle, the output torque of the motor controller is reduced through the whole automobile controller, the speed of the automobile is controlled to be within the preset speed comfortable control range, and if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle and the running speed of the automobile does not reach the preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle, the automobile continues to run.
Further, step S1 includes the steps of:
s11: acquiring the angle of a current steering wheel;
s12: and obtaining the turning angle of the current automobile according to the obtained angle of the current steering wheel and a preset angle calculation algorithm.
Further, before step S1, the method further includes the steps of:
judging whether an obstacle exists in a preset safety range of the automobile;
if yes, controlling the driving force of the automobile to be zero and superposing a preset braking force to control the automobile to stop running; if not, the process continues to step S1.
Compared with the prior art, the invention at least comprises the following beneficial effects:
(1) the vehicle turning angle can be confirmed according to the steering wheel angle sensor 11, the turning speed of the vehicle is controlled according to the turning angle, and the turning safety is improved;
(2) the vehicle control unit obtains a preset speed safety control range and a preset speed comfort control range corresponding to the current turning angle of the vehicle by comparing the preset value in the vehicle control unit according to the value of the steering wheel angle sensor 11, so that the turning speed of the vehicle is more accurately controlled;
(3) when the turning speed of the vehicle exceeds the preset speed safety control range, the electric brake is output through the motor, the deceleration capacity of the vehicle is increased, the braking force is provided for the turning process of the vehicle, the vehicle speed is effectively reduced to be within the preset speed safety control range, and the safety of vehicle turning speed adjustment is ensured;
(4) when the vehicle turning speed reaches the preset percentage value of the preset speed safety control range, the output torque of the motor controller is reduced through the vehicle control unit, the driving force of the vehicle is reduced, the vehicle speed is reduced to the preset speed comfort control range, and the comfort of vehicle turning speed regulation is guaranteed.
Drawings
FIG. 1 is a first block diagram of the turning control system for an electric vehicle;
FIG. 2 is a second structural diagram of the turning control system for the electric vehicle;
FIG. 3 is a block diagram of a first exemplary embodiment of a vehicle control architecture;
fig. 4 is a block diagram of a vehicle control structure provided in the first embodiment;
FIG. 5 is a first flow chart of the turning control for the electric vehicle;
fig. 6 is a second flow chart of the turning control for the electric vehicle.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example one
The present embodiment provides a turning control system for an electric vehicle, as shown in fig. 1 to 4, the system including: the electric vehicle comprises a vehicle control unit, a motor controller and a motor, wherein the motor controller has the function of converting electric energy stored in a power battery into electric energy required by a driving motor according to instructions of gears, an accelerator, a brake and the like, and controls the driving states of the electric vehicle such as starting operation, advancing and retreating speed, climbing force and the like by controlling a driving axle through the motor, or helps the electric vehicle to brake, and stores part of braking energy into the power battery. It is characterized by also comprising: a turning angle acquisition module 10 and a turning speed control module 20;
the turning angle obtaining module 10 is configured to obtain a turning angle of the current automobile;
and the turning speed control module 20 is used for correspondingly controlling the turning speed of the automobile according to the running speed and the turning angle of the current automobile.
The system limits the speed of the turning vehicle according to the turning angle of the steering wheel, limits the turning speed when the turning is large, and can improve the turning safety.
Further, the turning angle acquisition module 10 includes a steering wheel angle sensor 11 and an angle calculation unit 12;
the steering wheel angle sensor 11 is used for acquiring the current angle of the steering wheel;
the angle calculating unit 12 is configured to obtain a turning angle of the current automobile according to the obtained angle of the current steering wheel and a preset angle calculating algorithm.
If the left looping of the steering wheel is a positive angle and the right looping of the steering wheel is a negative angle, the current angle of the steering wheel can be accurately obtained through the steering wheel angle sensor 11, for example, the left looping of the steering wheel is 720 degrees, and then the automobile is represented to turn left at the moment; for example, 720 ° circles are formed on the right side of the steering wheel, which represents that the automobile turns right at this time, and through statistics of a large amount of experimental data, the specific corresponding relationship between the corresponding steering wheel angle and the automobile turning angle in this embodiment is as follows:
| steering wheel angle | Automobile turning angle |
| +90° | Left turn 4.5 degree |
| +180° | Left turn 9 ° |
| +270° | Left turn 13.5 degree |
| +360° | Left turn 18 ° |
| -90° | Right turn 4.5 degree |
| -180° | Right turn 9 ° |
| -270° | Right turn 13.5 ° |
| -360° | Right turn 18 ° |
The automobile steering wheel angle and the automobile turning angle are in a certain relation, namely the automobile steering wheel angle is a multiple relation of the automobile turning angle. The specific multiple relation is adjusted adaptively according to the wheelbase of the vehicle.
Therefore, after the vehicle control unit obtains the steering wheel angle, the turning angle of the current vehicle can be obtained, and further, the preset vehicle speed value and the preset speed safety control range corresponding to the turning angle stored in the vehicle control unit can be compared. The following table shows preset vehicle speed values corresponding to the turning angles stored in the vehicle control unit in this embodiment:
| steering wheel angle | Preset vehicle speed value KM/h |
| Steering wheel angle < 90 ° | 69 |
| The angle of the steering wheel is more than or equal to 90 degrees and less than 135 degrees | 55 |
| The angle of the steering wheel is more than or equal to 135 degrees and less than 180 degrees | 50 |
| The angle of the steering wheel is more than or equal to 180 degrees and less than 225 degrees | 45 |
| The angle of the steering wheel is more than or equal to 225 degrees and less than 270 degrees | 40 |
| The angle of the steering wheel is more than or equal to 270 degrees and less than 315 degrees | 35 |
| The angle of the steering wheel is more than or equal to 315 degrees and less than 360 degrees | 30 |
| The angle of the steering wheel is more than or equal to 360 degrees and less than 405 degrees | 27 |
| The steering wheel angle is more than or equal to 405 degrees and less than 450 degrees | 24 |
| The steering wheel angle is more than or equal to 450 degrees and less than 495 degrees | 21 |
| The angle of the steering wheel is more than or equal to 495 degrees and less than 585 degrees | 19 |
| The angle of the steering wheel is more than or equal to 585 degrees and less than 630 degrees | 17 |
| The angle of the steering wheel is more than or equal to 630 degrees and less than 720 degrees | 15 |
| Steering wheel angle of not more than 720 degrees | 12 |
The preset speed safety control range is set to be from a preset speed minimum value to a preset speed maximum value, wherein the preset speed minimum value is (preset speed-2) KM/h, and the preset speed maximum value is (preset speed + 2) KM/h.
The preset speed safety control range of the automobile turning can be obtained according to the steering angle of the steering wheel, so that the turning safety of the automobile can be well improved when the automobile turns.
Further, the turning speed control module 20 includes a car speed acquisition unit 21 and a turning speed adjustment unit 22;
the automobile speed obtaining unit 21 is configured to obtain a current driving speed of the automobile;
and the turning speed adjusting unit 22 is used for adjusting the turning speed of the current automobile to be within a preset speed safety control range according to the running speed of the current automobile and the turning angle of the current automobile.
The method includes the steps of firstly acquiring the current running speed of an automobile, acquiring the running speed of the automobile in the embodiment mainly according to an accelerator pedal sensor and a brake pedal sensor, wherein angle change of each stepping on of an accelerator pedal corresponds to corresponding running speed and acceleration of the automobile, specifically, the accelerator pedal sensor of the electric automobile is connected with a whole automobile controller through a signal circuit, and the whole automobile controller analyzes the angle of the accelerator pedal through AD conversion according to the stepping angle of the accelerator pedal, so that the automobile speed corresponding to the current angle is acquired, and then the current speed of the automobile is judged.
Further, the turning speed adjustment unit 22 includes a turning speed acquisition unit 221, a turning speed safety control unit 222, and a turning speed comfort control unit 223;
the turning speed obtaining unit 221 is configured to obtain a preset speed safety control range and a preset speed comfort control range corresponding to a current turning angle of the vehicle according to the current turning angle of the vehicle;
the turning speed safety control unit 222 is configured to output electric braking through the motor to brake the vehicle speed to be within a preset speed safety control range when the driving speed of the vehicle exceeds the preset speed safety control range corresponding to the current vehicle turning angle;
the turning speed comfort control unit 223 is configured to, when the driving speed of the vehicle reaches a preset percentage value of a preset speed safety control range corresponding to the current vehicle turning angle, where the preset percentage value is usually set to ninety-five percent, reduce the output torque of the motor controller through the vehicle controller, and control the vehicle speed to be within the preset speed comfort control range.
The purpose that wherein two units set up is, can guarantee that the car turns the mode that the speed of going adopts different control car to slow down when predetermineeing the safety control within range simultaneously, has increased driver and passenger's driving and the experience of taking when turning, reaches more comfortable effect of turning.
Further, the system also comprises an obstacle identification module;
the obstacle identification module is used for identifying whether an obstacle exists in a preset safety range of the automobile or not, and controlling the driving force of the automobile to be zero and superposing preset braking force when the obstacle exists in the preset safety range of the automobile, so that the automobile is controlled to stop running.
In order to further realize the control of the vehicle turning, the obstacle identification module adopted in the embodiment can control the automobile to have no driving force when the obstacle exists in the preset safety range of the vehicle, so that the automobile cannot run.
Specific examples thereof are:
when the automobile starts to turn left and right, obstacles are arranged at the head and the tail of the automobile according to the safe distance of the turning track of the automobile and the preset safe range, the automobile does not have driving force at the moment, and the automobile cannot turn and cannot run.
When the automobile starts to turn left and right, the obstacle is arranged at the preset position in front of the head of the automobile, and at the moment, the automobile has no driving force, so that the automobile cannot turn and cannot run.
In the turning process of the vehicle, in the direction of the head of the vehicle, obstacles exist in a preset safety range set according to the current speed and the angle of a steering wheel, the vehicle is decelerated in an electric braking mode at the moment, and the vehicle can continue to turn after the obstacles are removed.
When the vehicle turns, an obstacle exists in a preset safety range on the side of the vehicle, the vehicle decelerates in an electric braking mode, and when the obstacle is removed, the vehicle can continue to turn.
By adopting the system, the vehicle turning angle can be confirmed according to the steering wheel angle sensor 11, the turning speed of the vehicle is controlled according to the turning angle, and the turning safety is improved. The vehicle control unit obtains a preset speed safety control range and a preset speed comfort control range corresponding to the current turning angle of the current vehicle by comparing preset values inside the vehicle control unit according to the value of the steering wheel angle sensor 11, so that the turning speed of the vehicle is controlled more accurately. When the turning speed of the vehicle exceeds the preset speed safety control range, the electric brake is output through the motor, the deceleration capacity of the vehicle is increased, braking force is provided for the turning process of the vehicle, the speed of the vehicle is effectively reduced to the preset speed safety control range, and the safety of vehicle turning speed adjustment is guaranteed. When the vehicle turning speed reaches the preset percentage value of the preset speed safety control range, the output torque of the motor controller is reduced through the vehicle control unit, the driving force of the vehicle is reduced, the vehicle speed is reduced to the preset speed comfort control range, and the comfort of vehicle turning speed regulation is guaranteed.
Example two
The present embodiment provides a turning control method for an electric vehicle, which includes, as shown in fig. 5 to 6, the steps of:
s1: acquiring the turning angle of the current automobile;
s2: and correspondingly controlling the turning speed of the automobile according to the current running speed and the turning angle of the automobile.
Further, step S1 includes the steps of:
s11: acquiring the angle of a current steering wheel;
s12: and obtaining the turning angle of the current automobile according to the obtained angle of the current steering wheel and a preset angle calculation algorithm.
Further, step S2 includes the steps of:
s21: acquiring the current driving speed of the automobile;
s22: and adjusting the turning speed of the current automobile to be within a preset speed safety control range according to the running speed of the current automobile and the turning angle of the current automobile.
Step S22 includes the steps of:
s221: acquiring a preset speed safety control range and a preset speed comfort control range corresponding to the current automobile turning angle according to the current automobile turning angle;
s222: judging whether the running speed of the automobile exceeds a preset speed safety control range corresponding to the current automobile turning angle or not;
s223: if the running speed of the automobile exceeds a preset speed safety control range corresponding to the current automobile turning angle, outputting electric brake through a motor to brake the automobile speed to be within the preset speed safety control range; if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle, judging whether the running speed of the automobile reaches a preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle;
s224: if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle and the running speed of the automobile reaches the preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle, the output torque of the motor controller is reduced through the whole automobile controller, the speed of the automobile is controlled to be within the preset speed comfortable control range, and if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle and the running speed of the automobile does not reach the preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle, the automobile continues to run.
The specific control mode is as follows:
the electric vehicle confirms the vehicle turning angle by the steering wheel angle sensor 11, controls the turning speed of the vehicle according to the turning angle, and improves the turning safety.
The vehicle controller presets a vehicle speed value by comparing the internal of the vehicle controller according to the value of the steering wheel angle sensor 11; when the turning speed reaches 90% of the preset value, even if a driver deeply steps on an accelerator pedal, the whole vehicle controller can reduce the output torque of the motor controller, so that the driving force of the vehicle is reduced to achieve speed reduction, if the actual speed is larger than the set speed, the motor is used as a generator to output electric brake, the speed reduction capability of the vehicle is improved, braking force is provided for the turning process, and the speed of the vehicle is effectively reduced to be within the preset range.
Further, before step S1, the method further includes the steps of:
judging whether an obstacle exists in a preset safety range of the automobile;
if yes, controlling the driving force of the automobile to be zero and superposing a preset braking force to control the automobile to stop running; if not, the process continues to step S1.
In order to further realize the control of the turning of the vehicle, in the embodiment, whether an obstacle exists in a preset safety range of the vehicle is judged; if yes, controlling the driving force of the automobile to be zero and superposing a preset braking force to control the automobile to stop running; if not, the process continues to step S1.
Specific examples thereof are:
when the automobile starts to turn left and right, obstacles are arranged at the head and the tail of the automobile according to the safe distance of the turning track of the automobile and the preset safe range, the automobile does not have driving force at the moment, and the automobile cannot turn and cannot run.
When the automobile starts to turn left and right, the obstacle is arranged at the preset position in front of the head of the automobile, and at the moment, the automobile has no driving force, so that the automobile cannot turn and cannot run.
In the turning process of the vehicle, in the direction of the head of the vehicle, obstacles exist in a preset safety range set according to the current speed and the angle of a steering wheel, the vehicle is decelerated in an electric braking mode at the moment, and the vehicle can continue to turn after the obstacles are removed.
When the vehicle turns, an obstacle exists in a preset safety range on the side of the vehicle, the vehicle decelerates in an electric braking mode, and when the obstacle is removed, the vehicle can continue to turn.
By adopting the method, the speed control of the electric automobile during turning can be actively controlled, different braking modes can be selected according to the turning speed to control the turning speed, and the comfort of the turning speed control can be ensured on the premise of meeting the safety of the automobile speed control.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the described embodiments may be made by those skilled in the art without departing from the scope and spirit of the invention as defined by the accompanying claims.
Claims (6)
1. The utility model provides a control system for electric automobile turns speed limit, includes vehicle control unit, machine controller and motor, its characterized in that still includes: the device comprises a turning angle acquisition module and a turning speed control module;
the turning angle acquisition module is used for acquiring the turning angle of the current automobile;
the turning speed control module is used for correspondingly controlling the turning speed of the automobile according to the current running speed and the turning angle of the automobile;
the turning speed control module comprises an automobile speed acquisition unit and a turning speed adjusting unit;
the automobile speed acquisition unit is used for acquiring the current running speed of the automobile;
the turning speed adjusting unit is used for adjusting the turning speed of the current automobile to be within a preset speed safety control range according to the running speed of the current automobile and the turning angle of the current automobile;
the turning speed adjusting unit comprises a turning speed obtaining unit, a turning speed safety control unit and a turning speed comfort control unit;
the turning speed acquisition unit is used for acquiring a preset speed safety control range and a preset speed comfort control range corresponding to the turning angle of the current automobile according to the turning angle of the current automobile;
the turning speed safety control unit is used for outputting electric brake through the motor to brake the automobile speed to be within a preset speed safety control range when the running speed of the automobile exceeds the preset speed safety control range corresponding to the current automobile turning angle;
and the turning speed comfort control unit is used for reducing the output torque of the motor controller through the vehicle control unit when the running speed of the vehicle reaches the preset percentage value of the preset speed safety control range corresponding to the current vehicle turning angle, and controlling the vehicle speed to be within the preset speed comfort control range.
2. The control system for limiting the turning speed of the electric vehicle as claimed in claim 1, wherein the turning angle acquisition module comprises a steering wheel angle sensor and an angle calculation unit;
the steering wheel angle sensor is used for acquiring the angle of the current steering wheel;
and the angle calculation unit is used for acquiring the turning angle of the current automobile according to the acquired angle of the current steering wheel and a preset angle calculation algorithm.
3. The control system for limiting the speed of turning of the electric vehicle as recited in claim 1, further comprising an obstacle recognition module;
the obstacle identification module is used for identifying whether an obstacle exists in a preset safety range of the automobile or not, and controlling the driving force of the automobile to be zero and superposing preset braking force when the obstacle exists in the preset safety range of the automobile, so that the automobile is controlled to stop running.
4. A control method for limiting the turning speed of an electric vehicle is used for controlling the turning speed of the electric vehicle and is characterized by comprising the following steps:
s1: acquiring the turning angle of the current automobile;
s2: correspondingly controlling the turning speed of the automobile according to the current running speed and the turning angle of the automobile;
step S2 includes the steps of:
s21: acquiring the current driving speed of the automobile;
s22: adjusting the turning speed of the current automobile to be within a preset speed safety control range according to the running speed of the current automobile and the turning angle of the current automobile;
step S22 includes the steps of:
s221: acquiring a preset speed safety control range and a preset speed comfort control range corresponding to the current automobile turning angle according to the current automobile turning angle;
s222: judging whether the running speed of the automobile exceeds a preset speed safety control range corresponding to the current automobile turning angle or not;
s223: if the running speed of the automobile exceeds a preset speed safety control range corresponding to the current automobile turning angle, outputting electric brake through a motor to brake the automobile speed to be within the preset speed safety control range; if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle, judging whether the running speed of the automobile reaches a preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle;
s224: if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle and the running speed of the automobile reaches the preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle, the output torque of the motor controller is reduced through the whole automobile controller, the speed of the automobile is controlled to be within the preset speed comfortable control range, and if the running speed of the automobile does not exceed the preset speed safety control range corresponding to the current automobile turning angle and the running speed of the automobile does not reach the preset percentage value of the preset speed safety control range corresponding to the current automobile turning angle, the automobile continues to run.
5. The control method for limiting the turning speed of the electric vehicle as claimed in claim 4, wherein the step S1 comprises the steps of:
s11: acquiring the angle of a current steering wheel;
s12: and obtaining the turning angle of the current automobile according to the obtained angle of the current steering wheel and a preset angle calculation algorithm.
6. The control method for limiting the turning speed of the electric vehicle as claimed in claim 4, further comprising the step of, before the step S1:
judging whether an obstacle exists in a preset safety range of the automobile;
if yes, controlling the driving force of the automobile to be zero and superposing a preset braking force to control the automobile to stop running; if not, the process continues to step S1.
Priority Applications (2)
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| CN201911224954.XA CN110667403B (en) | 2019-12-04 | 2019-12-04 | Control system and method for turning speed limit of electric vehicle |
| PCT/CN2020/097933 WO2021109551A1 (en) | 2019-12-04 | 2020-06-24 | Control system and method for turning speed limitation of electric car |
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| CN201911224954.XA CN110667403B (en) | 2019-12-04 | 2019-12-04 | Control system and method for turning speed limit of electric vehicle |
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| CN110667403B true CN110667403B (en) | 2020-09-11 |
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| CN110667403B (en) * | 2019-12-04 | 2020-09-11 | 浙江中车电车有限公司 | Control system and method for turning speed limit of electric vehicle |
| CN111823884A (en) * | 2020-07-29 | 2020-10-27 | 东科克诺尔商用车制动技术有限公司 | Electric vehicle turning acceleration and motor overspeed protection method for power battery back |
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| CN110667403A (en) | 2020-01-10 |
| WO2021109551A1 (en) | 2021-06-10 |
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Application publication date: 20200110 Assignee: ZHEJIANG HANGNENG NEW ENERGY VEHICLE INDUSTRY CO.,LTD. Assignor: ZHEJIANG CRRC ELECTRIC VEHICLE Co.,Ltd. Contract record no.: X2024980016018 Denomination of invention: A control system and method for turning speed limit of electric vehicles Granted publication date: 20200911 License type: Common License Record date: 20240923 Application publication date: 20200110 Assignee: Zhejiang Guochuang Heat Management Technology Co.,Ltd. Assignor: ZHEJIANG CRRC ELECTRIC VEHICLE Co.,Ltd. Contract record no.: X2024980016017 Denomination of invention: A control system and method for turning speed limit of electric vehicles Granted publication date: 20200911 License type: Common License Record date: 20240923 |