CN110696633A - Anti-slope-sliding control method and device - Google Patents
Anti-slope-sliding control method and device Download PDFInfo
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- CN110696633A CN110696633A CN201910953427.6A CN201910953427A CN110696633A CN 110696633 A CN110696633 A CN 110696633A CN 201910953427 A CN201910953427 A CN 201910953427A CN 110696633 A CN110696633 A CN 110696633A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000002265 prevention Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 3
- 238000013021 overheating Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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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
Abstract
The invention relates to the technical field of vehicle control, in particular to a control method and a device for preventing a vehicle from sliding down a slope, wherein the method comprises the following steps: acquiring the current opening degree of a brake pedal; when the opening degree of the brake pedal is larger than a first preset opening degree, starting an automatic parking function; when the opening degree of the brake pedal is not larger than the first preset opening degree, obtaining the stepping time of the brake pedal; when the treading time is less than the preset treading time, starting a motor stalling function; when the trampling time is not less than the preset trampling time, judging whether the opening degree of a brake pedal is less than a second preset opening degree or not, and starting a corresponding anti-slope-slipping function according to the judgment result; the invention can reduce the practical frequency of the motor stalling function, prolong the service life of the motor, cover all vehicle slope slipping working conditions and effectively prevent the vehicle slope slipping phenomenon.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a slope slipping prevention control method and device.
Background
The new energy commercial vehicle generally adopts a driving mode of direct drive of a motor and automatic gear, when the vehicle stops on a slope and then continues to run, the D gear needs to be engaged first, then the brake is released, then the accelerator pedal is stepped on to realize the starting operation of the vehicle, and the vehicle can slide down the slope when a driver releases the brake and steps on the accelerator pedal to realize enough driving force to realize the starting of the vehicle.
In order to prevent the vehicle from sliding down the slope, a motor 'locked-rotor' function is designed for a common new energy commercial vehicle, namely, a VCU identifies a rotating speed signal of the motor, and when the D gear or the P gear of the vehicle is adopted, if the rotating speed signal of the motor is negative, the VCU controls the motor to perform 'locked-rotor', so that the vehicle is prevented from sliding down the slope.
Realize preventing swift current slope through motor "stifled commentaries on classics", have the following problem:
1. the motor can generate heat violently when in locked-rotor, so that the problems that the motor is overheated and the vehicle cannot run are caused;
2. the locked-rotor operation of the motor needs a certain time period, and when the foot of the cab leaves the brake pedal and the locked-rotor function is implemented, the vehicle already slides on a certain slope;
3. when the vehicle load capacity is large and the slope of the slope is large, the motor locked-rotor moment may not reach the inertia moment of the vehicle sliding down the slope, and the risk of failure of the anti-sliding down the slope occurs;
4. after the vehicle is parked on a slope through locked rotor, a driver may forget to pull a hand brake to get off the vehicle directly, so that accidents are caused.
Therefore, the above problems need to be solved by those skilled in the art.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method and a device for controlling a vehicle to prevent a vehicle from sliding down a slope, which can reduce the practical frequency of a motor stalling function, improve the service life of a motor, and cover all vehicle sliding down a slope conditions to effectively prevent the vehicle from sliding down a slope.
In order to solve the above problems, the present invention provides an anti-slope-slipping control method, including the steps of:
acquiring the current opening degree of a brake pedal;
when the opening degree of the brake pedal is larger than a first preset opening degree, starting an automatic parking function;
when the opening degree of the brake pedal is not larger than the first preset opening degree, obtaining the stepping time of the brake pedal;
when the stepping time is less than the preset stepping time, starting a motor stalling function;
and when the trampling time is not less than the preset trampling time, judging whether the opening degree of the brake pedal is less than a second preset opening degree or not, and starting a corresponding slope slipping prevention function according to a judgment result.
Further, the opening degree of the brake pedal is acquired under the condition that the state information of the whole vehicle meets the preset state of the whole vehicle, and the state information of the whole vehicle comprises gear information, brake pedal switch information and speed information of the whole vehicle.
Further, the preset vehicle state is that the gear information is D gear or P gear, the brake pedal switch information is that a brake pedal is turned on, and the vehicle speed information is 0 Km/h.
Further, the first preset opening degree is 90% of the brake pedal opening degree.
Further, according to the result of the judgment, starting a corresponding anti-slope-sliding function, comprising:
when the opening degree of the brake pedal is not smaller than the second preset opening degree, starting an automatic parking function;
when the opening degree of the brake pedal is smaller than the second preset opening degree, acquiring the change trend of the opening degree of the brake pedal;
when the variation trend is changed from big to small, starting a motor stalling function;
and when the change trend is changed from small to large, waiting for the opening degree of the brake pedal to reach the second preset opening degree, and judging again.
Further, the re-judging includes:
acquiring the tread time of a brake pedal;
judging whether the trampling time is less than the preset trampling time or not;
when the trampling time is less than the preset trampling time, starting a motor stalling function;
and when the stepping time is not less than the preset stepping time, starting an automatic parking function.
Further, the preset trampling time range is 3s-5 s.
Further, the second preset opening degree is 20% of the brake pedal opening degree.
Further, the starting motor stalling function comprises:
acquiring the current rotating speed of a vehicle motor;
determining the rotating speed of the vehicle motor to be zero;
and when the rotating speed of the vehicle motor is zero, the motor executes locked rotor.
The invention also protects a slope slipping prevention control device, which comprises:
a pedal opening obtaining unit for obtaining the current brake pedal opening;
the first execution unit is used for starting an automatic parking function;
a tread time acquisition unit for acquiring tread time of a brake pedal;
the second execution unit is used for starting a motor locked-rotor function;
and the third execution unit is used for starting the corresponding anti-slope-sliding function according to the judgment result.
Due to the technical scheme, the invention has the following beneficial effects:
1) according to the anti-slope-sliding control method and device, the automatic parking function and the motor stalling function are combined, the practical frequency of the motor stalling function is reduced, the phenomenon that the vehicle cannot normally run due to overheating of the motor caused by excessive use of the motor stalling function is avoided, and the service life of the motor is prolonged;
2) according to the control method and device for preventing the vehicle from sliding down the slope, the automatic parking function and the motor stalling function are combined with each other, so that the phenomenon that the vehicle slides down the slope due to the fact that the motor stalling torque cannot meet the inertia of the vehicle when the vehicle is overloaded or the slope is too steep is avoided;
3) according to the slope slipping prevention control method and device, the automatic parking function and the motor stalling function are combined with each other, all vehicle slope slipping working conditions are covered, and the vehicle slope slipping phenomenon is effectively prevented.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of an anti-creep control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an anti-slope-slipping control device provided by an embodiment of the invention;
FIG. 3 is a block diagram of a third execution unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a seventh execution module according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Example one
The first embodiment provides an anti-slope-slipping control method, as shown in fig. 1, including the following steps:
s101, obtaining the current opening degree of a brake pedal;
s102, when the opening degree of the brake pedal is larger than a first preset opening degree, starting an automatic parking function;
s103, when the opening degree of the brake pedal is not larger than the first preset opening degree, obtaining the tread time of the brake pedal;
s104, when the stepping time is less than the preset stepping time, starting a motor stalling function;
and S105, when the trampling time is not less than the preset trampling time, judging whether the opening degree of the brake pedal is less than a second preset opening degree or not, and starting a corresponding slope slipping prevention function according to a judgment result.
Specifically, the opening degree of the brake pedal is acquired under the condition that the state information of the whole vehicle meets the preset state of the whole vehicle, and the state information of the whole vehicle comprises gear information, brake pedal switch information and speed information of the whole vehicle.
Specifically, the preset vehicle state is that the gear information is a D gear or a P gear, the brake pedal switch information is that a brake pedal is turned on, and the vehicle speed information is 0 Km/h.
Specifically, the first preset opening degree is 90% of the brake pedal opening degree.
Specifically, the automatic parking function involves components including: the brake pedal, the first air cylinder, the brake valve, the EPB parking brake valve, the relay valve, the second air cylinder, the service brake chamber and the rear brake.
Further, the automatic parking function is activated:
when a driver steps on the brake pedal, the brake high-pressure gas of the first air reservoir passes through the gas outlet of the brake valve to reach the EPB parking brake valve;
the air inlet and outlet of the EPB parking brake valve are opened, high-pressure air is transmitted to a control port of the relay valve, the air inlet and outlet of the relay valve are opened, and an air inlet of the relay valve is communicated with the second air cylinder;
when the air inlet of the relay valve is opened, high-pressure air of the second air cylinder enters a service brake air chamber to promote the rear brake to brake.
When receiving automatic parking work order, the business turn over gas port of EPB parking brake valve of EPB controller control is closed, realizes automatic pressurize between EPB parking brake valve and the back brake, and then realizes automatic parking, can make the driver remove the foot from brake pedal, need not step on brake pedal for a long time, and is more convenient.
Further, the automatic parking function is released:
the method comprises the steps that ramp information is obtained through a gradient sensor and is transmitted to an EPB controller, the EPB controller controls an EPB parking brake valve to open an air inlet and an air outlet according to different combinations of different mass center heights on a set ramp and corresponding different pedal depths, the automatic parking function is released, and the vehicle is ensured not to slip backwards when starting.
Specifically, according to the result of the judgment, starting the corresponding anti-slope-slipping function, including:
when the opening degree of the brake pedal is not smaller than the second preset opening degree, starting an automatic parking function;
when the opening degree of the brake pedal is smaller than the second preset opening degree, acquiring the change trend of the opening degree of the brake pedal;
when the variation trend is changed from big to small, starting a motor stalling function;
and when the change trend is changed from small to large, waiting for the opening degree of the brake pedal to reach the second preset opening degree, and judging again.
Further, the re-judging includes:
acquiring the tread time of a brake pedal;
judging whether the trampling time is less than the preset trampling time or not;
when the trampling time is less than the preset trampling time, starting a motor stalling function;
and when the stepping time is not less than the preset stepping time, starting an automatic parking function.
Further, the preset trampling time range is 3s-5 s.
Further, the second preset opening degree is 20% of the brake pedal opening degree.
Specifically, the starting motor stalling function comprises:
acquiring the current rotating speed of a vehicle motor;
determining the rotating speed of the vehicle motor to be zero;
and when the rotating speed of the vehicle motor is zero, the motor executes locked rotor.
Specifically, after the automatic parking function or the motor stalling function is started, the automatic parking function or the motor stalling function is determined to be automatically released according to the height of the mass center of the whole vehicle, the gradient and the opening degree of an accelerator pedal.
As shown in fig. 2, the anti-slide control device includes:
a pedal opening obtaining unit 10 for obtaining a current brake pedal opening;
a first executing unit 20 for activating an automatic parking function;
a tread time acquisition unit 30 for acquiring tread time of the brake pedal;
the second execution unit 40 is used for starting a motor locked-rotor function;
and a third executing unit 50, configured to start a corresponding anti-slope-slipping function according to the determination result.
Specifically, the opening degree of the brake pedal is acquired under the condition that the state information of the whole vehicle meets the preset state of the whole vehicle, and the state information of the whole vehicle comprises gear information, brake pedal switch information and speed information of the whole vehicle.
Further, the preset vehicle state is that the gear information is D gear or P gear, the brake pedal switch information is that a brake pedal is turned on, and the vehicle speed information is 0 Km/h.
Specifically, the first preset opening degree is 90% of the brake pedal opening degree.
As shown in fig. 3, the third executing unit 50 further includes:
a fourth executing module 501, configured to start an automatic parking function when the opening degree of the brake pedal is not smaller than the second preset opening degree;
a fifth executing module 502, configured to obtain a variation trend of the opening degree of the brake pedal when the opening degree of the brake pedal is smaller than the second preset opening degree;
a sixth executing module 503, configured to start a motor stalling function when the change trend is changed from big to small;
and a seventh executing module 504, configured to wait for the opening degree of the brake pedal to reach the second preset opening degree when the change trend is changed from small to large, and perform judgment again.
Specifically, the second preset opening degree is 20% of the brake pedal opening degree.
As shown in fig. 4, the seventh execution module 504 further includes:
a tread time acquisition module 5041, configured to acquire a tread time of a brake pedal;
a judging module 5042, configured to judge whether the tread time is less than a preset tread time;
the eighth execution module 5043, configured to start a motor stalling function when the pedaling time is less than the preset pedaling time;
a ninth executing module 5044, configured to start an automatic parking function when the stepping time is not less than the preset stepping time.
Specifically, the preset trampling time range is 3s-5 s.
The embodiment provides a control method and a device for preventing a slope from sliding, which combine an automatic parking function and a motor stalling function, reduce the practical frequency of the motor stalling function, avoid the situation that a vehicle cannot normally run due to overheating of a motor caused by excessive use of the motor stalling function, and prolong the service life of the motor; meanwhile, when the vehicle is overloaded or the slope is too steep, the phenomenon that the vehicle slides down the slope due to the fact that the motor locked-rotor torque cannot meet the inertia of the vehicle is avoided; and all vehicle slope sliding working conditions are covered, and the vehicle slope sliding phenomenon is effectively prevented.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. An anti-slope-sliding control method is characterized by comprising the following steps:
acquiring the current opening degree of a brake pedal;
when the opening degree of the brake pedal is larger than a first preset opening degree, starting an automatic parking function;
when the opening degree of the brake pedal is not larger than the first preset opening degree, obtaining the stepping time of the brake pedal;
when the stepping time is less than the preset stepping time, starting a motor stalling function;
and when the trampling time is not less than the preset trampling time, judging whether the opening degree of the brake pedal is less than a second preset opening degree or not, and starting a corresponding slope slipping prevention function according to a judgment result.
2. The anti-slope-slipping control method according to claim 1, wherein the brake pedal opening degree is obtained when the whole vehicle state information meets a preset whole vehicle state, and the whole vehicle state information comprises gear information, brake pedal switch information and whole vehicle speed information.
3. The anti-slope-slipping control method according to claim 2, wherein the preset vehicle state is that the gear information is a D gear or a P gear, the brake pedal switch information is that a brake pedal is turned on, and the vehicle speed information is 0 Km/H.
4. The hill-drop prevention control method according to claim 1, wherein the first preset opening degree is 90% of a brake pedal opening degree.
5. The method for controlling slope slipping prevention according to claim 1, wherein starting the corresponding slope slipping prevention function according to the judgment result comprises:
when the opening degree of the brake pedal is not smaller than the second preset opening degree, starting an automatic parking function;
when the opening degree of the brake pedal is smaller than the second preset opening degree, acquiring the change trend of the opening degree of the brake pedal;
when the variation trend is changed from big to small, starting a motor stalling function;
and when the change trend is changed from small to large, waiting for the opening degree of the brake pedal to reach the second preset opening degree, and judging again.
6. The hill-drop prevention control method according to claim 5, wherein the newly determining includes:
obtaining the trampling time of a brake pedal;
judging whether the trampling time is less than the preset trampling time or not;
when the trampling time is less than the preset trampling time, starting a motor stalling function;
and when the stepping time is not less than the preset stepping time, starting an automatic parking function.
7. The landslide prevention control method according to claim 6 wherein the preset stepping time is in a range of 3s-5 s.
8. The hill-drop prevention control method according to claim 5, wherein the second preset opening degree is 20% of a brake pedal opening degree.
9. The anti-slope-slipping control method according to claim 1, wherein starting the motor stalling function comprises:
acquiring the current rotating speed of a vehicle motor;
determining that the vehicle motor speed is a negative value;
and when the rotating speed of the vehicle motor is a negative value, the motor executes locked rotor.
10. An anti-slide control device, characterized by comprising:
a pedal opening obtaining unit for obtaining the current brake pedal opening;
the first execution unit is used for starting an automatic parking function;
a tread time acquisition unit for acquiring tread time of a brake pedal;
the second execution unit is used for starting a motor locked-rotor function;
and the third execution unit is used for starting the corresponding anti-slope-sliding function according to the judgment result.
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| CN201910953427.6A CN110696633B (en) | 2019-10-09 | 2019-10-09 | Anti-slope-sliding control method and device |
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| CN201910953427.6A CN110696633B (en) | 2019-10-09 | 2019-10-09 | Anti-slope-sliding control method and device |
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| CN113147427A (en) * | 2021-05-28 | 2021-07-23 | 云度新能源汽车有限公司 | Control method for preventing electric automobile from sliding down slope, vehicle control unit and electric automobile |
| CN114148300A (en) * | 2022-01-04 | 2022-03-08 | 一汽解放汽车有限公司 | Automatic parking method |
| CN114435321A (en) * | 2022-02-21 | 2022-05-06 | 一汽解放汽车有限公司 | Automatic parking control method for vehicle |
| CN114604221A (en) * | 2022-03-25 | 2022-06-10 | 江苏徐工工程机械研究院有限公司 | Electric vehicle temporary stop safety system and control method thereof |
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| CN110696633B (en) | 2022-01-21 |
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