CN111038515B - Electric automobile driving mode control method - Google Patents
Electric automobile driving mode control method Download PDFInfo
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- CN111038515B CN111038515B CN202010042369.4A CN202010042369A CN111038515B CN 111038515 B CN111038515 B CN 111038515B CN 202010042369 A CN202010042369 A CN 202010042369A CN 111038515 B CN111038515 B CN 111038515B
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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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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 a method for controlling a driving mode of an electric automobile, which comprises the following steps: s1, calculating a driving mode state based on collected driving mode switch voltage; s2, smoothing the state switching of the driving modes; s3, calculating and controlling the opening degree of an accelerator pedal according to the processed driving mode state and the original opening degree of the accelerator pedal; s4, checking PedMap through the calculated opening degree of the accelerator pedal and the calculated speed to obtain the torque required by the driver; s5, calculating an energy recovery grade based on the driving mode state, wherein the energy recovery grade is 2 in an ECO mode, and the energy recovery grade is 1 in an NOR mode; s6, calculating wheel-side feedback torque based on the energy recovery grade, the vehicle speed and the synthetic pedal opening; and S7, adding the torque required by the driver to the wheel-side feedback torque to obtain the wheel-side required torque. The invention processes from the source and carries out smooth processing on the state switching of the driving mode, so that the torque response is smooth, and the driving performance of the whole vehicle is improved.
Description
Technical Field
The invention relates to the technical field of power transmission of electric automobiles, in particular to a method for controlling a driving mode of an electric automobile.
Background
With the popularization of electric vehicles, a single driving mode cannot meet the requirements of customers, most of the electric vehicles have different driving modes such as an economy mode (ECO), a comfort mode (NOR) and a sport mode (PWR), but when the driving mode is switched during the process of stepping on an accelerator pedal, the required torque of the whole vehicle greatly jumps, and impact is caused. The invention processes from the source and carries out smooth processing on the state switching of the driving mode, so that the torque response is smooth, and the driving performance of the whole vehicle is improved. Meanwhile, the energy recovery grade of the electric automobile is selected through a recovery grade switch at present, and the energy recovery grade is calculated through a driving mode without the energy recovery grade switch, so that the cost of the whole automobile is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, adapt to the practical requirements and provide a control method for the driving mode of an electric automobile.
The adopted technical scheme is as follows;
a control method for driving modes of an electric automobile comprises the following steps:
s1, calculating a driving mode state based on collected driving mode switch voltage;
s2, smoothing the state switching of the driving modes;
s3, calculating and controlling the opening degree of an accelerator pedal according to the processed driving mode state and the original opening degree of the accelerator pedal;
s4, checking PedMap through the calculated opening degree of the accelerator pedal and the calculated speed to obtain the torque required by the driver;
s5, calculating an energy recovery grade based on the driving mode state, wherein the energy recovery grade is 2 in an ECO mode, and the energy recovery grade is 1 in an NOR mode;
s6, calculating wheel-side feedback torque based on the energy recovery grade, the vehicle speed and the synthetic pedal opening;
and S7, adding the torque required by the driver to the wheel-side feedback torque to obtain the wheel-side required torque.
In the step S1, the method includes the following steps:
s1.1, the default mode of the whole vehicle is NOR, the vehicle enters an ECO mode or a PWR mode through selection of a button switch, the NOR mode is different from the resistance of a circuit in the ECO mode or the PWR mode selected through the button switch, the AD value range is collected through a hard wire, and the AD value is divided by 1000 and converted into a voltage value;
and S1.2, calculating that when the voltage value range is between the set standard values according to ohm' S law, the driving mode is the mode selected by the button switch, and if the voltage value range is not between the standard values, the driving mode is the NOR mode.
In the step S2, the method includes the following steps:
s2.1, respectively corresponding the driving mode state NOR/ECO/PWR to 0/1/2, taking the current state as an initial value and an input value, subtracting the state value of the previous period from the current state value, taking the state value as an absolute value, and dividing the absolute value by time T to obtain a rising slope R or a falling slope-R, wherein T is a standard quantity and is the time required from the previous arbitrary state to the current state;
s2.2, the current state is used as an initial value, the current state is used as an input value, the driving mode state after smoothing processing is obtained through a slope limiting module, R is used as an ascending slope, R is used as a descending slope, and the time for switching any state of the three driving mode states 0/1/2 is a standard quantity T.
In the step S3, the method includes the following steps:
s3.1 converts the original accelerator pedal opening [0,100] divided by 100 into [0,1 ].
And S3.2, taking the original accelerator pedal opening as an X axis, taking the processed driving mode state as a Y axis, and looking up a table to obtain the accelerator pedal opening for control.
In the step S6, the method includes the following steps:
s6.1, calculating the opening degree of the synthetic pedal: the opening degree of an accelerator pedal is [0,100], the opening degree of a brake pedal is [ -100,0], and the opening degree of the synthesized pedal is [ -100,100 ];
s6.2, looking up a table through the synthesized pedal opening and the vehicle speed to obtain wheel side feedback torque for sliding and braking;
s6.3, different feedback torque meters are selected according to the energy recovery levels.
Has the advantages that:
the invention processes from the source and carries out smooth processing on the state switching of the driving mode, so that the torque response is smooth, and the driving performance of the whole vehicle is improved. Meanwhile, the energy recovery grade of the electric automobile is selected through a recovery grade switch at present, and the energy recovery grade is calculated through a driving mode without the energy recovery grade switch, so that the cost of the whole automobile is reduced.
Drawings
FIG. 1 is simulation data for direct switching of driving mode status;
FIG. 2 is simulation data of a driving mode state transition with smoothing;
FIG. 3 is a control flow diagram of the present invention.
Detailed Description
The technical scheme of the scheme is specifically explained by the accompanying drawings and the embodiment.
Example (b): see fig. 1-3.
Fig. 1 is simulation data of direct switching of driving mode states, fig. 2 is simulation data of smooth switching of driving mode states, when the opening degree of an accelerator pedal is constant at 60, the mode is switched from an ECO mode to a NOR mode when the time axis is equal to 4s, and the result shows that the smooth switching is not performed during the state switching, the torque jumps to a larger value around 170ms, the driving feeling is impacted, the smooth processing is performed during the state switching, the torque transition is smooth, and the driving performance of the whole vehicle is improved.
The invention discloses a method for controlling a driving mode of an electric automobile, which comprises the following steps:
s1, calculating driving mode state based on collected driving mode switch voltage
S1.1, the default mode of the whole vehicle is NOR, taking the selection of entering the ECO mode through an ECO button switch as an example, the resistances of circuits in the NOR mode and the ECO mode are different, therefore, the AD value acquired through hardwires is different in range, and the AD value is divided by 1000 to be converted into a voltage value;
the resistance value of the S1.2 ECO mode is 14k ohm, the resistance value of the NOR mode is 8.2k ohm, the resistance value of the VCU internal circuit is 2k ohm, therefore, when the voltage value ranges from 3.7v (standard quantity) to 4.1v (standard quantity), the driving mode is ECO, and the other values are NOR according to ohm' S law calculation. If the collected voltage value exceeds the upper limit (4.3 v, the standard amount) or exceeds the lower line (0.3 v, the standard amount), the driving mode switch is indicated to be short-circuited to a power supply or a ground, and the driving mode is the default mode NOR at the moment.
S2, smoothing the state switching of the driving modes
S2.1, the driving mode state NOR/ECO/PWR is respectively corresponding to 0/1/2, the current state is used as an initial value and an input value, the state value of the previous period is subtracted from the current state value and is used as an absolute value, and then the absolute value is divided by time T to obtain a rising slope R or a falling slope-R, wherein T is a standard quantity and is the time required from the previous arbitrary state to the current state.
S2.2, taking the current state as an initial value, taking the current state as an input value, obtaining the driving mode state after smoothing processing through a slope limiting module, and taking R as an ascending slope and-R as a descending slope. The elapsed time for any state transition of the three driving mode states 0/1/2 is the scalar quantity T.
And S3, calculating the opening degree of the accelerator pedal through the processed driving mode state and the original opening degree of the accelerator pedal, and controlling the opening degree of the accelerator pedal.
S3.1 converts the original accelerator pedal opening [0,100] divided by 100 into [0,1 ].
And S3.2, taking the original accelerator pedal opening as an X axis (horizontal axis), taking the processed driving mode state as a Y axis (vertical axis), and looking up a table to obtain the accelerator pedal opening for control, wherein the table can be used for carrying out real vehicle calibration according to the driving performance requirement. For example: 0 represents NOR, the original pedal opening is not corrected, 1 represents ECO, the first most section of opening is weakened and reduced, the weakening and reduction can be calibrated according to the requirement, 2 represents PWR, the first most section of opening is strengthened and increased, and the strengthening and increasing can be calibrated according to the requirement;
and S4, checking PedMap through the calculated opening degree of the accelerator pedal and the calculated vehicle speed to obtain the required torque of the driver, wherein the PedMap is a two-dimensional table of the required torque of the driver, and the torque values output by different vehicle speeds and different opening degrees of the accelerator pedal are different.
S5, calculating an energy recovery level based on the driving mode state
The ECO mode is an ECO mode in which more feedback torque should be recovered to achieve a longer driving range, and the NOR mode is a comfort mode in which feedback torque should be reduced relative to the ECO mode, otherwise the deceleration feeling is too strong, and thus, the ECO mode has an energy recovery level of 2, and the NOR mode has an energy recovery level of 1, the larger the number is, the stronger the energy recovery level is.
S6, calculating wheel-side feedback torque based on energy recovery grade, vehicle speed and synthetic pedal opening
S6.1, calculating the opening degree of the synthetic pedal: the accelerator pedal opening is [0,100], the brake pedal opening is [ 100,0], and the resultant pedal opening is [ 100,100 ].
And S6.2, obtaining wheel side feedback torque of sliding and braking through a table look-up of the synthesized pedal opening and the vehicle speed.
S6.3, different feedback torque meters are selected according to the energy recovery levels.
And S7, adding the torque required by the driver to the wheel-side feedback torque to obtain the wheel-side required torque.
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention.
Claims (5)
1. A control method for driving modes of an electric automobile is characterized by comprising the following steps:
s1, calculating a driving mode state based on collected driving mode switch voltage;
s2, smoothing the state switching of the driving modes;
s3, calculating and controlling the opening degree of an accelerator pedal according to the processed driving mode state and the original opening degree of the accelerator pedal;
s4, checking PedMap through the calculated opening degree of the accelerator pedal and the calculated speed to obtain the torque required by the driver;
s5, calculating an energy recovery grade based on the driving mode state, wherein the energy recovery grade is 2 in an ECO mode, and the energy recovery grade is 1 in an NOR mode;
s6, calculating wheel-side feedback torque based on the energy recovery grade, the vehicle speed and the synthetic pedal opening;
and S7, adding the torque required by the driver to the wheel-side feedback torque to obtain the wheel-side required torque.
2. The method as claimed in claim 1, wherein the step S1 includes the steps of:
s1.1, the default mode of the whole vehicle is NOR, the vehicle enters an ECO mode or a PWR mode through selection of a button switch, the NOR mode is different from the resistance of a circuit in the ECO mode or the PWR mode selected through the button switch, the AD value range is collected through a hard wire, and the AD value is divided by 1000 and converted into a voltage value;
and S1.2, calculating that when the voltage value range is between the set standard values according to ohm' S law, the driving mode is the mode selected by the button switch, and if the voltage value range is not between the standard values, the driving mode is the NOR mode.
3. The method as claimed in claim 1, wherein the step S2 includes the steps of:
s2.1, respectively corresponding the driving mode state NOR/ECO/PWR to 0/1/2, taking the current state as an initial value and an input value, subtracting the state value of the previous period from the current state value, taking the state value as an absolute value, and dividing the absolute value by time T to obtain a rising slope R or a falling slope-R, wherein T is a standard quantity and is the time required from the previous arbitrary state to the current state;
s2.2, the current state is used as an initial value, the current state is used as an input value, the driving mode state after smoothing processing is obtained through a slope limiting module, R is used as an ascending slope, R is used as a descending slope, and the time for switching any state of the three driving mode states 0/1/2 is a standard quantity T.
4. The method as claimed in claim 1, wherein the step S3 includes the steps of:
s3.1, dividing the original opening degree [0,100] of the accelerator pedal by 100 to convert into [0,1 ];
and S3.2, taking the original accelerator pedal opening as an X axis, taking the processed driving mode state as a Y axis, and looking up a table to obtain the accelerator pedal opening for control.
5. The method as claimed in claim 1, wherein the step S6 includes the steps of:
s6.1, calculating the opening degree of the synthetic pedal: the opening degree of an accelerator pedal is [0,100], the opening degree of a brake pedal is [ -100,0], and the opening degree of the synthesized pedal is [ -100,100 ];
s6.2, looking up a table through the synthesized pedal opening and the vehicle speed to obtain wheel side feedback torque for sliding and braking;
s6.3, different feedback torque meters are selected according to the energy recovery levels.
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| CN202010042369.4A CN111038515B (en) | 2020-01-15 | 2020-01-15 | Electric automobile driving mode control method |
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| CN202010042369.4A CN111038515B (en) | 2020-01-15 | 2020-01-15 | Electric automobile driving mode control method |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111469679B (en) * | 2020-05-11 | 2022-02-08 | 上海元城汽车技术有限公司 | Vehicle control method and device, vehicle control unit, vehicle and medium |
| CN112145666B (en) * | 2020-09-14 | 2022-05-13 | 广州小鹏汽车科技有限公司 | Vehicle power control method, vehicle power control device, vehicle and storage medium |
| CN114834475A (en) * | 2021-01-15 | 2022-08-02 | 郑州宇通客车股份有限公司 | Vehicle output torque control method and device |
| CN113002321A (en) * | 2021-03-23 | 2021-06-22 | 奇瑞新能源汽车股份有限公司 | New energy automobile braking method and device, whole automobile controller and new energy automobile |
| CN112977462B (en) * | 2021-03-23 | 2022-08-05 | 东风汽车集团股份有限公司 | New energy automobile accelerator pedal torque calculation method and system and readable storage medium |
| CN112959896A (en) * | 2021-03-28 | 2021-06-15 | 大运汽车股份有限公司 | Four-wheel drive control method for pure electric vehicle with dual-drive electric bridge architecture |
| CN113428166A (en) * | 2021-07-31 | 2021-09-24 | 重庆长安汽车股份有限公司 | Vehicle driving mode control method and system and vehicle |
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