CN111251905A - Method and device for realizing slope control of electric automobile - Google Patents
Method and device for realizing slope control of electric automobile Download PDFInfo
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- CN111251905A CN111251905A CN202010150799.8A CN202010150799A CN111251905A CN 111251905 A CN111251905 A CN 111251905A CN 202010150799 A CN202010150799 A CN 202010150799A CN 111251905 A CN111251905 A CN 111251905A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention relates to a method for realizing slope parking control of an electric automobile, which comprises the following steps: collecting an electric automobile state signal and a driving motor state signal; judging whether the electric automobile is in a slope slipping state or not, and judging whether the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state; judging whether the rotating speed of the driving motor is greater than or equal to a certain threshold value, if so, entering non-hill-holding control auxiliary braking control of the electric automobile; otherwise, the electric automobile enters into the slope parking control; and the electric automobile slope-stopping device sends the calculated control instruction to the motor controller through a communication bus. The invention also relates to a slope-parking control device of the electric automobile. The method and the device for realizing the slope parking control of the electric automobile judge the slope slipping state of the electric automobile, and carry out the slope parking control and the non-slope parking auxiliary brake control of the electric automobile according to the slope slipping state of the electric automobile and the rotating speed signal of the driving motor, thereby avoiding overlong slope slipping distance and jitter caused by the influence of a data transmission period and transmission delay.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to the field of electric automobiles, and specifically relates to a method and a device for realizing slope-parking control of an electric automobile.
Background
The slope parking of the traditional fuel automobile is usually realized through a hand brake device, and the slope parking of the electric automobile (including a pure electric automobile and a hybrid electric automobile) is mainly realized in three ways:
(1) the hand brake device is adopted to realize slope parking as the traditional fuel oil automobile;
(2) an electro-hydraulic brake device is adopted to replace a hand brake device to realize slope parking;
(3) realizing slope parking by using a driving motor;
mode (3) is generally a redundant implementation of modes (1) and (2), and in the event of failure of the handbrake or electrohydraulic brake system of the vehicle,
the slope is stopped in the mode, so that casualties and economic losses caused by the fact that the vehicle slips down the slope in an unexpected situation are prevented.
The method comprises the steps of utilizing a driving motor to realize slope parking, judging whether a vehicle is in a slope sliding state through a vehicle controller, realizing a rotating speed closed loop or torque closed loop algorithm in the vehicle controller according to the slope sliding degree, adjusting a target rotating speed or a target torque sent to a motor controller in real time, controlling the driving motor by the motor controller, executing the target rotating speed or the target torque to achieve the slope parking state, and keeping the state once the vehicle enters the slope parking state.
Because the rotating speed closed-loop or torque closed-loop algorithm is realized in the vehicle controller, the data interaction between the rotating speed closed-loop or torque closed-loop algorithm and the motor controller needs to pass through a communication bus, therefore, in the whole process of slope-parking regulation, the whole vehicle controller firstly obtains the rotating speed or the torque of the motor from the motor controller through the communication bus and then realizes a rotating speed closed-loop or torque closed-loop algorithm in the whole vehicle controller, and the target rotating speed or the target torque obtained by each calculation is sent to the motor controller, the motor controller controls the driving motor to execute the target rotating speed or the target torque, then the motor controller feeds back the rotating speed or the torque of the motor to the vehicle controller through a communication bus, in the process, due to the influence of the transmission period and the transmission delay of data, the rotating speed closed loop or torque closed loop algorithm of the whole vehicle controller cannot be rapidly adjusted, so that the vehicle is easy to slide down a slope for too long or shake, and certain safety risk exists.
On the other hand, the adoption of the driving motor to realize slope parking is only a short-term auxiliary mode, so that when the first slope parking device fails or a driver carelessly does not activate the first slope parking device, the mode is activated to provide a redundant slope parking function, and the mode can work under the ignition state of the vehicle. Therefore, after the vehicle enters the driving motor in the hill-holding state, if the driver does not activate the first hill-holding device for a long time, especially under the conditions of heavy vehicle load and large hill-holding slope, the motor controller and the driving motor may have the risk of damaging devices due to over-temperature fault caused by over-high temperature rise. Meanwhile, in the state that the driving motor stays on the slope, the vehicle enters the state of staying on the slope, but if the driver does not activate the first slope staying device, the ignition key is directly turned off, and the vehicle can rapidly slide on the slope to cause danger.
Moreover, when the vehicle is in a state of sliding down a slope and the speed of sliding down the slope is too high, if the vehicle is controlled to enter the slope by the driving motor, the output torque of the driving motor may be too high due to the characteristics of a rotating speed closed loop or a torque closed loop algorithm, so that the risk of violent impact and even out of control of the vehicle exists.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a device for realizing slope-parking control of an electric automobile, which are satisfactory, simple and convenient to operate and wide in application range.
In order to achieve the above object, the method and the device for realizing the hill-holding control of the electric vehicle of the invention are as follows:
the method for realizing the electric automobile hill-holding control is mainly characterized by comprising the following steps of:
(1) collecting an electric automobile state signal and a driving motor state signal;
(2) judging whether the electric automobile is in a slope slipping state, if not, exiting the step; if so, judging that the electric automobile is in a forward gear sliding slope or a reverse gear sliding slope;
(3) under the condition that the forward gear slips or the reverse gear slips, judging whether the rotating speed of the driving motor is larger than or equal to a certain threshold value, and if so, continuing the step (4); otherwise, continuing the step (5);
(4) the electric automobile enters non-hill-holding control auxiliary brake control, and the step (6) is continued;
(5) the electric automobile enters into slope parking control, and the step (6) is continued;
(6) and the electric automobile slope-stopping device sends the calculated control instruction to the motor controller through a communication bus.
Preferably, the step of determining that the electric vehicle is on a forward gear slope slipping or a reverse gear slope slipping in the step (2) specifically includes the following steps:
(2.1) judging whether the gear signal of the electric automobile is a forward gear, the accelerator pedal signal, the brake pedal signal and the hand brake signal of the electric automobile are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, the steering signal of the driving motor is reverse rotation, and the rotating speed signal of the driving motor is greater than a certain threshold value, if so, the electric automobile is in a forward gear sliding slope, and continuing the step (3); otherwise, continuing the step (2.2);
(2.2) judging whether the gear signal of the electric automobile is a reverse gear, the accelerator pedal signal, the brake pedal signal and the hand brake signal of the electric automobile are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, the steering signal of the driving motor is positive rotation, and the rotating speed signal of the driving motor is greater than a certain threshold value, if so, the electric automobile is in a reverse gear sliding slope, and continuing the step (3); otherwise, the step is exited.
Preferably, the step (4) specifically includes the following steps:
(4.1) the electric automobile slope parking device calculates a target torque in real time according to a preset auxiliary braking torque curve and a preset auxiliary braking torque curve according to an electric automobile state signal and a driving motor state signal, and sends the target torque to a motor controller through a communication bus;
and (4.2) controlling the driving motor by the motor controller to execute the target torque.
Preferably, the step (5) specifically comprises the following steps:
(5.1) the electric automobile slope-stopping device sends a slope-stopping instruction to the motor controller;
(5.2) the motor controller automatically calculates a target rotating speed or a target torque according to the slope stopping instruction, controls the driving motor and executes the target rotating speed or the target torque until the electric automobile reaches a slope stopping state;
and (5.3) the motor controller sends the information of the slope state to the slope stopping device of the electric automobile.
Preferably, the electric vehicle status signal in step (1) includes an accelerator pedal signal, a brake pedal signal, a gear signal, a hand brake signal, and an ignition key signal.
Preferably, the drive motor status signal includes a drive motor fault signal, a drive motor turn signal, a drive motor speed signal, and a drive motor torque signal.
The electric automobile slope parking control device for realizing the method is mainly characterized by comprising an electric automobile slope parking device, a motor controller, a driving motor and an electric automobile, wherein the electric automobile slope parking device is connected with the motor controller through a communication bus; the motor controller is electrically connected with the driving motor through a high-voltage wire harness and a low-voltage wire harness; the driving motor is mechanically connected with the electric automobile through a transmission device and is used for transmitting the output torque of the driving motor to wheels of the electric automobile and driving the electric automobile to run; the electric automobile hill-holding device is electrically connected with the electric automobile through a low-voltage wire harness and is used for collecting electric automobile state signals of the electric automobile.
Preferably, the electric vehicle hill-holding device comprises:
the electric vehicle state and driving motor state acquisition module is used for acquiring electric vehicle state signals and driving motor state signals;
the slope slipping state judging module is connected with the electric automobile state and driving motor state collecting module and used for judging whether the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state according to the electric automobile state signal and the driving motor state signal;
the slope-stopping control module is connected with the slope-sliding state judgment module and used for adjusting a slope-stopping control instruction sent to the motor controller in real time according to the slope-sliding state of the electric automobile and a state signal of the driving motor, so that the electric automobile is in the slope-stopping state and shakes at intervals in a circulating mode to remind a driver of activating other slope-stopping devices in time;
the non-slope-parking auxiliary braking control module is connected with the slope parking control module and used for calculating a target torque sent to the motor controller in real time according to a preset auxiliary braking torque curve according to a slope sliding state of the electric automobile and a driving motor state signal and enabling the electric automobile to avoid fast slope sliding due to the existence of auxiliary braking torque in the slope sliding process;
and the control instruction output module is connected with the non-hill-holding auxiliary brake control module and is used for sending the hill-holding instruction, the hill-holding cancelling instruction and the motor controller target torque instruction to the motor controller.
The method and the device for realizing the slope parking control of the electric automobile judge the slope slipping state of the electric automobile according to the collected state signal of the electric automobile and the state signal of the driving motor, and carry out the slope parking control and the non-slope parking auxiliary brake control of the electric automobile according to the slope slipping state of the electric automobile and the rotating speed signal of the driving motor. In the hill-holding control process, the hill-holding torque required by the electric automobile is automatically calculated by the motor controller in real time, and the calculation of the hill-holding device of the electric automobile according to a rotating speed closed loop or torque closed loop algorithm is not needed and is sent to the motor controller through a communication bus, so that the overlong slope sliding distance and the jitter caused by the influence of a data transmission period and transmission delay can be avoided.
Drawings
FIG. 1 is a flow chart of a method for implementing hill-holding control of an electric vehicle according to the present invention.
Fig. 2 is a structural diagram of the electric vehicle hill-holding control device of the present invention.
Fig. 3 is a block diagram of an electric vehicle hill-holding device of the electric vehicle hill-holding control device according to the present invention.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The method for realizing the electric automobile hill-holding control comprises the following steps:
(1) collecting an electric automobile state signal and a driving motor state signal;
(2) judging whether the electric automobile is in a slope slipping state, if not, exiting the step; if so, judging that the electric automobile is in a forward gear sliding slope or a reverse gear sliding slope;
(2.1) judging whether the electric automobile gear signal is a forward gear, an electric automobile accelerator pedal signal and a brake pedal
The plate signal and the hand brake signal are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, and the driving is carried out
The motor steering signal is reverse, the rotating speed signal of the driving motor is greater than a certain threshold value, and if the rotating speed signal of the driving motor is greater than the certain threshold value, the electric automobile is in front
Entering a gear to slide down the slope, and continuing the step (3); otherwise, continuing the step (2.2);
(2.2) judging whether the gear signal of the electric automobile is a reverse gear, an accelerator pedal signal and a brake pedal signal
The plate signal and the hand brake signal are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, and the driving is carried out
The motor steering signal is positive rotation, the rotating speed signal of the driving motor is greater than a certain threshold value, and if the rotating speed signal of the driving motor is greater than the certain threshold value, the electric automobile is in reverse rotation
The vehicle gear slides down the slope, and the step (3) is continued; otherwise, exiting the step;
(3) under the condition that the forward gear slips or the reverse gear slips, judging whether the rotating speed of the driving motor is larger than or equal to a certain threshold value, and if so, continuing the step (4); otherwise, continuing the step (5);
(4) the electric automobile enters non-hill-holding control auxiliary brake control, and the step (6) is continued;
(4.1) the electric automobile slope parking device calculates a target torque in real time according to a preset auxiliary braking torque curve and a preset auxiliary braking torque curve according to an electric automobile state signal and a driving motor state signal, and sends the target torque to a motor controller through a communication bus;
(4.2) the motor controller controls the driving motor to execute the target torque;
(5) the electric automobile enters into slope parking control, and the step (6) is continued;
(5.1) the electric automobile slope-stopping device sends a slope-stopping instruction to the motor controller;
(5.2) the motor controller automatically calculates a target rotating speed or a target torque according to the slope stopping instruction, controls the driving motor and executes the target rotating speed or the target torque until the electric automobile reaches a slope stopping state;
(5.3) the motor controller sends the information of the slope state to the slope stopping device of the electric automobile;
(6) and the electric automobile slope-stopping device sends the calculated control instruction to the motor controller through a communication bus.
As a preferred embodiment of the present invention, the electric vehicle status signal in step (1) includes an accelerator pedal signal, a brake pedal signal, a gear signal, a hand brake signal, and an ignition key signal.
As a preferred embodiment of the present invention, the drive motor status signal includes a drive motor fault signal, a drive motor turn signal, a drive motor rotational speed signal, and a drive motor torque signal.
The invention relates to an electric automobile slope-parking control device for realizing the method, which comprises an electric automobile slope-parking device, a motor controller, a driving motor and an electric automobile, wherein the electric automobile slope-parking device is connected with the motor controller through a communication bus; the motor controller is electrically connected with the driving motor through a high-voltage wire harness and a low-voltage wire harness; the driving motor is mechanically connected with the electric automobile through a transmission device and is used for transmitting the output torque of the driving motor to wheels of the electric automobile and driving the electric automobile to run; the electric automobile hill-holding device is electrically connected with the electric automobile through a low-voltage wire harness and is used for collecting electric automobile state signals of the electric automobile.
In a preferred embodiment of the present invention, the electric vehicle hill-holding device includes:
the electric vehicle state and driving motor state acquisition module is used for acquiring electric vehicle state signals and driving motor state signals;
the slope slipping state judging module is connected with the electric automobile state and driving motor state collecting module and used for judging whether the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state according to the electric automobile state signal and the driving motor state signal;
the slope-stopping control module is connected with the slope-sliding state judgment module and used for adjusting a slope-stopping control instruction sent to the motor controller in real time according to the slope-sliding state of the electric automobile and a state signal of the driving motor, so that the electric automobile is in the slope-stopping state and shakes at intervals in a circulating mode to remind a driver of activating other slope-stopping devices in time;
the non-slope-parking auxiliary braking control module is connected with the slope parking control module and used for calculating a target torque sent to the motor controller in real time according to a preset auxiliary braking torque curve according to a slope sliding state of the electric automobile and a driving motor state signal and enabling the electric automobile to avoid fast slope sliding due to the existence of auxiliary braking torque in the slope sliding process;
and the control instruction output module is connected with the non-hill-holding auxiliary brake control module and is used for sending the hill-holding instruction, the hill-holding cancelling instruction and the motor controller target torque instruction to the motor controller.
In the specific embodiment of the present invention, the present invention provides a method and a device for parking an electric vehicle on a slope, in order to solve the following problems: the phenomenon that the vehicle slips too long distance on a slope or shakes before the vehicle enters a slope parking state is avoided; the situation that a driver stops a slope for a long time due to negligence of the driver is avoided; when the speed of sliding down the slope is too high, the driving motor is forcibly adopted to stop the slope, but in order to avoid further increasing the speed of sliding down the slope, a certain auxiliary braking torque is required to be provided.
The invention provides an electric automobile slope-parking method, which comprises the following steps:
collecting an electric automobile state signal and a driving motor state signal, and judging the slope sliding state of the electric automobile according to the electric automobile state signal and the driving motor state signal;
gather electric automobile state signal and driving motor state signal, specifically include:
collecting an accelerator pedal signal, a brake pedal signal, a hand brake signal, a gear signal and an ignition key signal of the electric automobile, and collecting a motor fault signal, a motor steering signal and a motor rotating speed signal of a driving motor;
optionally, the electric vehicle gear signal specifically includes: forward, reverse, neutral, park.
Judging the slope state of the electric automobile, which specifically comprises the following steps:
when the electric automobile meets a forward gear slope slipping condition, namely the electric automobile gear signal is a forward gear, an electric automobile accelerator pedal signal, a brake pedal signal and a hand brake signal are invalid, an electric automobile ignition key signal is valid, a driving motor fault signal is invalid, a driving motor steering signal is reverse, and a driving motor rotating speed signal is greater than a certain threshold value, the electric automobile is judged to be in a forward gear slope slipping state;
when the electric automobile meets the condition that the reverse gear slides down the slope, namely the gear signal of the electric automobile is the reverse gear, the accelerator pedal signal, the brake pedal signal and the hand brake signal of the electric automobile are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, the steering signal of the driving motor is positive rotation, and the rotating speed signal of the driving motor is greater than a certain threshold value, the electric automobile is judged to be in the reverse gear sliding down the slope state.
According to the slope slipping state of the electric automobile and the rotating speed signal of the driving motor, whether the electric automobile enters into slope parking control or not and whether the electric automobile does not enter into slope parking auxiliary braking control or not are judged, and the method specifically comprises the following steps:
when the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state, if the rotating speed signal of the driving motor is smaller than a certain threshold value, the electric automobile enters into slope parking control;
when the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state, if the rotating speed signal of the driving motor is larger than or equal to a certain threshold value, the electric automobile enters non-slope-parking control auxiliary brake control.
The hill-holding control specifically comprises:
the electric automobile slope-parking device sends a slope-parking instruction to the motor controller, the motor controller automatically calculates a target rotating speed or a target torque according to the slope-parking instruction, controls the driving motor, executes the target rotating speed or the target torque until the electric automobile reaches a slope-parking state, and sends slope-parking state information to the electric automobile slope-parking device.
After the electric automobile reaches the state of staying on a slope, still include:
at a certain interval, the electric automobile slope-stopping device sends a slope-stopping-cancelling instruction to the motor controller, the motor controller automatically calculates a target rotating speed or a target torque according to the slope-stopping-cancelling instruction and controls the driving motor to execute the target rotating speed or the target torque so that the electric automobile shakes once to remind a driver that the electric automobile is currently in a slope-stopping state of the driving motor, then the electric automobile slope-stopping device continuously sends a slope-stopping instruction to the motor controller, the motor controller automatically calculates the target rotating speed or the target torque according to the slope-stopping instruction and controls the driving motor to execute the target rotating speed or the target torque so that the electric automobile enters the slope-stopping state again, and the cycle is carried out.
The non-hill-holding auxiliary brake control specifically comprises the following steps:
the electric automobile slope-parking device calculates a target torque in real time according to a preset auxiliary braking torque curve according to an electric automobile state signal and a driving motor state signal, sends the target torque to a motor controller through a communication bus, and the motor controller controls a driving motor to execute the target torque.
In addition, in order to achieve the above object, the present invention further provides an electric vehicle hill-holding device, which specifically includes:
the electric automobile state and driving motor state acquisition module is used for acquiring an accelerator pedal signal, a brake pedal signal, a hand brake signal, a gear signal and an ignition key signal of the electric automobile, and acquiring a motor fault signal, a motor steering signal and a motor rotating speed signal of a driving motor;
the slope slipping state judging module is used for judging whether the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state according to the electric automobile state signal and the driving motor state signal;
the slope-stopping control module adjusts a slope-stopping control instruction sent to the motor controller in real time according to the slope sliding state of the electric automobile and the state signal of the driving motor, so that the electric automobile is in the slope-stopping state, shakes at intervals in a circulating mode, and reminds a driver to activate other slope-stopping devices in time;
the non-slope-parking auxiliary braking control module calculates a target torque sent to the motor controller in real time according to a preset auxiliary braking torque curve according to a slope sliding state of the electric automobile and a driving motor state signal, so that the electric automobile is prevented from rapidly sliding on a slope due to the existence of auxiliary braking torque in the slope sliding process;
and the control instruction output module is used for sending the hill-holding instruction, the hill-holding cancelling instruction and the motor controller target torque instruction to the motor controller.
In the following detailed description of the present invention, a schematic structural diagram of a system where the electric vehicle hill-holding device of the present invention is located is shown in fig. 2, the electric vehicle hill-holding device 101 is connected to the motor controller 102 through a communication bus, and the type of the communication bus may be a CAN bus or other communication buses meeting the standards of the automobile industry, which is not limited herein. The motor controller 102 is used for controlling the driving motor 103, and the driving motor 103 and the driving motor are electrically connected through a high-voltage wire harness and a low-voltage wire harness. The driving motor 103 is mechanically connected with the electric vehicle 104 through a transmission system, and is used for transmitting the output torque of the driving motor to wheels of the electric vehicle to drive the electric vehicle to run. The electric automobile hill-holding device 101 is electrically connected with the electric automobile 104 through a low-voltage wire harness and is used for collecting an accelerator pedal signal, a brake pedal signal, a gear signal, a hand brake signal and an ignition key signal of the electric automobile.
The electric vehicle hill-holding device 101 sends a control command to the motor controller 102 through a communication bus, where the control command includes a driving motor steering, a driving motor target rotation speed, a driving motor target torque, a hill-holding command, a hill-holding cancellation command, and the like, and is not limited herein. Meanwhile, the motor controller sends a state signal of the driving motor to the electric vehicle hill-holding device 101 through the communication bus, and the state signal of the driving motor includes: the driving motor steering, the driving motor rotation speed, the driving motor fault signal, the driving motor hill-holding state, etc., which are not limited herein. The motor controller 102 controls the drive motor 103 to output a corresponding target rotation speed and target torque.
FIG. 1 is a control flow chart of a hill-holding method for an electric vehicle according to a first embodiment of the present invention. As shown in FIG. 1, the method for parking an electric vehicle in a slope of the invention comprises the following steps:
It should be noted that the electric vehicle status signal and the driving motor status signal are only used for describing the present embodiment to facilitate understanding of the present invention, and are not used to limit the types of signals specifically included in the electric vehicle status signal and the driving motor status signal in the present invention.
When the electric automobile meets a forward gear slope slipping condition, namely the electric automobile gear signal is a forward gear, an electric automobile accelerator pedal signal, a brake pedal signal and a hand brake signal are invalid, an electric automobile ignition key signal is valid, a driving motor fault signal is invalid, a driving motor steering signal is reverse, and a driving motor rotating speed signal is greater than a certain threshold value, the electric automobile is judged to be in a forward gear slope slipping state 203;
when the electric automobile meets a reverse gear slope slipping condition, namely the electric automobile gear signal is a reverse gear, an electric automobile accelerator pedal signal, a brake pedal signal and a hand brake signal are invalid, an electric automobile ignition key signal is valid, a driving motor fault signal is invalid, a driving motor steering signal is positive rotation, a driving motor rotating speed signal is greater than a certain threshold value, and the electric automobile is judged to be in a reverse gear slope slipping state 204;
it should be noted that the rotation speed of the driving motor is greater than a certain threshold value, the threshold value is obtained by calibrating according to the actual situation of the electric vehicle, and the 5rpm is taken as an example for description, but the invention is not limited thereto.
judging the slope-stopping control condition according to the rotating speed signal of the driving motor, if the rotating speed of the driving motor is greater than or equal to a certain threshold value, entering a non-slope-stopping auxiliary braking control step 207, and if the rotating speed of the driving motor is less than the threshold value, entering a slope-stopping control step 208;
it should be noted that, if the rotation speed of the driving motor is greater than or equal to a certain threshold, the threshold needs to be calibrated according to the actual situation of the electric vehicle, and the description is given by taking 100rpm as an example, but the invention is not limited thereto.
And step 207, when the electric automobile is in a forward gear slope slipping state and the rotating speed of the driving motor is greater than or equal to 100rpm, the electric automobile enters a non-slope parking auxiliary braking control state, the electric automobile slope parking device calculates a target torque in real time according to a preset driving motor output torque curve according to the collected electric automobile accelerator pedal signal, brake pedal signal, gear signal, hand brake signal, ignition key signal, driving motor fault signal, driving motor steering signal, driving motor rotating speed signal and driving motor torque signal, and sends the target torque to the motor controller through a communication bus, and the motor controller controls the driving motor to execute the target torque.
It should be noted that the preset output torque curve of the driving motor needs to be obtained by calibration according to the actual situation of the electric vehicle, and a linear curve is taken as an example for illustration, but the invention is not limited thereto. And calculating the target torque according to a linear curve, wherein the target torque linearly increases along with the increase of the rotating speed signal of the driving motor, but the direction of the output torque of the driving motor is opposite to the rotating direction of the driving motor, namely the output torque of the driving motor plays a role in braking.
208, when the electric automobile is in a forward gear slope slipping state and the rotating speed of the driving motor is less than 100rpm, the electric automobile slope parking device sends a slope parking instruction to the motor controller through the communication bus, the motor controller automatically calculates a target rotating speed or a target torque according to the slope parking instruction, controls the driving motor, executes the target rotating speed or the target torque until the electric automobile reaches the slope parking state, and sends information of the slope parking state to the electric automobile slope parking device; if the rotating speed of the driving motor is greater than or equal to 100rpm or the state signal of the electric automobile does not meet the condition of forward gear slope slipping, the slope stopping device of the electric automobile sends a slope stopping canceling instruction to the motor controller through the communication bus, the motor controller automatically calculates a target rotating speed or a target torque according to the slope stopping canceling instruction, controls the driving motor, and executes the target rotating speed or the target torque until the slope stopping state of the electric automobile is canceled.
When the electric automobile is in a slope-parking state, the electric automobile slope-parking device starts timing, a slope-parking-canceling instruction is sent to the motor controller through the communication bus every time a certain time interval is exceeded, the motor controller automatically calculates a target rotating speed or a target torque according to the slope-parking-canceling instruction and controls the driving motor to execute the target rotating speed or the target torque, so that the electric automobile shakes once to remind a driver that the electric automobile is currently in the slope-parking state of the driving motor, and then the electric automobile slope-parking device continuously sends the slope-parking instruction to the motor controller, the motor controller automatically calculates the target rotating speed or the target torque according to the slope-parking instruction and controls the driving motor to execute the target rotating speed or the target torque, so that the electric automobile enters the slope-parking state again, and the cycle is repeated.
When the electric automobile is in a slope-parking state, the electric automobile slope-parking device starts timing, a slope-parking-canceling instruction is sent to the motor controller through the communication bus every time a certain time interval is exceeded, the motor controller automatically calculates a target rotating speed or a target torque according to the slope-parking-canceling instruction and controls the driving motor to execute the target rotating speed or the target torque, so that the electric automobile shakes once to remind a driver that the electric automobile is currently in the slope-parking state of the driving motor, and then the electric automobile slope-parking device continuously sends the slope-parking instruction to the motor controller, the motor controller automatically calculates the target rotating speed or the target torque according to the slope-parking instruction and controls the driving motor to execute the target rotating speed or the target torque, so that the electric automobile enters the slope-parking state again, and the cycle is repeated.
It should be noted that the preset output torque curve of the driving motor needs to be obtained by calibration according to the actual situation of the electric vehicle, and a linear curve is taken as an example for illustration, but the invention is not limited thereto. And calculating the target torque according to a linear curve, wherein the target torque linearly increases along with the increase of the rotating speed signal of the driving motor, but the direction of the output torque of the driving motor is opposite to the rotating direction of the driving motor, namely the output torque of the driving motor plays a role in braking.
And step 211, the electric automobile hill-holding device sends the calculated control command to the motor controller through the communication bus.
Here, the control command is not limited to the driving motor target rotation speed, the driving motor target torque, the driving motor hill-holding command, and the driving motor hill-holding cancellation command.
After the electric automobile enters a slope-parking state, the slope-parking device of the electric automobile circularly and intermittently sends a slope-parking-cancelling instruction to enable the electric automobile to generate primary shaking, so that a driver can be well reminded that the electric automobile is currently in a driving motor slope-parking state, other slope-parking devices need to be activated in time, and the risk that a motor controller and a driving motor damage devices due to over-temperature caused by long-time slope parking through the driving motor is avoided, or an ignition key is directly flamed out in the state to enable the electric automobile to rapidly slide down a slope is avoided;
meanwhile, when the slope slipping speed of the electric automobile is too high, non-slope-parking auxiliary braking control is carried out, the risk that the electric automobile is violently impacted and out of control when the electric automobile forcibly enters the slope parking under the too high slope slipping speed is avoided, and the slope slipping speed can be further increased under the condition that other slope parking devices are invalid due to the existence of auxiliary braking torque.
Fig. 3 is a schematic view of a module composition of an electric vehicle slope-retaining device provided by the present invention, the electric vehicle slope-retaining device includes:
the electric automobile state signal and driving motor state acquisition module acquires an electric automobile accelerator pedal signal, a brake pedal signal, a gear signal, a hand brake signal and an ignition key signal, and acquires a driving motor fault signal, a driving motor steering signal, a driving motor rotating speed signal and a driving motor torque signal;
the slope slipping state judging module is used for judging whether the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state according to the electric automobile state signal and the driving motor state signal;
the slope-stopping control module adjusts a control instruction sent to the motor controller in real time according to the slope sliding state of the electric automobile and the state signal of the driving motor, so that the electric automobile is in the slope-stopping state, shakes at intervals in a circulating mode, and reminds a driver to activate other slope-stopping devices in time;
the non-slope-parking auxiliary braking control module calculates the feedback braking torque sent to the motor controller in real time according to a preset auxiliary braking torque curve according to the slope sliding state of the electric automobile and the state signal of the driving motor, so that the electric automobile is prevented from rapidly sliding on a slope due to the existence of the auxiliary braking torque in the slope sliding process;
and the control instruction output module is used for sending the hill-holding instruction, the hill-holding instruction is cancelled, and the torque instruction of the driving motor controller is sent to the driving motor controller.
The method and the device for realizing the slope parking control of the electric automobile judge the slope slipping state of the electric automobile according to the collected state signal of the electric automobile and the state signal of the driving motor, and carry out the slope parking control and the non-slope parking auxiliary brake control of the electric automobile according to the slope slipping state of the electric automobile and the rotating speed signal of the driving motor. In the hill-holding control process, the hill-holding torque required by the electric automobile is automatically calculated by the motor controller in real time, and the calculation of the hill-holding device of the electric automobile according to a rotating speed closed loop or torque closed loop algorithm is not needed and is sent to the motor controller through a communication bus, so that the overlong slope sliding distance and the jitter caused by the influence of a data transmission period and transmission delay can be avoided.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (8)
1. A method for realizing the hill-holding control of an electric automobile is characterized by comprising the following steps:
(1) collecting an electric automobile state signal and a driving motor state signal;
(2) judging whether the electric automobile is in a slope slipping state, if not, exiting the step; if so, judging that the electric automobile is in a forward gear sliding slope or a reverse gear sliding slope;
(3) under the condition that the forward gear slips or the reverse gear slips, judging whether the rotating speed of the driving motor is larger than or equal to a certain threshold value, and if so, continuing the step (4); otherwise, continuing the step (5);
(4) the electric automobile enters non-hill-holding control auxiliary brake control, and the step (6) is continued;
(5) the electric automobile enters into slope parking control, and the step (6) is continued;
(6) and the electric automobile slope-stopping device sends the calculated control instruction to the motor controller through a communication bus.
2. The method for realizing hill-holding control of electric vehicle as claimed in claim 1, wherein the step of determining whether the electric vehicle is in a forward gear hill-slip or a reverse gear hill-slip in step (2) comprises the following steps:
(2.1) judging whether the gear signal of the electric automobile is a forward gear, the accelerator pedal signal, the brake pedal signal and the hand brake signal of the electric automobile are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, the steering signal of the driving motor is reverse rotation, and the rotating speed signal of the driving motor is greater than a certain threshold value, if so, the electric automobile is in a forward gear sliding slope, and continuing the step (3); otherwise, continuing the step (2.2);
(2.2) judging whether the gear signal of the electric automobile is a reverse gear, the accelerator pedal signal, the brake pedal signal and the hand brake signal of the electric automobile are invalid, the ignition key signal of the electric automobile is valid, the fault signal of the driving motor is invalid, the steering signal of the driving motor is positive rotation, and the rotating speed signal of the driving motor is greater than a certain threshold value, if so, the electric automobile is in a reverse gear sliding slope, and continuing the step (3); otherwise, the step is exited.
3. The method for realizing the hill-holding control of the electric vehicle as claimed in claim 1, wherein the step (4) comprises the following steps:
(4.1) the electric automobile slope parking device calculates a target torque in real time according to a preset auxiliary braking torque curve and a preset auxiliary braking torque curve according to an electric automobile state signal and a driving motor state signal, and sends the target torque to a motor controller through a communication bus;
and (4.2) controlling the driving motor by the motor controller to execute the target torque.
4. The method for realizing the hill-holding control of the electric vehicle as claimed in claim 1, wherein the step (5) comprises the following steps:
(5.1) the electric automobile slope-stopping device sends a slope-stopping instruction to the motor controller;
(5.2) the motor controller automatically calculates a target rotating speed or a target torque according to the slope stopping instruction, controls the driving motor and executes the target rotating speed or the target torque until the electric automobile reaches a slope stopping state;
and (5.3) the motor controller sends the information of the slope state to the slope stopping device of the electric automobile.
5. The method for realizing hill-holding control of electric vehicle as claimed in claim 1, wherein the electric vehicle status signal in step (1) comprises an accelerator pedal signal, a brake pedal signal, a gear signal, a hand brake signal and an ignition key signal.
6. The method for realizing hill-holding control of electric vehicle as recited in claim 1, wherein the driving motor status signal in step (1) comprises a driving motor fault signal, a driving motor steering signal, a driving motor speed signal and a driving motor torque signal.
7. An electric vehicle hill-holding control device for realizing the method of claim 1, wherein the device comprises an electric vehicle hill-holding device, a motor controller, a driving motor and an electric vehicle, and the electric vehicle hill-holding device and the motor controller are connected through a communication bus; the motor controller is electrically connected with the driving motor through a high-voltage wire harness and a low-voltage wire harness; the driving motor is mechanically connected with the electric automobile through a transmission device and is used for transmitting the output torque of the driving motor to wheels of the electric automobile and driving the electric automobile to run; the electric automobile hill-holding device is electrically connected with the electric automobile through a low-voltage wire harness and is used for collecting electric automobile state signals of the electric automobile.
8. The electric vehicle hill-holding control device according to claim 7, characterized in that the electric vehicle hill-holding device comprises:
the electric vehicle state and driving motor state acquisition module is used for acquiring electric vehicle state signals and driving motor state signals;
the slope slipping state judging module is connected with the electric automobile state and driving motor state collecting module and used for judging whether the electric automobile is in a forward gear slope slipping state or a reverse gear slope slipping state according to the electric automobile state signal and the driving motor state signal;
the slope-stopping control module is connected with the slope-sliding state judgment module and used for adjusting a slope-stopping control instruction sent to the motor controller in real time according to the slope-sliding state of the electric automobile and a state signal of the driving motor, so that the electric automobile is in the slope-stopping state and shakes at intervals in a circulating mode to remind a driver of activating other slope-stopping devices in time;
the non-slope-parking auxiliary braking control module is connected with the slope parking control module and used for calculating a target torque sent to the motor controller in real time according to a preset auxiliary braking torque curve according to a slope sliding state of the electric automobile and a driving motor state signal and enabling the electric automobile to avoid fast slope sliding due to the existence of auxiliary braking torque in the slope sliding process;
and the control instruction output module is connected with the non-hill-holding auxiliary brake control module and is used for sending the hill-holding instruction, the hill-holding cancelling instruction and the motor controller target torque instruction to the motor controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010150799.8A CN111251905A (en) | 2020-03-06 | 2020-03-06 | Method and device for realizing slope control of electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010150799.8A CN111251905A (en) | 2020-03-06 | 2020-03-06 | Method and device for realizing slope control of electric automobile |
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| CN111251905A true CN111251905A (en) | 2020-06-09 |
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| CN202010150799.8A Withdrawn CN111251905A (en) | 2020-03-06 | 2020-03-06 | Method and device for realizing slope control of electric automobile |
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| CN (1) | CN111251905A (en) |
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| CN111890949A (en) * | 2020-07-23 | 2020-11-06 | 奇瑞商用车（安徽）有限公司 | New energy automobile slope-sliding prevention control method |
| CN113829895A (en) * | 2021-11-10 | 2021-12-24 | 浙江奥思伟尔电动科技有限公司 | Gear control method for electric automobile |
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