CN111645534B - Slope-sliding-prevention control method and control system for pure electric vehicle - Google Patents
Slope-sliding-prevention control method and control system for pure electric vehicle Download PDFInfo
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- CN111645534B CN111645534B CN202010394069.2A CN202010394069A CN111645534B CN 111645534 B CN111645534 B CN 111645534B CN 202010394069 A CN202010394069 A CN 202010394069A CN 111645534 B CN111645534 B CN 111645534B
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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
- B60L2240/10—Vehicle control parameters
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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 discloses a slope slipping prevention control method and a control system for a pure electric vehicle, wherein the slope slipping prevention control method for the pure electric vehicle comprises the following steps: s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss; s2: and acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method, so that different control methods can be adopted when power is lost due to vehicle starting stage, accelerator pedal release by a driver, pedal failure and vehicle failure, and potential safety hazards caused by vehicle backward slip are prevented.
Description
Technical Field
The invention relates to the technical field of automobile backward slip prevention control, in particular to a slope slip prevention control method and a slope slip prevention control system for a pure electric automobile.
Background
At present, with the rapid development of society and the rapid progress of science and technology, the whole society has greater and greater requirements on energy and higher attention on environment, new energy technology is pushed, and the trend is great, so that the development of the traditional automobile faces huge challenges, and meanwhile, new energy automobiles, particularly pure electric automobiles, are great opportunities for development. At present, electric vehicles, especially pure electric vehicles, are good for automobile manufacturers and consumers and become a hotspot for automobile development, so that higher requirements on the perfection degree, safety, reliability and the like of functions are provided.
Considering the cost of the whole pure electric vehicle, the vehicle is rarely provided with a gradient sensor, so that the gradient of the ramp cannot be accurately judged. When the vehicle starts on a slope, under the condition of no slope assistance, the vehicle can slide backwards to different degrees in the process from the step of leaving the brake pedal to the step of stepping on the accelerator pedal, and safety accidents (particularly novice drivers) are easily caused. In the process of vehicle climbing, if the driver loosens an accelerator pedal, the pedal fails to cause insufficient pedal input and the whole vehicle fails to cause power loss, the vehicle also needs to prevent backward sliding in consideration of safety, so that the safety of the driver and passengers is protected, and safety accidents are avoided. Meanwhile, in order to better interact with the ADAS and realize automatic driving, the vehicle needs to be prevented from rolling backwards.
Disclosure of Invention
The invention aims to solve the problems that in the process of climbing a vehicle in the prior art, pedal input is insufficient due to the fact that a driver looses an accelerator pedal and a pedal fault occurs, and the vehicle cannot be effectively prevented from slipping backwards when power is lost due to a whole vehicle fault. The invention provides a slope slipping prevention control method for a pure electric vehicle, which can adopt different control methods aiming at insufficient pedal input caused by pedal failure when a driver looses an accelerator pedal and power is lost due to vehicle failure, and prevent potential safety hazards caused by vehicle slipping backward.
In order to solve the technical problem, the embodiment of the invention discloses an electric automobile slope slipping prevention control method, which comprises the following steps: s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss;
s2: acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method;
if in step S1, when the special condition is vehicle start, the obtained operation parameters are: a gear signal of the vehicle, a brake pedal opening degree signal, an accelerator pedal opening degree signal, and the control method in step S2 is:
if the accelerator opening signal is smaller than the minimum threshold value of the accelerator opening signal within the preset time length, controlling the automatic parking mode of the vehicle to be maintained, and exiting the automatic parking mode when the accelerator opening signal is larger than the minimum threshold value of the accelerator opening signal;
if in step S1, it is obtained that the special condition is insufficient pedal input, the obtained operation parameters are: an accelerator pedal opening degree signal, a brake pedal opening degree signal, a vehicle speed, a motor output torque, a motor rotation direction, a gear position signal, a gradient signal of the vehicle, and the control method in step S2 is:
when the accelerator pedal opening signal is smaller than the minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than the minimum threshold of the vehicle speed, the vehicle enters a crawling mode: wherein
If the gradient signal is smaller than the minimum threshold value of the gradient signal, controlling the rotation direction of the motor to be consistent with the gear signal;
if the gradient signal is greater than the maximum threshold value of the gradient signal, controlling the rotation direction of the motor to be opposite to the gear signal, outputting the torque by the motor, and adjusting the output torque of the motor by a torque controller;
if in step S1, when the special condition is power loss, the obtained operation parameters are: a gear signal of the vehicle, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a vehicle fault state, and the control method in the step S2 is as follows:
starting an i-boost system and/or a vacuum pump of the vehicle to work to generate the master cylinder pressure; or
And starting an electronic parking brake system of the vehicle, and switching the gear signal to the P gear.
By adopting the technical scheme, the invention provides the anti-slope-slipping control method for the pure electric vehicle, which can adopt different control methods aiming at the problems that the pedal input is insufficient due to the fact that a driver looses an accelerator pedal and the pedal fails, and the power is lost due to the failure of the whole vehicle, so that the potential safety hazard caused by backward slipping of the vehicle is prevented.
According to another specific embodiment of the invention, when the acquired gear signal of the vehicle is changed from the parking gear to the driving gear or the reverse gear, the pure electric vehicle anti-slope-slipping control method disclosed by the other specific embodiment of the invention judges that the special working condition is vehicle starting.
According to another specific embodiment of the invention, in the anti-slope-slipping control method for the pure electric vehicle disclosed by the another specific embodiment of the invention, when the obtained accelerator pedal opening signal of the vehicle is zero or the corresponding torque of the accelerator pedal corresponding to the accelerator pedal opening signal cannot balance the gravity component torque or the accelerator pedal fault, it is determined that the pedal input is insufficient under the special working condition.
According to another specific embodiment of the invention, the pure electric vehicle anti-creep control method disclosed by another specific embodiment of the invention is characterized in that when the special working condition of the vehicle is insufficient pedal input, if the time for adjusting the output torque of the motor through the torque controller exceeds a calibration time period, an electronic parking brake system of the vehicle is started, and a gear signal is switched to a P gear; wherein the calibration time length is not more than 120 seconds.
According to another specific embodiment of the invention, in the pure electric vehicle anti-slope-slipping control method disclosed by another specific embodiment of the invention, when the obtained motor working state of the vehicle is a motor shutdown state or a complete vehicle fault state, it is determined that the special working condition is power loss.
The invention also provides a slope slipping prevention control system of the pure electric vehicle, which comprises the following components: the vehicle parameter acquisition module and the controller are in communication connection; wherein
The vehicle parameter acquisition module acquires the operating parameters of the vehicle and sends the operating parameters to the controller;
the controller receives the running parameters of the vehicle, judges the special working conditions of the vehicle and executes a corresponding control method according to the special working conditions, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss.
According to another specific embodiment of the present invention, in the pure electric vehicle anti-creep control system disclosed in another specific embodiment of the present invention, if the vehicle working condition is vehicle start, the operation parameter signal acquired by the vehicle parameter acquisition module is: a gear signal, a brake pedal opening signal and an accelerator pedal opening signal; the control method executed by the controller comprises the following steps:
the controller controls the automatic parking mode of the vehicle to be maintained if the brake pedal opening signal is less than a minimum threshold value of the brake pedal opening signal for a preset period of time, and controls the vehicle to exit the automatic parking mode when the accelerator pedal opening signal is greater than the minimum threshold value of the accelerator pedal opening signal.
According to another specific embodiment of the present invention, in the pure electric vehicle anti-creep control system disclosed in another specific embodiment of the present invention, if the vehicle operating condition is insufficient pedal input, the operating parameter signal acquired by the vehicle parameter acquiring module is: an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor rotation direction and a gear signal; the control method executed by the controller comprises the following steps:
when the accelerator pedal opening signal is smaller than the minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than the minimum threshold of the vehicle speed, the vehicle enters a crawling mode: wherein
If the gradient signal is smaller than the minimum threshold value of the gradient signal, the controller controls the rotation direction of the motor to be consistent with the gear signal;
if the gradient signal is greater than the maximum threshold value of the gradient signal, the controller controls the rotation direction of the motor to be opposite to the gear signal, the motor outputs torque, and the torque controller is controlled to be activated to adjust the output torque of the motor;
if the time for controlling and activating the torque controller by the controller exceeds the standard time length, the controller controls the electronic parking brake system to clamp and controls the gear signal to be switched to the P gear; the calibration time is not more than 120 s.
According to another specific embodiment of the present invention, in the pure electric vehicle anti-creep control system disclosed in another specific embodiment of the present invention, if the vehicle operating condition is power loss, the operating parameter signal acquired by the vehicle parameter acquiring module is: the control system comprises a gear signal, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a vehicle fault state; the control method executed by the controller comprises the following steps:
the controller starts a telemechanical brake system and/or a vacuum brake servo system of the vehicle; or
The controller starts the i-boost system/vacuum pump of the vehicle to work, generates the master cylinder pressure,
or starting an electronic parking brake system of the vehicle and switching the gear signal to the P gear.
According to another embodiment of the invention, the controller is an on-board controller of the vehicle, and the on-board controller controls the gear, the motor, the i-boost system, the vacuum pump and the electronic parking brake system of the vehicle through the CAN bus.
By adopting the technical scheme, the invention provides the slope slipping prevention control system for the pure electric vehicle, which can adopt different control methods aiming at the problems that the pedal input is insufficient due to the fact that a driver looses an accelerator pedal and the pedal fails, and the power is lost due to the failure of the whole vehicle, so that the potential safety hazard caused by backward slipping of the vehicle is prevented.
The invention has the beneficial effects that:
the invention provides a slope slipping prevention control method for a pure electric vehicle, which comprises the following steps: s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss; s2: and acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method, so that different control methods can be adopted when power is lost due to vehicle starting stage, accelerator pedal release by a driver, pedal failure and vehicle failure, and potential safety hazards caused by vehicle backward slip are prevented.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling a pure electric vehicle to slide away in an anti-slope manner according to embodiment 1 of the present invention;
fig. 2 is a schematic circuit structure diagram of a pure electric vehicle anti-creep control system provided in embodiment 2 of the present invention.
Description of reference numerals:
100. a vehicle parameter acquisition module; 200. a controller; 300. a torque controller; 400. an electronic parking brake system; 500. i-boost system; 600. a vacuum pump.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
In order to solve the problems that in the process of vehicle climbing in the prior art, if a driver looses an accelerator pedal, pedal failure causes insufficient pedal input, and power loss due to vehicle failure cannot effectively prevent the vehicle from sliding backwards, as shown in fig. 1, an embodiment of the embodiment discloses a slope slipping prevention control method for a pure electric vehicle, which comprises the following steps:
s1: the method comprises the steps of obtaining running parameters of a vehicle and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss.
Specifically, the method for judging the special working condition of the vehicle comprises the following steps: the judgment basis for vehicle starting is as follows: when the acquired gear signals of the vehicle are changed from the parking gear to the driving gear or the reversing gear, the special working condition is judged to be vehicle starting.
Judging the special working condition of the vehicle as follows: when the opening degree of the accelerator pedal is zero, or the gravity partial moment cannot be balanced by the accelerator pedal corresponding to the accelerator pedal opening degree signal or the accelerator pedal is in fault, judging that the pedal input is insufficient under the special working condition. It should be understood that, in the embodiment, when the pedal input is insufficient, the torque controller is required to adjust the output torque of the motor to prevent the backward slip. And, in order to protect the motor, the calibration time is not more than 120 seconds in the embodiment, and if the time for adjusting the output torque of the motor through the torque controller exceeds the calibration time (120 seconds), the electronic parking brake system of the vehicle is started to clamp to realize the back slip prevention, and the gear signal is switched to the P gear.
The method for judging the special working condition of the vehicle as power loss comprises the following steps: the working state of the motor of the vehicle is the motor shutdown state or the complete vehicle fault state, and the special working condition is judged to be power loss.
It should be understood that the operating parameters of the vehicle in the present embodiment include all parameters related to the judgment basis according to each specific operating condition, and refer to the following related descriptions specifically, which are not repeated herein.
S2: the corresponding operating parameters are obtained according to the special working conditions, and the corresponding control method is executed, and specific examples of how to execute the corresponding control method according to each special working condition are as follows:
a: for the case that the special working condition is vehicle starting:
a1: the obtained operating parameters are: a gear signal, a brake pedal opening degree signal and an accelerator pedal opening degree signal of the vehicle;
a2: the control method comprises the following steps: if the accelerator opening signal is within a preset time period (which may be not more than 120 seconds in the present embodiment) and is less than a minimum threshold value of the accelerator opening signal (which may be 5% of the total stroke of the accelerator opening signal in the present embodiment), the automatic parking mode of the vehicle is controlled to be maintained, and the automatic parking mode is exited when the accelerator opening signal is greater than the minimum threshold value of the accelerator opening signal (which may be 5% of the total stroke of the accelerator opening signal in the present embodiment).
B: for the special condition that the pedal input is insufficient (namely, the vehicle cannot be kept consistent with the current gear so as to keep the vehicle in a static state):
b1: the obtained operating parameters are: an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor rotation direction, a gear signal and a gradient signal of the vehicle;
b2: the control method comprises the following steps:
when the accelerator opening signal is smaller than a minimum threshold (5%) of the accelerator opening signal, or a response torque corresponding to the accelerator opening signal is insufficient to balance the vehicle gravity component moment, and the accelerator opening is smaller than the response threshold (5%), or a torque requested under the current accelerator opening signal is smaller than a component of gravity in a ramp direction, or the accelerator opening signal fails and the vehicle speed is smaller than a vehicle speed minimum threshold (in the embodiment, the vehicle speed minimum threshold may be not greater than 15 km/h), the vehicle enters a creep mode: if the gradient signal is smaller than the minimum threshold value of the gradient signal, controlling the rotation direction of the motor to be consistent with the gear signal; if the gradient signal is larger than the maximum threshold value of the gradient signal, the rotation direction of the motor is controlled to be opposite to the gear signal, the motor outputs torque, and the torque controller is used for adjusting the output torque of the motor so as to prevent the vehicle from sliding backwards.
C: for the case that the special working condition is power loss:
c1: the obtained operating parameters are: a gear signal, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a storage battery state of the vehicle;
c2: the control method comprises the following steps:
starting an i-boost system (intelligent brake system) and/or a vacuum pump of the vehicle to request a master cylinder pressure to provide braking force; or starting an electronic parking braking system of the vehicle and switching the gear signal to the P gear, thereby realizing the back slip prevention of the vehicle.
In summary, the embodiment provides a pure electric vehicle anti-creep control method, which may first determine a special operating condition of a vehicle according to an operating parameter of the vehicle, so as to execute different control methods after obtaining different operating parameters based on various different special operating conditions, thereby implementing that different control methods may be adopted for a vehicle starting stage, a pedal input deficiency, and a vehicle failure resulting in a power loss, and preventing a potential safety hazard caused by vehicle creep.
Example 2
As shown in fig. 2, the present embodiment further provides a pure electric vehicle anti-creep control system, including: a vehicle parameter acquisition module 100 and a controller 200 in communication connection; the vehicle parameter acquiring module 100 acquires the operating parameters of the vehicle and sends the operating parameters to the controller 200; the controller 200 receives the operating parameters of the vehicle, determines the special working conditions of the vehicle, including vehicle start, insufficient pedal input and power loss, and executes the corresponding control method according to the special working conditions.
Specifically, the method for the controller 200 to determine the special working condition of the vehicle includes: the judgment basis for vehicle starting is as follows: when the vehicle parameter acquiring module 100 acquires that the gear signal of the vehicle is changed from the parking gear to the driving gear or the reverse gear, it is determined that the special working condition is vehicle starting. Therefore, it should be understood that, in this case, the vehicle parameter acquiring module 100 at least includes a gear signal acquiring function, such as a gear sensor, also called a gear switch sensor, which is generally equipped in an automatic transmission type and is used for detecting a gear signal. The gear position sensor can be of the type: 0B5927321L, other models may also be used, which is specifically selected according to actual needs, and this embodiment is not specifically limited in this respect.
More specifically, the controller 200 determines that the vehicle is in the special operating condition: when the vehicle parameter obtaining module 100 obtains that an accelerator pedal opening signal of the vehicle is zero, or a corresponding torque of an accelerator pedal corresponding to the accelerator pedal opening signal cannot balance a gravity component torque or the accelerator pedal is in a fault, it is determined that the pedal input is insufficient under the special working condition. It should be understood that in the present embodiment, when the pedal input is insufficient, the controller 200 needs to adjust the output torque of the motor through the torque controller 300 to prevent the backward slip. And, in order to protect the motor, the calibration time is not more than 120 seconds in the present embodiment, if the time for adjusting the output torque of the motor by the torque controller 300 exceeds the calibration time (120 seconds), the electronic parking brake system 400 of the vehicle is actuated to clamp to realize the back slip prevention, and the shift signal is switched to the P shift.
Thus, it should be understood that in this case, the vehicle parameter acquisition module 100 includes at least a brake pedal signal and an accelerator pedal signal acquisition function, such as a brake pedal displacement sensor and an accelerator pedal displacement sensor. The brake pedal displacement sensor may be of the type: the BRAKE PEDAL SENSOR may also be of other types, which are specifically selected according to actual needs, and this embodiment is not specifically limited to this. The accelerator pedal displacement sensor may be of the type: FBA06 may be of other types, which is specifically selected according to actual needs, and this embodiment is not specifically limited to this.
Further, the torque controller 300 and the electronic parking brake system 400 are system components of the vehicle, and therefore, the present embodiment is not limited to be explained in an excessive way.
More specifically, the method for the controller 200 to determine that the special working condition of the vehicle is power loss includes: the motor working state of the vehicle is motor shutdown, or the fault state of the whole vehicle is abnormal power supply, and the special working condition is judged to be power loss. Thus, it should be understood that the vehicle parameter acquisition module 100 at this time includes at least a motor information and battery information acquisition function, such as a motor detection sensor and a battery level detection sensor. The detection sensors are all detection components commonly used in the prior art, so the specific types thereof are all selected according to actual needs, and this embodiment is not specifically limited thereto.
It should be understood that the operating parameters of the vehicle in the present embodiment include all parameters related to the judgment basis according to each specific operating condition, and refer to the following related descriptions specifically, which are not repeated herein.
Further, the controller 200 obtains corresponding operating parameters according to the special conditions and executes a corresponding control method, and specific examples of how the controller 200 executes the corresponding control method according to each special condition are as follows:
a: for the case that the special working condition is vehicle starting:
a1: the operating parameters acquired by the vehicle parameter acquisition module 100 are: a gear signal, a brake pedal opening degree signal and an accelerator pedal opening degree signal of the vehicle;
a2: the control method of the controller 200 is as follows: the controller 200 controls the automatic parking mode of the vehicle to be maintained if the accelerator opening signal acquired by the vehicle parameter acquisition module 100 is less than a minimum threshold value (5% of the total stroke of the accelerator opening signal in the present embodiment) of the accelerator opening signal for a preset period (the preset period may be not more than 120 seconds in the present embodiment), and exits the automatic parking mode when the accelerator opening signal is greater than the minimum threshold value (5% of the total stroke of the accelerator opening signal in the present embodiment) of the accelerator opening signal.
B: for the special operating condition, the pedal input is insufficient:
b1: the operating parameters acquired by the vehicle parameter acquisition module 100 are: an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor rotation direction, a gear signal and a gradient signal of the vehicle;
b2: the control method of the controller 200 is as follows:
when the accelerator opening signal acquired by the vehicle parameter acquiring module 100 is less than a minimum threshold (5%) of the accelerator opening signal, or a response torque corresponding to the accelerator opening signal is not enough to balance a vehicle gravity component moment, and the accelerator opening is less than the response threshold (5%), or a torque requested under the current accelerator opening signal is less than a component of gravity along a ramp direction, or the accelerator opening signal fails, and the vehicle speed acquired by the vehicle parameter acquiring module 100 is less than a vehicle speed minimum threshold (in this embodiment, the vehicle speed minimum threshold may be not greater than 15 km per hour), the vehicle enters a creep mode: if the gradient signal acquired by the vehicle parameter acquisition module 100 is smaller than the minimum threshold of the gradient signal, controlling the rotation direction of the motor to be consistent with the gear signal; if the gradient signal acquired by the vehicle parameter acquisition module 100 is greater than the maximum threshold of the gradient signal, the controller 200 controls the rotation direction of the motor to be opposite to the gear signal, the motor outputs torque, and the torque controller 300 adjusts the motor output torque to prevent the vehicle from slipping backwards.
Thus, it should be understood that the vehicle parameter acquisition module 100 now includes at least a grade information acquisition function, such as a grade sensor. The detection sensors are all detection components commonly used in the prior art, so the specific types thereof are all selected according to actual needs, and this embodiment is not specifically limited thereto.
C: for the case that the special working condition is power loss:
c1: the operating parameters acquired by the vehicle parameter acquisition module 100 are: a gear signal, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a storage battery state of the vehicle;
c2: the control method of the controller 200 is as follows:
the controller 200 activates an i-boost system 500 (smart brake system) of the vehicle and/or a vacuum pump 600 to operate to request a master cylinder pressure to provide a braking force; or, the electronic parking brake system 400 of the vehicle is started and the shift signal is switched to the P-range, thereby realizing the back-slip prevention of the vehicle. It should be understood that, under such a condition, in order to prevent the vehicle from rolling backwards, only one of the i-boost system 500 and the vacuum pump 600 may be activated, or may be activated simultaneously, which is specifically selected according to actual needs, and this embodiment is not particularly limited thereto.
Further, the i-boost system and the vacuum pump 600 are the system components of the vehicle, and therefore, the present embodiment is not limited to the above-mentioned explanation.
In addition, it should be understood that the controller 200 in the present embodiment is an onboard controller of the vehicle itself, and the onboard controller controls the gear, the motor, the i-boost system, the vacuum pump 600, and the electronic parking brake system 400 of the vehicle through the CAN bus. The working principle of the i-boost system is briefly described as follows: the i-boost system senses the force and speed of a driver for stepping on the brake by using a brake pedal sensor, processes the force signal and the speed signal and then transmits the processed force signal and speed signal to a brake motor of the i-boost system, and pushes the brake motor to work under the driving of an electromechanical amplification mechanism of the i-boost system, so that the electric control brake is realized.
In summary, the embodiment provides an anti-slope-slipping control system for an electric vehicle, which can adopt different control methods to prevent potential safety hazards caused by backward slipping of the vehicle when the vehicle starts, the driver releases an accelerator pedal, the pedal fails to input the pedal, and the power is lost due to the failure of the whole vehicle.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (7)
1. A pure electric vehicle anti-slope-slipping control method is characterized by comprising the following steps:
s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss;
s2: executing a corresponding control method according to the special working condition;
wherein
If in step S1, when the special condition is that the vehicle starts, the obtained operation parameters are: a gear signal, a brake pedal opening degree signal, an accelerator pedal opening degree signal of the vehicle, and the control method in the step S2 is:
if the accelerator opening signal is smaller than the minimum threshold value of the accelerator opening signal within a preset time period, controlling the automatic parking mode of the vehicle to be maintained, and exiting the automatic parking mode when the accelerator opening signal is larger than the minimum threshold value of the accelerator opening signal;
if in step S1, when the special condition is that the pedal input is insufficient, the obtained operation parameters are: an accelerator pedal opening degree signal, a brake pedal opening degree signal, a vehicle speed, a motor output torque, a motor rotation direction, the gear signal, a gradient signal of the vehicle, and the control method in the step S2 is:
when the accelerator pedal opening signal is smaller than a minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than a vehicle speed minimum threshold, the vehicle enters a creep mode: wherein
If the gradient signal is smaller than the minimum threshold value of the gradient signal, controlling the rotation direction of the motor to be consistent with the gear signal;
if the gradient signal is larger than the maximum threshold value of the gradient signal, controlling the rotation direction of the motor to be opposite to the gear signal, outputting the torque by the motor, and adjusting the output torque of the motor through a torque controller;
if in step S1, when it is obtained that the special operating condition is the power loss, the obtained operating parameters are: a gear signal of the vehicle, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state, and a vehicle fault state, and the control method in step S2 is:
starting an intelligent braking system or a vacuum pump of the vehicle to work to generate the pressure of a brake master cylinder; or
And starting an electronic parking brake system of the vehicle, and switching the gear signal to a P gear.
2. The pure electric vehicle anti-slope-slipping control method according to claim 1, wherein when the obtained gear signal of the vehicle is changed from a parking gear to a driving gear or a reverse gear, it is determined that the special working condition is vehicle starting.
3. The pure electric vehicle anti-slope-slipping control method according to claim 2, wherein when it is acquired that an accelerator pedal opening signal of the vehicle is zero, or an accelerator pedal response torque corresponding to the accelerator pedal opening signal cannot balance a gravity component moment or an accelerator pedal fault, it is determined that the pedal input is insufficient under the special working condition.
4. The pure electric vehicle anti-slope-slipping control method according to claim 3, wherein when the fact that the pedal input is insufficient under the special working condition of the vehicle is obtained, if the time for adjusting the output torque of the motor through the torque controller exceeds a calibrated time period, an electronic parking brake system of the vehicle is started, and the gear signal is switched to a P gear; wherein
The calibration time is not more than 120 seconds.
5. The pure electric vehicle anti-slope-slipping control method according to claim 1, wherein when the motor working state of the vehicle is obtained as a motor shutdown state or a complete vehicle fault state, it is determined that the special working condition is power loss.
6. The utility model provides a pure electric vehicles prevents swift current slope control system which characterized in that includes: the vehicle parameter acquisition module and the controller are in communication connection; wherein
The vehicle parameter acquisition module acquires the running parameters of the vehicle and sends the running parameters to the controller;
the controller receives the running parameters of the vehicle, judges the special working conditions of the vehicle, and executes a corresponding control method according to the special working conditions, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss; wherein the content of the first and second substances,
if the vehicle working condition is that the vehicle starts, the operation parameter signal acquired by the vehicle parameter acquisition module is as follows: a gear signal, a brake pedal opening signal and an accelerator pedal opening signal; the control method executed by the controller is as follows:
the controller controls the automatic parking mode of the vehicle to be maintained if the accelerator opening signal is less than the minimum threshold value of the accelerator opening signal within a preset time period, and controls the vehicle to exit the automatic parking mode when the accelerator opening signal is greater than the minimum threshold value of the accelerator opening signal;
if the vehicle working condition is that the pedal input is insufficient, the operating parameter signal acquired by the vehicle parameter acquisition module is as follows: an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor rotation direction, a gear signal and a gradient signal; the control method executed by the controller is as follows:
when the accelerator pedal opening signal is smaller than a minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than a minimum threshold of the vehicle speed, the vehicle enters a crawling mode: wherein
If the gradient signal is smaller than the minimum threshold value of the gradient signal, the controller controls the rotation direction of the motor to be consistent with the gear signal;
if the gradient signal is larger than the maximum gradient signal threshold value, the controller controls the motor to rotate in the direction opposite to the gear signal, the motor outputs torque, and the torque controller is controlled to be activated to adjust the output torque of the motor;
if the time for controlling and activating the torque controller by the controller exceeds the standard time length, the controller controls the electronic parking brake system to clamp and controls the gear signal to be switched to the P gear; the calibration time length is not more than 120 s;
if the vehicle working condition is that the power is lost, the operation parameter signal obtained by the vehicle parameter obtaining module is: the control system comprises a gear signal, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a vehicle fault state; the control method executed by the controller is as follows:
the controller starts the intelligent brake system/vacuum pump of the vehicle to work, generates the pressure of the brake master cylinder, or
And starting an electronic parking brake system of the vehicle, and switching the gear signal into a P gear.
7. The pure electric vehicle anti-creep control system according to claim 6, wherein the controller is an on-board controller of the vehicle, and the on-board controller controls the gear, the motor, the intelligent brake system, the vacuum pump and the electronic parking brake system of the vehicle through a CAN bus.
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