CN112060906B - Single-pedal driving control method and device and vehicle - Google Patents

Single-pedal driving control method and device and vehicle Download PDF

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Publication number
CN112060906B
CN112060906B CN202010935776.8A CN202010935776A CN112060906B CN 112060906 B CN112060906 B CN 112060906B CN 202010935776 A CN202010935776 A CN 202010935776A CN 112060906 B CN112060906 B CN 112060906B
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China
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torque
braking
vehicle
pedal
preset value
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CN112060906A (en
Inventor
陶喆
范鹏
魏曦
朱心放
刘海珍
张彦朝
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Nasn Automotive Electronics Co Ltd
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Nasn Automotive Electronics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to accident or emergency, e.g. deceleration, tilt of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/06—Disposition of pedal

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a single-pedal driving control method, which comprises the following steps: acquiring the opening degree of a single pedal; judging whether the opening degree of the single pedal is greater than or equal to a first preset value or not; if the opening degree of the single pedal is larger than or equal to a first preset value, the vehicle is in a driving mode, driving torque is output according to the opening degree of the single pedal, and the vehicle is driven according to the driving torque; if the opening degree of the single pedal is smaller than a first preset value, the vehicle is in a braking mode, braking demand torque is output according to the opening degree of the single pedal, and the vehicle is braked according to the braking demand torque, so that the single pedal can be used for driving and parking, fatigue caused by frequent replacement of pedals for treading is avoided, driving danger is avoided, long-time parking can be realized, and the smoothness of the driving-parking process and the smoothness of starting during parking are ensured. The invention also discloses a single-pedal driving control device and a vehicle.

Description

Single-pedal driving control method and device and vehicle
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a single-pedal driving control method and device and a vehicle.
Background
At present, in most automobiles, an accelerator pedal and a brake pedal are arranged separately, when a driver needs to brake, the driver treads the brake pedal, and when the driver needs to drive the automobile, the driver treads the accelerator pedal. If the road condition is complicated, the driver's right foot is needed to frequently step on the brake pedal and the accelerator pedal, so that the driver is easy to fatigue, and if the judgment is made mistakenly, the driver may step on the wrong pedal, for example, the accelerator pedal is used as the brake pedal, so that the driving danger can occur.
Disclosure of Invention
The invention provides a single-pedal driving control method, a single-pedal driving control device and a vehicle, which can realize driving and parking with a single pedal and avoid driving danger caused by fatigue caused by frequently interchanging and pedaling pedals.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a single pedal driving control method, including the following steps:
acquiring the opening degree of a single pedal;
judging whether the opening degree of the single pedal is greater than or equal to a first preset value or not;
if the opening degree of the single pedal is larger than or equal to a first preset value, the vehicle is in a driving mode, driving torque is output according to the opening degree of the single pedal, and the vehicle is driven according to the driving torque;
and if the opening degree of the single pedal is smaller than a first preset value, the vehicle is in a braking mode, braking demand torque is output according to the opening degree of the single pedal, and the vehicle is braked according to the braking demand torque.
According to the single-pedal driving control method provided by the embodiment of the invention, firstly, the opening degree of a single pedal is obtained, if the opening degree of the single pedal is greater than or equal to a first preset value, a vehicle is in a driving mode, a driving torque is output according to the opening degree of the single pedal, and the vehicle is driven according to the driving torque; if the opening degree of the single pedal is smaller than a first preset value, the vehicle is in a braking mode, braking demand torque is output according to the opening degree of the single pedal, and the vehicle is braked according to the braking demand torque, so that the vehicle can be driven and parked by the single pedal, and the driving danger caused by fatigue due to frequent pedal exchange and treading is avoided.
Optionally, the braking demand torque includes an electric braking recovery torque and a hydraulic braking torque;
the braking of the vehicle according to the braking demand torque includes:
and braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque.
Optionally, the braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque comprises:
acquiring the speed of the vehicle and the maximum electric brake recovery torque of the whole vehicle;
judging whether the vehicle speed is greater than or equal to a second preset value;
judging whether the braking demand torque is larger than the maximum electric braking recovery torque of the whole vehicle;
if the vehicle speed is greater than or equal to a second preset value and the braking demand torque is smaller than the maximum electric braking recovery torque of the whole vehicle, taking the electric braking recovery torque as the braking demand torque;
if the speed is greater than or equal to a second preset value and the braking demand torque is greater than the maximum braking recovery torque of the whole vehicle, taking the sum of the maximum braking recovery torque of the whole vehicle and the hydraulic braking torque as the braking demand torque;
and if the vehicle speed is less than the second preset value, taking the hydraulic braking torque as the braking demand torque.
Optionally, the braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque comprises:
if the vehicle speed is greater than or equal to the second preset value, when the vehicle speed is reduced to the second preset value, the electric brake recovery torque begins to attenuate, and the hydraulic brake torque begins to increase, wherein the sum of the electric brake recovery torque and the hydraulic brake torque is a brake demand torque;
and simultaneously judging whether the vehicle speed is less than or equal to a third preset value; when the vehicle speed is reduced to the third preset value, the electric brake recovery torque is attenuated to be zero, the brake demand torque is equal to the hydraulic brake torque, and the third preset value is smaller than the second preset value and is not zero.
Optionally, the single-pedal driving control method further includes:
judging whether the vehicle is in a parking state or not;
and if the vehicle is in a parking state, taking the maximum value between a first braking torque and a second braking torque as a braking demand torque, wherein the first braking torque is obtained according to the current single-pedal opening degree, and the second braking torque is calibrated according to the size of a ramp where the vehicle is located.
Optionally, the single-pedal driving control method further includes:
judging whether the vehicle is in a vehicle sliding state or not;
and if the vehicle is in a slipping state, actively increasing the pressure build-up pressure, wherein the brake torque corresponding to the pressure build-up pressure is larger than the maximum value between the first brake torque and the second brake torque.
Optionally, the single-pedal driving control method further includes:
if the vehicle is in a parking state, judging whether the parking time is greater than or equal to the preset time;
and if the parking time is greater than or equal to the preset time, the whole vehicle requests the electronic parking brake system to take over.
In order to achieve the above object, a second aspect of the present invention provides a single-pedal driving control device, including:
the single-pedal opening obtaining module is used for obtaining the opening of a single pedal;
the first judgment module is used for judging whether the opening degree of the single pedal is greater than or equal to a first preset value or not;
the driving module is used for enabling the vehicle to be in a driving mode if the opening degree of the single pedal is larger than or equal to a first preset value, outputting driving torque according to the opening degree of the single pedal, and driving the vehicle according to the driving torque;
and the braking module is used for enabling the vehicle to be in a braking mode if the opening degree of the single pedal is smaller than a first preset value, outputting braking demand torque according to the opening degree of the single pedal, and braking the vehicle according to the braking demand torque.
According to the single-pedal driving control device provided by the embodiment of the invention, whether the opening degree of a single pedal is larger than or equal to a first preset value or not is judged through a first judgment module, and a driving module is used for enabling a vehicle to be in a driving mode if the opening degree of the single pedal is larger than or equal to the first preset value, outputting a driving torque according to the opening degree of the single pedal, and driving the vehicle according to the driving torque; the braking module is used for enabling the vehicle to be in a braking mode if the opening degree of the single pedal is smaller than a first preset value, outputting braking demand torque according to the opening degree of the single pedal, and braking the vehicle according to the braking demand torque. Therefore, the driving and parking can be carried out by a single pedal, and the driving danger caused by fatigue caused by frequent replacement and treading of the pedal is avoided.
Optionally, the braking demand torque includes an electric braking recovery torque and a hydraulic braking torque;
the brake module includes:
and the braking submodule is used for braking the vehicle according to the electric braking recovery torque and the hydraulic braking torque.
Optionally, the single-pedal driving control device further includes:
the vehicle speed acquisition module is used for acquiring the vehicle speed of the vehicle;
the first acquisition module is used for acquiring the maximum electric braking recovery torque of the whole vehicle;
the second judgment module is used for judging whether the vehicle speed is greater than or equal to a second preset value;
the third judgment module is used for judging whether the braking demand torque is larger than the maximum electric braking recovery torque of the whole vehicle;
the first determining module is used for taking the electric braking recovery torque as the braking demand torque if the vehicle speed is greater than or equal to a second preset value and the braking demand torque is smaller than the maximum electric braking recovery torque of the whole vehicle;
the second determining module is used for taking the sum of the maximum braking recovery torque of the whole vehicle and the hydraulic braking torque as the braking demand torque if the vehicle speed is greater than or equal to a second preset value and the braking demand torque is greater than the maximum braking recovery torque of the whole vehicle;
and the sixth determining module is used for taking the hydraulic braking torque as the braking demand torque if the vehicle speed is less than the second preset value.
Optionally, the single-pedal driving control device further includes:
the third determining module is used for enabling the electric braking recovery torque to be attenuated and the hydraulic braking torque to be increased when the vehicle speed is reduced to the second preset value if the vehicle speed is larger than or equal to the second preset value, wherein the sum of the electric braking recovery torque and the hydraulic braking torque is braking demand torque;
the fourth judgment module is also used for judging whether the vehicle speed is less than or equal to a third preset value; when the vehicle speed is reduced to the third preset value, the electric braking recovery torque is attenuated to be zero, the braking demand torque is equal to the hydraulic braking torque, and the third preset value is smaller than the second preset value and is not zero.
Optionally, the single-pedal driving control device further includes:
the fifth judgment module is used for judging whether the vehicle is in a parking state or not;
and the fourth determination module is used for taking the maximum value between the first braking torque and the second braking torque as the braking demand torque if the vehicle is in a parking state, wherein the first braking torque is obtained according to the current single-pedal opening degree, and the second braking torque is calibrated according to the size of the current ramp where the vehicle is located.
Optionally, the single-pedal driving control device further includes:
the sixth judgment module is used for judging whether the vehicle is in a vehicle sliding state or not;
and the fifth determining module is used for actively increasing the pressure build-up pressure if the vehicle is in a rolling state, wherein the brake torque corresponding to the pressure build-up pressure is larger than the maximum value between the first brake torque and the second brake torque.
Optionally, the single-pedal driving control device further includes:
the seventh judging module is used for judging whether the parking time is more than or equal to the preset time or not if the vehicle is in the parking state;
and if the parking time is greater than or equal to the preset time, the whole vehicle requests the electronic parking brake system to take over.
In order to achieve the above object, a third aspect of the present invention provides a vehicle including the single-pedal travel control device as described above.
According to the vehicle provided by the embodiment of the invention, single-pedal driving and parking can be realized, and driving danger caused by fatigue caused by frequently interchanging and treading pedals is avoided.
Drawings
FIG. 1 is a flow chart of a method for controlling a single pedal vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a proposed single pedal drive control method according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling a single pedal vehicle according to another embodiment of the present invention;
FIG. 4 is a flow chart of a method of single pedal drive control according to yet another embodiment of the present invention;
FIG. 5 is a block diagram of a single pedal vehicle control device according to an embodiment of the present invention;
FIG. 6 is a block diagram of a single pedal vehicle motion control apparatus according to an embodiment of the present invention;
fig. 7 is a block diagram of a single pedal driving control device according to another embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a single-pedal driving control method according to an embodiment of the present invention. As shown in fig. 1, the single-pedal driving control method includes the following steps:
s101, acquiring the opening degree of a single pedal;
s102, judging whether the opening degree of a single pedal is larger than or equal to a first preset value or not;
s103, if the opening degree of the single pedal is larger than or equal to a first preset value, the vehicle is in a driving mode, driving torque is output according to the opening degree of the single pedal, and the vehicle is driven according to the driving torque;
and S104, if the opening degree of the single pedal is smaller than a first preset value, the vehicle is in a braking mode, braking demand torque is output according to the opening degree of the single pedal, and the vehicle is braked according to the braking demand torque.
The opening degree of the single pedal may be acquired from a VCU (vehicle control unit). The first preset value is preferably 30%.
It can be understood that, during driving, a driver steps on a single pedal, when the opening degree of the single pedal is greater than or equal to 30%, the vehicle is in a driving mode, a Micro Control Unit (MCU) acquires the opening degree of the single pedal from a VCU, outputs a driving torque according to the opening degree of the single pedal, and then drives the vehicle according to the driving torque; to cause the vehicle to travel.
When the vehicle starts, the electronic hydraulic braking system determines the parking pressure release time and gradient according to the driving torque so as to ensure the smoothness of the starting of the whole vehicle and the non-slip of the vehicle during hill starting.
That is to say, when the vehicle starts, drive driving torque slowly increases, and when drive driving torque increases to and approximately equals braking torque, the electro-hydraulic braking system releases parking pressure, can guarantee the ride comfort and the hill start of whole car start not swift current car.
When the opening degree of the single pedal is less than 30%, the vehicle is in a braking mode, an EHB (electro-hydraulic brake system) is started, a braking demand torque is output according to the opening degree of the single pedal, and the vehicle is braked according to the braking demand torque to stop the vehicle.
Therefore, single-pedal driving and parking can be achieved, the situation that the pedal is alternately trodden by a single foot to cause fatigue and driving danger is avoided.
Alternatively, as shown in fig. 2, the brake demand torque includes an electric brake recovery torque and a hydraulic brake torque;
in step S104, braking the vehicle according to the brake demand torque includes:
and S1041, braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque.
The electric braking recovery torque refers to that when a vehicle brakes, a battery of the vehicle can recover electric energy, the recovered electric energy corresponds to lost kinetic energy of the vehicle, the lost kinetic energy enables the vehicle to brake, and the torque of the first motor corresponding to the recovered electric energy is the electric braking recovery torque. The hydraulic braking torque refers to that when the vehicle brakes, the electronic hydraulic braking system outputs the hydraulic braking torque according to the opening degree of the single pedal, drives the second motor to push the hydraulic piston, outputs braking force and brakes the vehicle, and the torque for driving the second motor is the hydraulic braking torque.
It should be noted that electric brake recovery torque may be performed by the CAN communication request VCU and hydraulic brake torque may be performed by the electro-hydraulic brake system.
Optionally, the step S1041 of braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque includes:
s10411, obtaining the speed of the vehicle and the maximum electric brake recovery torque of the whole vehicle;
s10412, judging whether the vehicle speed is greater than or equal to a second preset value;
s10413, judging whether the braking demand torque is larger than the maximum electric braking recovery torque of the whole vehicle;
s10414, if the vehicle speed is greater than or equal to a second preset value and the braking demand torque is smaller than the maximum electric braking recovery torque of the whole vehicle, taking the electric braking recovery torque as the braking demand torque;
and S10415, if the vehicle speed is greater than or equal to a second preset value and the braking demand torque is greater than the maximum braking recovery torque of the whole vehicle, taking the sum of the maximum electric braking recovery torque and the hydraulic braking torque of the whole vehicle as the braking demand torque.
And S10425, if the vehicle speed is less than the second preset value, taking the hydraulic braking torque as the braking demand torque.
The maximum electric braking recovery torque of the whole vehicle is the torque of the first motor corresponding to the upper limit value of the recovery energy allowed by the whole vehicle in the current driving state, which is limited by the charging and discharging power of the battery and the power of the motor. The second preset value may be 25 kmph.
That is to say, when a medium and high vehicle speed, such as a vehicle speed, is greater than 25kmph, and a driver has a braking demand (it can be understood that the current driver releases the pedal), the electronic hydraulic braking system outputs a braking demand torque according to the current opening of the single pedal, if the braking demand torque is smaller than the maximum electric braking recovery torque of the whole vehicle, the braking demand torque is preferentially distributed to the electric braking recovery torque to brake the vehicle, and at this time, the braking demand torque of the driver is only the electric braking recovery torque, so that energy recovery is ensured, and the vehicle can be braked.
If the braking demand torque is larger than the maximum electric braking recovery torque of the whole vehicle, the braking demand torque required by the current driver is larger, the maximum electric braking recovery torque of the whole vehicle cannot meet the requirement of the driver, electric braking is carried out according to the maximum recovery capacity value of the first motor, and the rest second motor is used for boosting to supplement, namely the second motor is used for supplementing through hydraulic braking torque, so that the braking demand of the driver is met. At this time, the driver's braking demand torque is the sum of the maximum electric braking recovery torque and the hydraulic braking torque.
If the current vehicle speed is less than 25kmph, for example, 15kmph, and at this time, the driver has a braking demand, for example, the pedal is released, the braking demand torque obtained according to the single pedal opening degree is completely distributed to the electronic hydraulic braking system, and the hydraulic braking torque is the braking demand torque.
Optionally, the step S1041 of braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque includes:
s10416, if the vehicle speed is greater than or equal to a second preset value, when the vehicle speed is reduced to the second preset value, the electric braking recovery torque begins to attenuate, and the hydraulic braking torque begins to increase, wherein the sum of the electric braking recovery torque and the hydraulic braking torque is a braking demand torque;
s10417, and simultaneously judging whether the vehicle speed is less than or equal to a third preset value;
and S10418, when the vehicle speed is less than or equal to a third preset value, the electric braking recovery torque is attenuated to zero, and the braking demand torque is equal to the hydraulic braking torque, wherein the third preset value is less than the second preset value and is not zero.
It will be appreciated that during braking, after the vehicle speed has dropped to 25kmph, the electric brake recovery torque begins to decay and the hydraulic brake torque begins to increase in order to ensure smooth vehicle stopping.
For example, at medium and high vehicle speeds, such as vehicle speeds greater than 25kmph and 30kmph, where the driver has a braking demand and the braking demand torque is less than the maximum electric brake recovery torque, the vehicle is braked with the electric brake recovery torque equal to the braking demand torque, and after the vehicle speed is less than 25kmph, the electric brake recovery torque begins to decay, at which point the braking demand torque cannot be met, whereby the hydraulic braking torque begins to increase gradually from zero until the vehicle speed is less than 8kmph, the electric brake recovery torque decays to zero, and the braking demand torque equals the hydraulic braking torque.
Similarly, at medium and high vehicle speeds, such as vehicle speeds greater than 25kmph and 30kmph, where the driver has a braking demand and the braking demand torque is greater than the maximum electric brake recovery torque, braking is performed with the maximum electric brake recovery torque and the hydraulic braking torque, the sum of the maximum electric brake recovery torque and the hydraulic braking torque being equal to the value of the braking demand torque to brake the vehicle, and after the vehicle speed is less than 25kmph, the electric brake recovery torque starts to decay, whereby the hydraulic braking torque gradually increases based on the hydraulic braking torque before the hydraulic braking torque starts until the vehicle speed is less than 8kmph, the electric brake recovery torque decays to zero, and the braking demand torque is equal to the hydraulic braking torque.
The electric brake recovery torque starts to attenuate when the vehicle speed is equal to 25kmph, and the attenuation is zero when the vehicle speed is 8kmph, so that the electric brake recovery torque and the vehicle speed form a certain functional relation, the EHB obtains the brake demand torque according to the opening degree of the single pedal, and limits the brake demand torque according to the functional relation, so that the electric brake recovery torque gradually attenuates until the vehicle speed is 8kmph and completely exits.
Therefore, energy can be recovered in the driving and braking process, and the smoothness of vehicle parking can be ensured.
Optionally, as shown in fig. 4, the single-pedal driving control method further includes:
s10419, judging whether the vehicle is in a parking state;
s10420, if the vehicle is in a parking state, taking a maximum value between a first braking torque and a second braking torque as a braking demand torque, wherein the first braking torque is obtained according to the current single-pedal opening degree, and the second braking torque is calibrated according to the size of a ramp where the vehicle is located.
The method includes the steps of judging whether a vehicle is in a parking state or not, namely judging whether the current vehicle speed of the vehicle is zero or not, for example, when the vehicle speed is higher than 25kmph and is 30kmph, a driver has a braking demand, and when the vehicle speed is reduced to 8kmph, the braking demand torque is equal to hydraulic braking torque. The vehicle is braked, and if the current speed of the vehicle is reduced to zero and the vehicle is in a stopped state, the current opening degree of a single pedal is obtained to obtain the braking demand torque; and then, the parking torque calibrated according to the size of the ramp is obtained, (wherein the parking torque can be calibrated in advance according to the size relation of the ramp), and the maximum torque value of the parking torque and the parking torque is taken as the parking torque, so that when the vehicle is in a parking state, the vehicle sliding is avoided, and the normal parking is ensured.
Optionally, as shown in fig. 4, the single-pedal driving control method further includes:
s10421, judging whether the vehicle is in a vehicle sliding state;
s10422, if the vehicle is in a vehicle slipping state, actively increasing the pressure build-up pressure, wherein the brake torque corresponding to the pressure build-up pressure is larger than the maximum value between the first brake torque and the second brake torque.
The vehicle slipping state of the vehicle is a state that the vehicle moves forwards or backwards when the vehicle does not have a driving requirement after parking, and is generally judged by a vehicle speed, namely, after parking, the vehicle does not have the driving requirement, and when the vehicle speed or the wheel speed is greater than 1kmph, the description shows that the braking requirement torque during the previous parking cannot meet the parking requirement, at the moment, the electronic hydraulic braking system actively builds pressure, wherein the pressure of the actively built pressure is greater than the maximum value between the first braking torque and the second braking torque.
Optionally, the single-pedal driving control method further includes:
s10423, if the vehicle is in a parking state, judging whether the parking time is more than or equal to a preset time;
and S10424, if the parking time is more than or equal to the preset time, the whole vehicle requests the electronic parking brake system to take over.
The preset time can be 3min, namely, after the vehicle stops, the vehicle sliding does not occur, and after 3min, the whole vehicle is taken over by the electronic parking brake system.
It should be noted that, during the parking process, the driver may also request the electronic parking brake system to take over the entire vehicle by driving the vehicle door or releasing the seat belt.
Therefore, in the embodiment, the electronic hydraulic brake system is additionally arranged on the electric automobile, so that the balance between the single-pedal electric brake and the hydraulic brake is realized, the smoothness of parking is facilitated, and the control precision of parking is improved. And is advantageous for parking for a long time.
In summary, according to the single-pedal driving control method provided by the embodiment of the invention, the opening degree of the single pedal is firstly obtained, if the opening degree of the single pedal is greater than or equal to the first preset value, the vehicle is in the driving mode, the driving torque is output according to the opening degree of the single pedal, and the vehicle is driven according to the driving torque; if the opening degree of the single pedal is smaller than a first preset value, the vehicle is in a braking mode, braking demand torque is output according to the opening degree of the single pedal, the vehicle is braked according to the braking demand torque, driving and parking can be carried out by the single pedal, fatigue caused by frequent replacement of pedals is avoided, driving danger is avoided, long-time parking can be realized, and the smoothness of the driving-parking process and the smoothness of starting during parking are guaranteed.
Fig. 5 is a block diagram of a single-pedal driving control device according to an embodiment of the present invention. As shown in fig. 5, the single-pedal travel control device includes:
a single pedal opening degree obtaining module 101, configured to determine an opening degree of a single pedal;
the first judging module 102 is configured to judge whether the opening degree of a single pedal is greater than or equal to a first preset value;
the driving module 103 is used for enabling the vehicle to be in a driving mode if the opening degree of the single pedal is larger than or equal to a first preset value, outputting driving torque according to the opening degree of the single pedal, and driving the vehicle according to the driving torque;
and the braking module 104 is used for enabling the vehicle to be in a braking mode if the opening degree of the single pedal is smaller than a first preset value, outputting braking demand torque according to the opening degree of the single pedal, and braking the vehicle according to the braking demand torque.
Alternatively, as shown in fig. 6, the brake demand torque includes an electric brake recovery torque and a hydraulic brake torque;
the brake module 104 includes:
and the braking submodule 1041 is used for braking the vehicle according to the electric braking recovery torque and the hydraulic braking torque.
Optionally, as shown in fig. 7, the single-pedal driving control device further includes:
a vehicle speed obtaining module 10411, configured to obtain a vehicle speed of the vehicle;
the first obtaining module 10412 is configured to obtain a maximum electric brake recovery torque of the entire vehicle;
a second determination module 10413 for determining whether the vehicle speed is greater than or equal to a second preset value;
a third judging module 10414, configured to judge whether the braking demand torque is greater than a maximum electric braking recovery torque of the entire vehicle;
the first determining module 10415, configured to, if the vehicle speed is greater than or equal to a second preset value and the braking demand torque is smaller than a maximum electric braking recovery torque of the entire vehicle, use the electric braking recovery torque as the braking demand torque;
and a second determining module 10416, configured to use a sum of the maximum braking recovery torque of the entire vehicle and the hydraulic braking torque as the braking demand torque if the vehicle speed is greater than or equal to the second preset value and the braking demand torque is greater than the maximum braking recovery torque of the entire vehicle.
And a sixth determining module 10424, configured to use the hydraulic braking torque as the braking demand torque if the vehicle speed is less than the second preset value.
Optionally, as shown in fig. 7, the single-pedal driving control device further includes:
a third determining module 10417, configured to, if the vehicle speed is greater than or equal to the second preset value, when the vehicle speed decreases to the second preset value, start to attenuate the electric braking recovery torque and start to increase the hydraulic braking torque, where a sum of the electric braking recovery torque and the hydraulic braking torque is a braking demand torque;
a fourth judging module 10418, configured to judge whether the vehicle speed is less than or equal to the third preset value; when the vehicle speed is reduced to a third preset value, the electric braking recovery torque is attenuated to be zero, and the braking demand torque is equal to the hydraulic braking torque, wherein the third preset value is smaller than the second preset value and is not zero.
Optionally, as shown in fig. 7, the single-pedal driving control device further includes:
a fifth judging module 10419, configured to judge whether the vehicle is in a parking state;
the fourth determining module 10420 is configured to, if the vehicle is in a stopped state, take a maximum value between a first braking torque and a second braking torque as a braking demand torque, where the first braking torque is obtained according to a current single-pedal opening degree, and the second braking torque is calibrated according to a size of a slope where the vehicle is currently located.
Optionally, as shown in fig. 7, the single-pedal driving control device further includes:
a sixth determining module 10421, configured to determine whether the vehicle is in a vehicle sliding state;
a fifth determining module 10422 configured to actively increase the build-up pressure if the vehicle is in a rolling state, wherein the build-up pressure corresponds to a braking torque that is greater than a maximum value between the first braking torque and the second braking torque.
Optionally, as shown in fig. 7, the single-pedal driving control device further includes:
a sixth judging module 10423, configured to judge whether the parking time is greater than or equal to the preset time if the vehicle is in the parking state;
and if the parking time is greater than or equal to the preset time, the whole vehicle requests the electronic parking brake system to take over.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
In summary, according to the single-pedal driving control device provided in the embodiment of the present invention, the first determining module determines whether the opening degree of the single pedal is greater than or equal to a first preset value, and the driving module is configured to, if the opening degree of the single pedal is greater than or equal to the first preset value, enable the vehicle to be in a driving mode, output a driving torque according to the opening degree of the single pedal, and drive the vehicle according to the driving torque; the braking module is used for enabling the vehicle to be in a braking mode if the opening degree of the single pedal is smaller than a first preset value, outputting braking demand torque according to the opening degree of the single pedal, and braking the vehicle according to the braking demand torque. Therefore, the single pedal can be used for driving and parking, the phenomenon that the pedal is frequently replaced and stepped to generate fatigue and driving danger is avoided, long-time parking can be achieved, the smoothness of the driving-parking process and the smoothness of starting during parking are guaranteed.
In addition, the embodiment of the invention also provides a vehicle which comprises the single-pedal running control device.
The vehicle may be an electric vehicle.
In summary, according to the vehicle provided by the embodiment of the invention, single-pedal driving and parking can be realized, fatigue caused by frequent pedal treading is avoided, driving danger is avoided, long-time parking can be realized, and smoothness in the process from driving to parking and smoothness in starting during parking are ensured.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (6)

1. A single-pedal driving control method is characterized by comprising the following steps:
acquiring the opening degree of a single pedal;
judging whether the opening degree of the single pedal is greater than or equal to a first preset value or not;
if the opening degree of the single pedal is larger than or equal to a first preset value, the vehicle is in a driving mode, driving torque is output according to the opening degree of the single pedal, and the vehicle is driven according to the driving torque;
if the opening degree of the single pedal is smaller than a first preset value, the vehicle is in a braking mode, braking demand torque is output according to the opening degree of the single pedal, and the vehicle is braked according to the braking demand torque;
wherein the braking demand torque includes an electric braking recovery torque and a hydraulic braking torque;
the braking of the vehicle according to the braking demand torque includes: braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque;
wherein the braking the vehicle according to the electric brake recovery torque and the hydraulic brake torque comprises:
acquiring the speed of the vehicle and the maximum electric brake recovery torque of the whole vehicle;
judging whether the vehicle speed is greater than or equal to a second preset value;
judging whether the braking demand torque is larger than the maximum electric braking recovery torque of the whole vehicle;
if the vehicle speed is greater than or equal to the second preset value and the braking demand torque is smaller than the maximum electric braking recovery torque of the whole vehicle, taking the electric braking recovery torque as the braking demand torque;
if the vehicle speed is greater than or equal to the second preset value and the braking demand torque is greater than the maximum electric braking recovery torque of the whole vehicle, taking the sum of the maximum electric braking recovery torque of the whole vehicle and the hydraulic braking torque as the braking demand torque;
if the vehicle speed is smaller than the second preset value, taking the hydraulic braking torque as the braking demand torque;
wherein said braking the vehicle in accordance with the electric brake recovery torque and the hydraulic braking torque further comprises:
if the vehicle speed is greater than or equal to the second preset value, when the vehicle speed is reduced to the second preset value, the electric brake recovery torque begins to attenuate, and the hydraulic brake torque begins to increase, wherein the sum of the electric brake recovery torque and the hydraulic brake torque is a brake demand torque;
and simultaneously judging whether the vehicle speed is less than or equal to a third preset value; when the vehicle speed is reduced to the third preset value, the electric brake recovery torque is attenuated to be zero, the brake demand torque is equal to the hydraulic brake torque, and the third preset value is smaller than the second preset value and is not zero;
the electric brake recovery torque and the vehicle speed form a certain functional relation, and the electric brake recovery torque attenuates according to the functional relation.
2. The single-pedal driving control method according to claim 1, further comprising:
judging whether the vehicle is in a parking state or not;
and if the vehicle is in a parking state, taking the maximum value between a first braking torque and a second braking torque as a braking demand torque, wherein the first braking torque is obtained according to the current single-pedal opening degree, and the second braking torque is calibrated according to the size of a ramp where the vehicle is located.
3. The single-pedal driving control method according to claim 2, further comprising:
judging whether the vehicle is in a vehicle sliding state or not;
actively increasing a build-up pressure if the vehicle is in a coast-down condition, wherein the build-up pressure is greater than a maximum between the first braking torque and the second braking torque.
4. The single-pedal driving control method according to claim 2, further comprising:
if the vehicle is in a parking state, judging whether the parking time is greater than or equal to the preset time;
and if the parking time is greater than or equal to the preset time, the whole vehicle requests the electronic parking brake system to take over.
5. A single-pedal travel control device, comprising:
the single-pedal opening obtaining module is used for obtaining the opening of a single pedal;
the first judgment module is used for judging whether the opening degree of the single pedal is greater than or equal to a first preset value or not;
the driving module is used for enabling the vehicle to be in a driving mode if the opening degree of the single pedal is larger than or equal to a first preset value, outputting driving torque according to the opening degree of the single pedal, and driving the vehicle according to the driving torque;
the braking module is used for enabling the vehicle to be in a braking mode if the opening degree of the single pedal is smaller than a first preset value, outputting braking demand torque according to the opening degree of the single pedal, and braking the vehicle according to the braking demand torque;
wherein the braking demand torque includes an electric braking recovery torque and a hydraulic braking torque;
the brake module includes:
and the braking submodule is used for braking the vehicle according to the electric braking recovery torque and the hydraulic braking torque.
6. A vehicle characterized by comprising the single-pedal running control apparatus according to claim 5.
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