CN112622909B - Control method for safe driving of electric automobile, electric automobile and storage medium - Google Patents

Control method for safe driving of electric automobile, electric automobile and storage medium Download PDF

Info

Publication number
CN112622909B
CN112622909B CN202011590676.2A CN202011590676A CN112622909B CN 112622909 B CN112622909 B CN 112622909B CN 202011590676 A CN202011590676 A CN 202011590676A CN 112622909 B CN112622909 B CN 112622909B
Authority
CN
China
Prior art keywords
vehicle
power motor
slope
control
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011590676.2A
Other languages
Chinese (zh)
Other versions
CN112622909A (en
Inventor
陈丽君
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Jiefang Automotive Co Ltd
Original Assignee
FAW Jiefang Automotive Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FAW Jiefang Automotive Co Ltd filed Critical FAW Jiefang Automotive Co Ltd
Priority to CN202011590676.2A priority Critical patent/CN112622909B/en
Publication of CN112622909A publication Critical patent/CN112622909A/en
Application granted granted Critical
Publication of CN112622909B publication Critical patent/CN112622909B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18018—Start-stop drive, e.g. in a traffic jam
    • 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
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/008—Arrangement or adaptation of acoustic signal devices automatically actuated for signaling silent vehicles, e.g. for warning that a hybrid or electric vehicle is approaching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a control method for safe driving of an electric automobile, the electric automobile and a storage medium. The control method comprises the following steps of starting control of the vehicle on a low-attachment-slope road surface: when the vehicle speed is less than or equal to the critical vehicle speed, the hand brake is released, the transmission is positioned in a D gear, and the rotating speed of the power motor is zero, activating a first heavy anti-slope slipping mode: if the first heavy anti-slope-slipping mode fails and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor at the moment, entering a second heavy anti-slope-slipping mode: and if the two slope slipping prevention modes fail and the vehicle speed is greater than the critical vehicle speed at the moment, and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, prompting a driver to implement service braking. The control strategy for starting the vehicle on the low slope-attached road surface provided by the invention ensures that the vehicle does not slide down to cause safety accidents through a dual anti-slide mode, and improves the safe driving control of the electric vehicle.

Description

Control method for safe driving of electric automobile, electric automobile and storage medium
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method for safe driving of an electric vehicle, the electric vehicle and a storage medium.
Background
At present, electric vehicles are increasingly popularized in the field of environmental sanitation, and the environmental sanitation vehicles mainly run in places with dense people streams, such as urban roads, roads inside communities and the like, and often carry domestic garbage, greening water and the like, so that the electric environmental sanitation vehicles have higher requirements on running reliability and safety. Although the existing electric automobile is developing towards intellectualization and unmanned direction, the existing electric automobile is only suitable for closed roads at present, people, vehicles and environment on urban roads or roads inside a community are complicated in practical use, for example, when a low slope road exists, the existing electric automobile cannot realize enough safe driving control and needs to be perfected.
Therefore, it is desirable to provide a control method for safe driving of an electric vehicle, an electric vehicle and a storage medium to solve the above problems.
Disclosure of Invention
The invention aims to provide a control method for safe driving of an electric automobile, the electric automobile and a storage medium, and aims to solve the problem that the safe driving control of the electric automobile needs to be perfected when complex road conditions are faced in the prior art.
In order to realize the purpose, the following technical scheme is provided:
a control method for safe driving of an electric automobile comprises starting control of the automobile on a low-attachment-slope road surface, and specifically comprises the following steps:
s11: when the vehicle speed is less than or equal to the critical vehicle speed, the hand brake is released, the transmission is positioned in a D gear, and the rotating speed of the power motor is zero, activating a first heavy anti-slope slipping mode:
the electronic control brake system brakes the wheels, and a driver releases a brake pedal and moves to an electronic accelerator pedal;
the vehicle control unit calculates driving torque according to the opening degree of an electronic accelerator pedal and the rotating speed of a power motor, calculates gradient resistance according to the gradient fed back by a transmission control unit and the rotating speed of the power motor, and sends a parking release signal to the electronic control braking system when the driving torque corresponding to the opening degree of the electronic accelerator pedal is larger than the gradient resistance, so that wheel braking is released, and a vehicle is started;
s12: if the first heavy anti-slope-slipping mode fails and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor at the moment, entering a second heavy anti-slope-slipping mode:
the power motor controller controls the power motor to be locked, so that a slope-parking function is realized, and during the locked rotation of the power motor, the vehicle controller calculates driving torque according to the opening degree of the electronic accelerator pedal;
calculating gradient resistance according to the gradient fed back by the transmission control unit and the rotating speed of the power motor, synchronously sending a required driving torque to the power motor controller, controlling the locked-rotor torque of the power motor to be gradually reduced along with the increase of the required driving torque by the power motor controller, and removing locked-rotor by the power motor until the driving torque is larger than the gradient resistance, so that the vehicle is started;
s13: and if the first repeated anti-slope-sliding mode and the second repeated anti-slope-sliding mode are both invalid, the vehicle speed is greater than the critical vehicle speed, and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, the vehicle controller sends a warning command to prompt a driver to implement driving braking.
Optionally, in step S13, the vehicle control unit sends a warning command and simultaneously sends a simulated engine sound through a low-speed and steering warning sound device to warn surrounding pedestrians.
Alternatively, the critical vehicle speed is set to 3 km/h.
Optionally, in step S12, the locked-rotor time of the power motor does not exceed 5S, and if the locked-rotor time exceeds 5S, the second heavy anti-creep mode is determined to be disabled.
Optionally, the method includes steering control of the vehicle, and specifically includes the following steps:
s21: the electronic control braking system receives a yaw angular acceleration signal generated by a yaw angular acceleration sensor, a corner signal generated by a steering wheel corner sensor, a wheel speed signal sent by a wheel speed sensor and a vehicle speed signal generated by the whole vehicle controller in real time, and calculates the slip rate of each wheel;
s22: when the slip rate exceeds the slip rate threshold value, the electronic control brake system controls the ABS electromagnetic valves of all the wheels to adjust brake pressure, and simultaneously, a command of reducing torque is sent to the power motor controller to control the power motor to reduce output torque until the slip rate of the wheels returns to normal.
Optionally, the vehicle is configured with a dual-source power steering system, so that the vehicle control unit preferentially controls a high-voltage steering system of the vehicle to work, and when the high-voltage steering system fails, the vehicle control unit switches to a low-voltage steering system.
Optionally, the method further comprises a braking control of the vehicle, and specifically comprises the following steps:
s31: judging whether the power battery, the power motor and the electronic control brake system can work normally, if so, carrying out the next step, and if not, controlling the vehicle control unit to send out a warning command to remind a driver to implement service braking;
s32: whether the SOC value of the power battery is smaller than or equal to a set value or not is judged, if yes, the next step is carried out, and if not, the electronic control brake system is used for braking;
s33: judging whether the opening degree of the brake pedal is smaller than or equal to a threshold value or not; if the maximum braking torque is controlled by the power motor, the electronic control braking system controls the ABS electromagnetic valves of all wheels to complete the rest braking torque.
Optionally, the method further includes controlling the vehicle during normal running, specifically including:
when the speed of the vehicle is lower than 20km/h, the vehicle sends out a simulated engine sound through a low-speed and steering prompt tone device to prompt pedestrians to pay attention to safety.
An electric vehicle, comprising:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the control methods for safe driving of the electric vehicle.
A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements any of the above-described control methods for safe driving of an electric vehicle.
Compared with the prior art, the invention has the beneficial effects that:
the control method for safe driving of the electric automobile provided by the invention provides a control strategy when the automobile is started on a low slope-attached road surface, ensures that the automobile does not slide down the slope to cause safety accidents through a dual anti-slide mode, and perfects the safe driving control of the electric automobile; and the control method fully considers the operating environment and the use characteristics of the sanitation electric vehicle, and is beneficial to rapid popularization in the field of sanitation electric vehicles.
Drawings
FIG. 1 is a flow chart of a control method for safe driving of an electric vehicle for starting control of the vehicle on a low-attachment-slope road surface according to an embodiment of the invention;
FIG. 2 is a flow chart of a control method for safe driving of an electric vehicle for controlling steering of the vehicle according to an embodiment of the invention;
fig. 3 is a flowchart of a control method for safe driving of an electric vehicle for controlling braking of the vehicle according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment discloses a control method for safe driving of an electric automobile, which is used for realizing safe driving of the electric automobile, and is particularly suitable for safe driving of an electric sanitation vehicle; the control method can provide safety control of the electric automobile in different driving states, and fully ensures the driving safety. Specifically, referring to fig. 1, the control method for safe driving of an electric vehicle provided in this embodiment includes a starting control of the vehicle on a low-attachment-slope road surface, and specifically includes the following steps:
s11: when the vehicle speed is less than or equal to the critical vehicle speed, the hand brake is released, the transmission is positioned in a D gear, and the rotating speed of the power motor is zero, activating a first heavy anti-slope slipping mode: the electronic control brake system brakes the wheels, and a driver releases a brake pedal and moves to an electronic accelerator pedal; the vehicle control unit calculates driving torque according to the opening degree of an electronic accelerator pedal and the rotating speed of a power motor, calculates gradient resistance according to the gradient fed back by a transmission control unit and the rotating speed of the power motor, and sends a parking release signal to the electronic control braking system when the driving torque corresponding to the opening degree of the electronic accelerator pedal is larger than the gradient resistance, so that wheel braking is released, and the vehicle is started;
s12: if the first heavy anti-slope-slipping mode fails and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, entering a second heavy anti-slope-slipping mode: the power motor controller controls the power motor to block the rotation, the slope stopping function is achieved, and the whole vehicle controller calculates driving torque according to the opening degree of an electronic accelerator pedal during the power motor blocking period; calculating gradient resistance according to the gradient fed back by the transmission control unit and the rotating speed of the power motor, synchronously sending a required driving torque to the power motor controller, controlling the locked-rotor torque of the power motor to be gradually reduced along with the increase of the required driving torque by the power motor controller, and releasing locked-rotor of the power motor until the driving torque is greater than the gradient resistance, so that the vehicle is started;
s13: and if the first and second heavy anti-slope-sliding modes fail and the vehicle speed is greater than the critical vehicle speed at the moment, and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, the vehicle controller sends a warning command to prompt a driver to implement driving braking.
In step S13, the vehicle control unit sends a warning command to a central control screen of the vehicle to remind the driver; the central control screen can reflect the driver by giving out a buzzing sound. Meanwhile, the vehicle control unit also sends a warning command to the low-speed and steering prompt tone device at the same time, so that the low-speed and steering prompt tone device sends out a simulated engine sound to remind surrounding pedestrians.
Further, the vehicle is started, and the critical vehicle speed is set to be 3 km/h.
In step S12, since the locked rotor of the power motor is harmful to the power motor, the locked rotor time should not be too long, in this embodiment, the locked rotor time of the power motor is set to be not more than 5S, and if the locked rotor time exceeds 5S, it is determined that the second heavy anti-slip mode is invalid.
The control method provided by the embodiment is also used for controlling the vehicle during steering, and specifically comprises the following steps:
s21: the electronic control braking system receives a yaw angular acceleration signal generated by a yaw angular acceleration sensor, a corner signal generated by a steering wheel corner sensor, a wheel speed signal sent by a wheel speed sensor and a vehicle speed signal generated by a vehicle control unit in real time, and calculates the slip rate of each wheel;
s22: when the slip rate exceeds the slip rate threshold value, the electronic control brake system controls the ABS electromagnetic valves of all the wheels to adjust the brake pressure, and simultaneously, a torque reduction command is sent to the power motor controller to control the power motor to reduce the output torque until the slip rate of the wheels returns to normal.
Specifically, when the vehicle turns, the vehicle control unit can also control the low-speed and turning prompt sound device to give out a simulated engine sound so as to prompt surrounding pedestrians to pay attention and avoid collision in the turning process. For the electric sanitation vehicle loaded with greening water, when the vehicle turns on the road, the problem of liquid shaking in the tank body is easy to occur, and the transverse stability of the vehicle is poor, so the vehicle can be ensured to have sufficient safety through the coordinated control of the electronic control braking system, the power motor and the vehicle control unit, furthermore, the vehicle is also provided with a double-source power steering system which is used for supplying power to the power steering device by a 24V vehicle-mounted battery when a power battery fails, namely the vehicle control unit preferentially controls the power battery to supply power, the high-voltage power steering system of the vehicle acts, when the power battery fails and the high-voltage power steering system fails, the vehicle control unit switches to supply power to the 24V vehicle-mounted battery, and the low-voltage power steering system works, thereby realizing the redundant safety design of vehicle steering.
The control method provided by the embodiment is also used for controlling the vehicle during braking, and specifically comprises the following steps:
s31: judging whether the power battery, the power motor and the electronic control brake system can work normally, if so, carrying out the next step, and if not, controlling the whole vehicle controller to send out a warning command to remind a driver to implement service braking;
s32: whether the SOC value of the power battery is less than or equal to a set value or not is judged, if yes, the next step is carried out, and if not, the electronic control brake system is only used for braking;
s33: judging whether the opening degree of the brake pedal is smaller than or equal to a threshold value or not; if the maximum braking torque is controlled by the power motor, the electronic control braking system controls the ABS electromagnetic valves of all wheels to complete the rest braking torque.
Of course, in S31, if the driver needs to apply the service brake, the vehicle control unit also generates a simulated engine sound by the low speed and steering warning sound device to warn surrounding pedestrians of safety. Further, if at least one of the power motor and the power battery can not work normally and the electronic control brake system can work normally, the electronic control brake system which can work normally is directly selected to complete braking during braking; if the electronic control brake system can not work normally, and the power motor and the power battery can work normally, the power motor is selected for braking, but the power battery is prevented from being overcharged if the SOC value of the power battery is required.
The control method provided by the embodiment is also used for controlling the vehicle in normal running, and specifically comprises the following steps: when the vehicle runs normally, and the speed of the vehicle is lower than 20km/h, the vehicle sends out a simulated engine sound through a low-speed and steering prompt sound device so as to prompt pedestrians to pay attention to safety.
The control method for safe driving of the electric automobile provided by the embodiment not only provides a control strategy when the automobile is started on a low slope road surface, but also ensures that the automobile does not slide down to cause safety accidents through a dual anti-sliding mode, thereby perfecting the safe driving control of the electric automobile; meanwhile, a safety control strategy of the vehicle during steering, braking and normal driving is provided, the whole control method fully considers the operating environment and the use characteristics of the sanitation electric vehicle, optimizes the control and is beneficial to rapid popularization in the field of the sanitation electric vehicle.
Furthermore, the vehicle of the embodiment is also provided with an integrated four-direction image system so as to reduce the blind area of the visual field of a driver, and the vehicle is particularly suitable for the working environment in which the sanitation vehicle needs to frequently enter and exit a community; further optionally, the vehicle is further equipped with an automatic emergency braking system for pedestrians, which utilizes radar, camera, etc. to detect the road condition, and if a collision risk is detected, the vehicle will automatically brake in emergency. Further, the vehicle is also provided with a tire pressure monitoring system and a power battery fire extinguishing system so as to monitor the states of the tires and the power battery in real time and improve the safety design of the whole vehicle.
Example two
The second embodiment of the present invention further provides an electric vehicle, and components of the electric vehicle may include but are not limited to: the vehicle body, one or more processors, memory, and a bus connecting the various system components (including the memory and the processors).
The memory is used as a computer readable storage medium and can be used for storing software programs, computer executable programs and modules, such as program instructions corresponding to the control method for safe driving of the electric vehicle in the embodiment of the invention. The processor executes various functional applications and data processing of the vehicle by running the software programs, instructions and modules stored in the memory, so that the control method for safe driving of the electric vehicle is realized.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the processor, and these remote memories may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE III
The third embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a control method for safe driving of an electric vehicle, where the control method includes a step of controlling a vehicle to start on a low-slope road, and the control method specifically includes the following steps:
s11: when the vehicle speed is less than or equal to the critical vehicle speed, the hand brake is released, the transmission is positioned in a D gear, and the rotating speed of the power motor is zero, activating a first heavy anti-slope slipping mode: the electronic control brake system brakes the wheels, and a driver releases a brake pedal and moves to an electronic accelerator pedal; the vehicle control unit calculates driving torque according to the opening degree of an electronic accelerator pedal and the rotating speed of a power motor, calculates gradient resistance according to the gradient fed back by a transmission control unit and the rotating speed of the power motor, and sends a parking release signal to the electronic control braking system when the driving torque corresponding to the opening degree of the electronic accelerator pedal is larger than the gradient resistance, so that wheel braking is released, and the vehicle is started;
s12: if the first heavy anti-slope-slipping mode fails and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, entering a second heavy anti-slope-slipping mode: the power motor controller controls the power motor to block the rotation, the slope stopping function is achieved, and the whole vehicle controller calculates driving torque according to the opening degree of an electronic accelerator pedal during the power motor blocking period; calculating gradient resistance according to the gradient fed back by the transmission control unit and the rotating speed of the power motor, synchronously sending a required driving torque to the power motor controller, controlling the locked-rotor torque of the power motor to be gradually reduced along with the increase of the required driving torque by the power motor controller, and releasing locked-rotor of the power motor until the driving torque is greater than the gradient resistance, so that the vehicle is started;
s13: and if the first and second heavy anti-slope-sliding modes fail and the vehicle speed is greater than the critical vehicle speed at the moment, and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, the vehicle controller sends a warning command to prompt a driver to implement driving braking.
Of course, the computer-readable storage medium provided by the embodiments of the present invention has computer-executable instructions that are not limited to the operations of the method described above, and may also perform related operations in the control method for safe driving of an electric vehicle provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
In the above embodiment, each included unit and module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
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 (9)

1. A control method for safe driving of an electric automobile is characterized by comprising starting control of the automobile on a low-attachment-slope road, and specifically comprises the following steps:
s11: when the vehicle speed is less than or equal to the critical vehicle speed, the hand brake is released, the transmission is positioned in a D gear, and the rotating speed of the power motor is zero, activating a first heavy anti-slope slipping mode:
the electronic control brake system brakes the wheels, and a driver releases a brake pedal and moves to an electronic accelerator pedal;
the vehicle control unit calculates driving torque according to the opening degree of an electronic accelerator pedal and the rotating speed of a power motor, calculates gradient resistance according to the gradient fed back by a transmission control unit and the rotating speed of the power motor, and sends a parking release signal to the electronic control braking system when the driving torque corresponding to the opening degree of the electronic accelerator pedal is larger than the gradient resistance, so that wheel braking is released, and a vehicle is started;
s12: if the first heavy anti-slope-slipping mode fails and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor at the moment, entering a second heavy anti-slope-slipping mode:
the power motor controller controls the power motor to be locked, so that a slope-parking function is realized, and during the locked rotation of the power motor, the vehicle controller calculates driving torque according to the opening degree of the electronic accelerator pedal;
calculating gradient resistance according to the gradient fed back by the transmission control unit and the rotating speed of the power motor, synchronously sending a required driving torque to the power motor controller, controlling the locked-rotor torque of the power motor to be gradually reduced along with the increase of the required driving torque by the power motor controller, and removing locked-rotor by the power motor until the driving torque is larger than the gradient resistance, so that the vehicle is started;
s13: if the first repeated anti-slope-sliding mode and the second repeated anti-slope-sliding mode are both failed, the vehicle speed is greater than the critical vehicle speed, and the rotating direction of the power motor requested by the vehicle controller is opposite to the actual rotating direction of the power motor, the vehicle controller sends a warning command to prompt a driver to implement driving braking;
the method also comprises the brake control of the vehicle, and specifically comprises the following steps:
s31: judging whether the power battery, the power motor and the electronic control brake system can work normally, if so, carrying out the next step, and if not, controlling the vehicle control unit to send out a warning command to remind a driver to implement service braking;
s32: whether the SOC value of the power battery is smaller than or equal to a set value or not is judged, if yes, the next step is carried out, and if not, the electronic control brake system is used for braking;
s33: judging whether the opening degree of the brake pedal is smaller than or equal to a threshold value or not; if the maximum braking torque is controlled by the power motor, the electronic control braking system controls the ABS electromagnetic valves of all wheels to complete the rest braking torque.
2. The control method according to claim 1, wherein in step S13, the vehicle control unit sends a warning command and simultaneously sends a simulated engine sound through a low-speed and steering warning sound device to warn surrounding pedestrians.
3. The control method according to claim 1, characterized in that the threshold vehicle speed is set to 3 km/h.
4. The control method according to claim 1, wherein in step S12, the locked-rotor time of the power motor does not exceed 5S, and if the locked-rotor time exceeds 5S, the second heavy anti-creep mode is determined to be disabled.
5. The control method according to claim 1, comprising a steering control of the vehicle, in particular comprising the steps of:
s21: the electronic control braking system receives a yaw angular acceleration signal generated by a yaw angular acceleration sensor, a corner signal generated by a steering wheel corner sensor, a wheel speed signal sent by a wheel speed sensor and a vehicle speed signal generated by the whole vehicle controller in real time, and calculates the slip rate of each wheel;
s22: when the slip rate exceeds the slip rate threshold value, the electronic control brake system controls the ABS electromagnetic valves of all the wheels to adjust brake pressure, and simultaneously, a command of reducing torque is sent to the power motor controller to control the power motor to reduce output torque until the slip rate of the wheels returns to normal.
6. The control method according to claim 5, characterized in that the vehicle is provided with a dual-source power steering system, so that the vehicle control unit controls the high-pressure steering system of the vehicle to work preferentially, and when the high-pressure steering system fails, the vehicle control unit switches to a low-pressure steering system.
7. The control method according to claim 1, further comprising control of the vehicle during normal driving, specifically comprising:
when the speed of the vehicle is lower than 20km/h, the vehicle sends out a simulated engine sound through a low-speed and steering prompt tone device to prompt pedestrians to pay attention to safety.
8. An electric vehicle, comprising:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the control method for safe driving of the electric vehicle according to any one of claims 1 to 7.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the control method for safe driving of an electric vehicle according to any one of claims 1 to 7.
CN202011590676.2A 2020-12-29 2020-12-29 Control method for safe driving of electric automobile, electric automobile and storage medium Active CN112622909B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011590676.2A CN112622909B (en) 2020-12-29 2020-12-29 Control method for safe driving of electric automobile, electric automobile and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011590676.2A CN112622909B (en) 2020-12-29 2020-12-29 Control method for safe driving of electric automobile, electric automobile and storage medium

Publications (2)

Publication Number Publication Date
CN112622909A CN112622909A (en) 2021-04-09
CN112622909B true CN112622909B (en) 2022-04-08

Family

ID=75285963

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011590676.2A Active CN112622909B (en) 2020-12-29 2020-12-29 Control method for safe driving of electric automobile, electric automobile and storage medium

Country Status (1)

Country Link
CN (1) CN112622909B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113561979B (en) * 2021-08-12 2022-12-13 一汽解放青岛汽车有限公司 Slope stabilizing control method and device, computer equipment and storage medium
CN114013296A (en) * 2021-11-09 2022-02-08 重庆金康赛力斯新能源汽车设计院有限公司 Method and device for controlling automobile to slide down slope
CN115817200B (en) * 2022-12-02 2023-05-26 郑州大学 Method and system for controlling locked rotor of permanent magnet synchronous motor for new energy automobile

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102501779B (en) * 2011-10-31 2013-12-11 长城汽车股份有限公司 Method for controlling traction of electric vehicle
JP2014139035A (en) * 2013-01-21 2014-07-31 Fuji Heavy Ind Ltd Vehicle control device
CN103895531B (en) * 2014-04-18 2016-04-20 清华大学苏州汽车研究院（吴江） Pure electric vehicle uphill starting control method
CN107054158A (en) * 2017-04-24 2017-08-18 成都雅骏新能源汽车科技股份有限公司 A kind of New-energy electric vehicle upward slope auxiliary control method
CN109795339B (en) * 2018-12-29 2021-10-01 奇瑞新能源汽车股份有限公司 Pure electric vehicle driving anti-skid system and control method
CN110341496B (en) * 2019-07-09 2022-11-04 武汉理工大学 Ramp low-speed working condition running control method for distributed driving cross-country vehicle
CN111674268B (en) * 2020-06-22 2023-03-10 东风电子科技股份有限公司 Method for realizing slope-sliding prevention protection control of new energy electric automobile

Also Published As

Publication number Publication date
CN112622909A (en) 2021-04-09

Similar Documents

Publication Publication Date Title
CN112622909B (en) Control method for safe driving of electric automobile, electric automobile and storage medium
CN107010028B (en) Anti-collision system and control method of electric automobile and electric automobile
CN109017736B (en) Electric brake compensation control method and device and automobile
US20180154777A1 (en) Braking torque blending system and method for automatic emergency braking
CN103481850B (en) Emergency braking interfering system and method before collision
CN112373450B (en) Control method and device for vehicle auxiliary turning
CN111942353B (en) Emergency braking control method for pure electric vehicle, vehicle control unit and control device
CN113276851A (en) Vehicle control method and device, controller and vehicle
CN113682306A (en) Self-adaptive cruise vehicle following method and system, computer equipment and storage medium
CN109808691A (en) Self-adapting cruise control method, system, device, storage medium and automobile
CN115703466A (en) Four-wheel drive slope-parking control method, device and system and vehicle
JP2007246023A (en) Apparatus and method for controlling running of vehicle
CN112918443B (en) Brake control method, device, equipment and storage medium
CN114954394A (en) Vehicle drift control method and system and vehicle
EP4090564B1 (en) A cruise control system and a method for controlling a powertrain
CN113696863A (en) System and method for improving braking delay of intelligent driving vehicle
CN116215531A (en) Control method and device for vehicle ramp parking, electronic equipment and storage medium
EP4166399A1 (en) Vehicle control method and device, storage medium, and vehicle
CN110936936A (en) Post-collision braking control system and method
KR20200124578A (en) System and method for controlling torque of eco-friendly car for improving fuction of controling steering
CN112810612B (en) Automobile accelerator acceleration control method, device, equipment and storage medium
JP2005343249A (en) Parking assisting control device, parking assisting control system, and parking assisting program
JP2005343248A (en) Parking assist brake controlling device
CN112810613A (en) Starting energy consumption optimization method, device, equipment and storage medium
JP2005196326A (en) Travel limit signal transmission device and travel limit device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant