CN113085570A - Slope-parking monitoring method, vehicle and readable storage medium - Google Patents
Slope-parking monitoring method, vehicle and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a hill-holding monitoring method, a vehicle and a readable storage medium. The basis for judging the slope-standing monitoring method comprises an output result of a first monitoring logic, wherein the first monitoring logic comprises: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic. So dispose, both carried out quick judgement to most operating modes through motor speed, carried out careful, comprehensive judgement to the great operating mode of motor speed through predetermineeing the logic again, compromise the integrality and the reliability of judgement, solved the problem that lacks complete reliable slope monitoring method among the prior art. In addition, the invention also has the advantages of a control strategy independent of a hill-holding mode and a control algorithm for realizing the control strategy.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a hill-holding monitoring method, a vehicle and a readable storage medium.
Background
With the rapid development of new energy automobile technology, the functions of the core part motor controller are changed from single response torque request to more diversified ones. Compared with the traditional engine, the motor has the characteristics of easier control, quicker response, braking energy recovery and the like, so more and more host factories require the functions of slope parking and single pedal to be added in the motor controller.
The hill-holding function is a function in which when the vehicle is ready to start from a stationary state on a slope, the right foot of the driver is switched from stepping on the brake pedal to stepping on the accelerator pedal, and in order to avoid the vehicle slipping down a slope during the switching, the motor is required to output a certain braking torque, and the braking torque is usually maintained for several seconds. The single pedal function means acceleration and deceleration by only the accelerator pedal. Only the deceleration case is discussed: 1) the accelerator pedal is lifted to a certain stroke, the vehicle control unit can request the motor controller to output braking torque, and at the moment, the motor is in a power generation mode, so that energy recovery can be realized. This situation still belongs to the torque control mode in response to the required torque; 2) in the case of a completely released accelerator pedal, the motor controller has no clear torque command, and enters a rotation speed control mode in which the target rotation speed is 0 (or a very small rotation speed), so that the vehicle is stationary (or the vehicle speed is slow), which is equivalent to a hill-holding function, but is maintained for a longer time.
Because of the similarity of functions, the "hill-hold function" for hill-hold vehicle start and the "single-pedal function" with full accelerator pedal release are collectively referred to below as "hill-hold mode". From the control point of view, the hill-holding mode may be regarded as a rotation speed control mode in which the target rotation speed is 0 (or a very small rotation speed). When the target rotation speed is 0, the control mode can be switched to a position control mode in which the target "position change" of the rotor is 0 to accelerate the response when the rotation speed approaches 0. This part of the control function is relatively common and mature.
Fig. 1 shows the change of the rotation speed/position control compared with the torque control in the prior vehicle at the system architecture level. The solid line and the dotted line show a conventional torque control and monitoring path, namely the functional layer receives the required torque from the CAN, and outputs the PWM duty ratio to the inverter to drive the motor through a current closed loop and a rotating speed closed loop; the function monitoring layer calculates the actual torque by reading back the three-phase current and the position of the rotor, and compares the actual torque with the required torque transmitted on the CAN to judge whether the unexpected torque is generated.
For speed/position control, without the external CAN signal shown in dotted lines, the required torque comes from proportional-integral regulation of the speed or position change, which is also transmitted to the function monitoring layer for torque comparison (see dashed line in fig. 1). It can be seen that anomalies in the input/output or internal of the "speed/position control" module can cause anomalies in the calculated torque demand, thereby creating a torque safety risk. Proportional-integral regulation applied by a rotating speed/position control module is a closed-loop control algorithm widely applied in the engineering field, but the algorithm has no definite physical background like a motor torque calculation formula and has the risks of incapability of fast convergence, overshoot, oscillation and the like, so the effectiveness of the algorithm cannot be ensured, and the algorithm is redundant in a function monitoring layer according to a conventional torque monitoring strategy, so the function safety level of the system cannot be improved.
For hill-holding mode, safety objectives to avoid undesired acceleration or undesired movement due to undesired torque need to be monitored and developed as ASIL B. How to achieve this security goal does not currently have a complete and reliable functional security monitoring strategy.
That is, there is a lack in the prior art of a complete and reliable hill-holding monitoring method.
Disclosure of Invention
The invention aims to provide a hill-holding monitoring method, a vehicle and a readable storage medium, which are used for solving the problem that a complete and reliable hill-holding monitoring method is lacked in the prior art.
In order to solve the above technical problem, according to a first aspect of the present invention, there is provided a hill-holding monitoring method for monitoring whether a hill-holding mode of a vehicle is operating normally, the hill-holding monitoring method making a judgment based on an output result including first monitoring logic, the first monitoring logic including: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic.
Optionally, the preset logic includes: and if the angular acceleration of the motor is opposite to the rotating speed direction of the motor, outputting normally.
Optionally, the preset logic further includes: if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, the output torque of the motor is opposite to the rotating speed direction of the motor, and the output torque of the motor is larger than the preset torque, the output is normal.
Optionally, the preset logic further includes: if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, and the output torque of the motor is the same as or zero with the rotating speed direction of the motor, outputting a fault; and if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, the output torque of the motor is opposite to the rotating speed direction of the motor, and the output torque of the motor is smaller than or equal to the preset torque, outputting a fault.
Optionally, the basis for the determination by the hill-holding monitoring method further includes an output result of a second monitoring logic, where the second monitoring logic includes: if the rotating speed of the motor is less than the safe rotating speed, the output is normal; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, outputting a fault.
Optionally, the basis for the determination by the hill-holding monitoring method further includes an output result of a third monitoring logic, where the third monitoring logic includes: if the required torque of the motor is within a limited range, outputting normally; and if the required torque of the motor is not in the limited range, outputting a fault.
Optionally, the hill-holding monitoring method includes: and if the monitoring result obtained by judgment is a fault, cutting off the torque output of the motor.
Optionally, the hill-holding monitoring method includes: if the obtained monitoring result is judged to be a fault, outputting a request signal to drive the vehicle to exit the slope parking mode; and if the vehicle does not exit the hill-holding mode within a preset time period after the request signal is output, cutting off the torque output of the motor.
In order to solve the above technical problem, according to a second aspect of the present invention, there is provided a vehicle including a motor controller for monitoring whether a hill-holding mode of the vehicle is operating normally, the motor controller for making a judgment based on an output result of a first monitoring logic, the first monitoring logic including: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic.
In order to solve the above technical problem, according to a third aspect of the present invention, a readable storage medium is provided, on which a program is stored, which when executed, performs the above hill-holding monitoring method.
Compared with the prior art, in the hill-holding monitoring method, the vehicle and the readable storage medium provided by the invention, the output result of the first monitoring logic is included as the basis for judging by the hill-holding monitoring method, and the first monitoring logic includes: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic. So dispose, both carried out quick judgement to most operating modes through motor speed, carried out careful, comprehensive judgement to the great operating mode of motor speed through predetermineeing the logic again, compromise the integrality and the reliability of judgement, solved the problem that lacks complete reliable slope monitoring method among the prior art. In addition, the invention also has the advantages of a control strategy independent of a hill-holding mode and a control algorithm for realizing the control strategy.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
FIG. 1 is a schematic diagram of a control system architecture for a vehicle;
FIG. 2 is a schematic diagram of a control system architecture for a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of first monitoring logic in accordance with one embodiment of the present invention;
FIG. 4 is a schematic diagram of second monitoring logic in accordance with one embodiment of the present invention;
fig. 5 is a diagram of third monitoring logic according to an embodiment of the invention.
In the drawings:
1-slope-staying monitoring module.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The core idea of the invention is to provide a hill-holding monitoring method, a vehicle and a readable storage medium, so as to solve the problem that the prior art lacks a complete and reliable hill-holding monitoring method.
The following description refers to the accompanying drawings.
[ EXAMPLES one ]
Referring to fig. 2 to 3, fig. 2 is a schematic diagram of a control system of a vehicle according to an embodiment of the invention; fig. 3 is a schematic diagram of a first monitoring logic according to an embodiment of the invention.
As shown in fig. 2, in this embodiment, a slope-parking monitoring module 1 is additionally arranged in a control system architecture of a vehicle, and a slope-parking monitoring method is adopted in the slope-parking monitoring module 1 to monitor whether a slope-parking mode of the vehicle is working normally. As introduced in the background, the hill-holding mode includes a hill-holding function and a single-pedal function.
The hill-holding monitoring method comprises the following steps:
operating a first monitoring logic to obtain an output result of the first monitoring logic;
and directly taking the output result of the first monitoring logic as a monitoring result.
The first monitoring logic comprises: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic. The motor is a driving motor of a vehicle driving wheel. In the present embodiment, the safe rotation speed is 200rpm, and in other embodiments, other rotation speeds may be selected as the safe rotation speed.
The first monitoring logic substantially accounts for the possibility of a hill hold mode failure. Firstly, most faults can be directly matched with whether the rotating speed of the motor exceeds the safe rotating speed; secondly, it is not possible to consider only the case where the motor speed is less than the safe speed, which may cause false alarm or false response, and therefore, it is necessary to perform detailed analysis on the case where the motor speed is greater than the safe speed, and to include the case of normal operation as much as possible. Because the slope-standing monitoring method is provided with the first monitoring logic, the problem that a complete and reliable slope-standing monitoring method is lacked in the prior art is solved.
The hill-holding monitoring method is designed by utilizing the characteristic of low vehicle speed in the hill-holding mode. Specifically, in the hill-holding mode, when the vehicle speed is low, even if a torque abnormality occurs, the driver can step on the brake pedal to brake in time if the vehicle speed is still within a limited interval. That is, the torque abnormality in this case can be regarded as normal. The feedback of the "limited interval" of the vehicle speed to the motor controller is that the motor speed does not exceed the safe speed, such as 200rpm (the safe speed is different for different items); and "timely" means that the moving distance of the vehicle is less than a given safety distance (e.g. 0.5 m) from the occurrence of the abnormal torque to the brake of the brake pedal by the driver. If the motor rotating speed is less than the safe rotating speed in the hill-holding mode, the hill-holding monitoring method should judge that the hill-holding mode has a fault currently when the motor rotating speed exceeds the safe rotating speed due to the abnormality of the torque.
However, in the hill-holding mode, the normal speed of the motor may exceed the safe speed, and it is not possible to determine whether to perform the fault response simply according to whether the speed of the motor exceeds the safe speed. In the hill-holding mode, the motor speed exceeds the safe speed, and possible safety risks are considered in three cases: 1) when the vehicle decelerates, the output torque of the motor is abnormal; 2) during the acceleration process of the vehicle (the acceleration in the hill-holding mode generally refers to the situation that under the condition of a large slope, the braking torque given by the motor is not enough to maintain a static state, so that the vehicle slips on the slope), the output torque of the motor is abnormal; 3) unknown acceleration and deceleration of the vehicle, abnormal other controllers or abnormal road environment. 1) And 2) is caused by the failure of the motor controller, and needs to be taken into consideration in functional safety design; 3) instead of a failure of the motor controller, other controllers are required to respond to the failure or to be handled by the driver.
In combination with the above analysis, the monitoring strategy for the hill-holding mode in this embodiment is considered in two cases for the case where the motor speed exceeds the safe speed.
1) The absolute value of the rotating speed of the motor is greater than or equal to the safe rotating speed, and the vehicle is decelerated: in this case, attention needs to be paid to whether the "angular acceleration" is less than 0, that is, whether the motor rotation speed maintains a tendency to decrease (the final motor rotation speed may be less than the safe rotation speed). If the torque is now abnormal (in the same direction as the speed and increasing in magnitude or in the opposite direction to the speed and decreasing in magnitude), which would result in an angular acceleration greater than 0, the motor controller should trigger a fault response.
2) The absolute value of the rotating speed of the motor is greater than or equal to the safe rotating speed, and the vehicle is accelerated (slides down a slope): when the road slope is large (the load, the road friction coefficient and the like also have certain influence), and the vehicle slips (the vehicle slips forwards and backwards according to the direction of the vehicle head), although the vehicle speed is gradually increased, the motor can maintain to output a given torque opposite to the rotating speed direction (under the conditions of the maximum design slope, the maximum design load, the common road surface and the like, the static braking torque T of the vehicle can be maintained for a longer time such as traffic lights and the like). In this case, it is only necessary to monitor that the output torque of the motor is opposite to the rotation speed direction and the absolute value is larger than the preset torque (the value is slightly smaller than T in consideration of robustness) when the rotation speed of the motor exceeds the safe rotation speed. At the moment, the driver can quit the slope-parking mode by stepping on the accelerator pedal and increase the torque opposite to the rotating speed, or the driver can brake the vehicle by stepping on the brake pedal, so that the purpose of controlling the slope slipping is achieved.
If the road gradient slows down during a roll-over, the brake torque T is sufficient to bring the vehicle to a standstill, but the motor speed is still greater than the safe speed, but case 2) then changes to case 1).
For the hill-slip condition in 2), the internal demand torque that does not meet ASIL B is translated into a predefined brake torque monitoring problem. The speed (angular acceleration) signal and the actual torque meet the ASIL C/D requirements in conventional torque monitoring, so taken together, the monitoring strategy can meet the functional safety requirements of ASIL B to avoid undesirable torque in "hill holding mode".
Based on the above analysis, the preset logic in this embodiment includes:
and if the angular acceleration of the motor is opposite to the rotating speed direction of the motor, outputting normally.
If the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, the output torque of the motor is opposite to the rotating speed direction of the motor, and the output torque of the motor is larger than the preset torque, the output is normal.
If the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, and the output torque of the motor is the same as or zero with the rotating speed direction of the motor, outputting a fault; and if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, the output torque of the motor is opposite to the rotating speed direction of the motor, and the output torque of the motor is smaller than or equal to the preset torque, outputting a fault.
The preset torque may be set according to an actual operation requirement of the vehicle, and may be close to but not more than the maximum braking torque that can be provided by the hill-holding mode, for example, 0.95 times the maximum braking torque.
The complete decision flow of the first monitoring logic can be understood with reference to fig. 3. In other embodiments, the first monitoring logic may only include the above-mentioned partial logic, and then determine the remaining condition as a fault. For example:
if the angular acceleration of the motor is opposite to the rotating speed direction of the motor, the output is normal; otherwise, a fault is output, etc.
The above scheme may have some special normal working conditions misjudged as faults, but the problem proposed in the background art can also be solved by comprehensively considering the accuracy and the response speed of the scheme. Of course, the solution shown in fig. 3 is a more preferred solution.
In this embodiment, the hill-holding monitoring method further includes: and if the monitoring result obtained by judgment is a fault, cutting off the torque output of the motor.
In this embodiment, the hill-holding monitoring method considers the normal condition that may still exist under the condition that the rotating speed of the motor is greater than the safe rotating speed, and uses the first monitoring logic to monitor the hill-holding mode, so as to solve the problem that a complete and reliable hill-holding monitoring method is lacked in the prior art.
[ example two ]
Referring to fig. 4, fig. 4 is a schematic diagram of a second monitoring logic according to an embodiment of the invention.
In some functional design requirements of slope stopping, the absolute value of the rotating speed of the motor is smaller than the safe torque, and at the moment, only the rotating speed monitoring is carried out. When the absolute value of the rotating speed of the motor is larger than or equal to the safe torque, the motor controller should exit the hill-holding mode and return to the torque mode, otherwise, a fault response should be triggered.
Therefore, in this embodiment, the hill-holding monitoring method includes:
selecting to run a first monitoring logic or selecting to run a second monitoring logic according to the slope-parking control logic adopted by the vehicle; and when the slope-stopping control logic allows the absolute value of the motor rotating speed to be greater than or equal to the safe torque, selecting the first monitoring logic, and when the slope-stopping control logic allows the absolute value of the motor rotating speed to be less than the safe torque, selecting the second monitoring logic.
And directly taking the output result of the first monitoring logic or the second monitoring logic as a monitoring result.
For details and design considerations related to the first monitoring logic, please refer to [ embodiment one ] for understanding.
The second monitoring logic comprises: if the rotating speed of the motor is less than the safe rotating speed, the output is normal; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, outputting a fault. The second monitoring logic may be understood with reference to fig. 4.
In this embodiment, the hill-holding monitoring method further includes: if the obtained monitoring result is judged to be a fault, outputting a request signal to drive the vehicle to exit the slope parking mode; and if the vehicle does not exit the hill-holding mode within a preset time period after the request signal is output, cutting off the torque output of the motor.
It should be understood that, in [ embodiment one ] and [ embodiment two ], when the monitoring result obtained by judgment is a fault, the slope parking monitoring method adopts different processing modes; these two different processing methods do not need to be bound to the previous determination process. For example, in one other embodiment, the monitoring result may be obtained by using the judgment logic of [ embodiment one ], and then the processing may be performed by using the processing method of [ embodiment two ]; or the monitoring result is obtained by adopting the judgment logic of the embodiment II, and then the processing mode of the embodiment I is used for processing.
In this embodiment, the hill-holding control logic adopted by the vehicle is considered, and the first monitoring logic and the second monitoring logic are adopted for comprehensive judgment, so that the judgment logic is simplified in some cases, and the problem that a complete and reliable hill-holding monitoring method is lacked in the prior art is solved.
[ EXAMPLE III ]
Referring to fig. 5, fig. 5 is a schematic diagram of a third monitoring logic according to an embodiment of the invention.
The basic idea of the invention is to convert torque monitoring based on internal demand torque which cannot ensure functional safety level into rotating speed monitoring and actual torque monitoring.
If this "internally demanded torque by proportional-integral regulation" or "actual torque output based on this demanded torque" can be limited within a sufficiently safe interval, the functional safety objective of ASIL B to avoid undesirable torque in the "hill-holding mode" can be achieved by checking the range of the "internally demanded torque" or "actual output torque" even if it is not possible to confirm that the process of proportional-integral regulation has not failed. By "sufficiently safe" is meant that, in the hill-holding mode, any value of "internal demand torque" or "actual output torque" within a given interval within the design constraints (maximum design grade, maximum design load, etc.) does not cause a safety risk (the driver has sufficient time to react to brake the vehicle by depressing the brake pedal). Typically, this given interval will be relatively small and require extensive simulation and real-vehicle testing to prove safety.
Based on the above design idea, in this embodiment, the hill-holding monitoring method includes:
selecting to run a first monitoring logic or selecting to run a second monitoring logic according to the slope-parking control logic adopted by the vehicle; and when the slope-stopping control logic allows the absolute value of the motor rotating speed to be greater than or equal to the safe torque, selecting the first monitoring logic, and when the slope-stopping control logic allows the absolute value of the motor rotating speed to be less than the safe torque, selecting the second monitoring logic.
And directly taking the output result of the first monitoring logic or the second monitoring logic as a first result.
And obtaining a second result according to the third monitoring logic.
And performing logic operation on the first result and the second result to obtain a monitoring result. The specific implementation manner of the logic operation is that if any one of the first result and the second result is a fault, a fault is output; otherwise, the output is normal. In other embodiments, other forms of logical operations may be adopted, for example, if any one of the first result and the second result is normal, the output is normal; otherwise, outputting a fault.
For details and design considerations related to the first monitoring logic, please refer to [ embodiment one ] for understanding.
For details and design considerations related to the second monitoring logic, please refer to [ embodiment two ] for understanding.
The third monitoring logic comprises: if the required torque of the motor is within a limited range, outputting normally; and if the required torque of the motor is not in the limited range, outputting a fault. The third monitoring logic may be understood with reference to fig. 5. The limited range can be set according to the running requirements of the vehicle and the actual vehicle test.
The hill-holding monitoring method comprises the following steps: and if the obtained monitoring result is judged to be a fault, processing by adopting the processing mode in the embodiment one or the embodiment two.
In this embodiment, the first monitoring logic, the second monitoring logic and the third monitoring logic are comprehensively judged, so that the result is relatively accurate and comprehensive, and the problem that a complete and reliable slope-parking monitoring method is lacked in the prior art is also solved.
[ EXAMPLE IV ]
In this embodiment, a vehicle is provided, the vehicle includes a motor controller, the motor controller is configured to monitor whether a hill-holding mode of the vehicle is working normally, the motor controller is configured to determine according to an output result of a first monitoring logic, and the first monitoring logic includes: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic.
And the motor controller is also used for judging according to the output result of the second monitoring logic and judging according to the output result of the third monitoring logic. And the motor controller is further used for processing in a processing mode in the embodiment I or the embodiment II when the judgment result is that the motor is in fault.
Other components and related connection relationships of the vehicle can be configured by those skilled in the art according to actual needs, and are not described in detail herein.
The present embodiment further provides a readable storage medium, where a program is stored, and when the program runs, the hill-holding monitoring method described in [ embodiment one ], [ embodiment two ], or [ embodiment three ] is performed; or to perform the hill-holding monitoring method in other embodiments.
Because the vehicle and the readable storage medium adopt the hill-holding monitoring method, the problem that a complete and reliable hill-holding monitoring method is lacked in the prior art is solved.
In summary, in the hill-holding monitoring method, the vehicle and the readable storage medium provided in the above embodiments, the basis for the judgment by the hill-holding monitoring method includes an output result of a first monitoring logic, where the first monitoring logic includes: if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally; and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic. So dispose, both carried out quick judgement to most operating modes through motor speed, carried out careful, comprehensive judgement to the great operating mode of motor speed through predetermineeing the logic again, compromise the integrality and the reliability of judgement, solved the problem that lacks complete reliable slope monitoring method among the prior art. In addition, the above embodiment also has the advantage of a control strategy that does not rely on a hill-holding mode and a control algorithm that implements the control strategy.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art according to the above disclosure are within the scope of the present invention.
Claims (10)
1. A hill-holding monitoring method is characterized in that whether a hill-holding mode of a vehicle works normally or not is monitored, the hill-holding monitoring method judges according to an output result including a first monitoring logic, and the first monitoring logic includes:
if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally;
and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic.
2. The hill hold monitoring method according to claim 1, wherein the preset logic includes:
and if the angular acceleration of the motor is opposite to the rotating speed direction of the motor, outputting normally.
3. The hill hold monitoring method of claim 2 wherein the preset logic further comprises:
if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, the output torque of the motor is opposite to the rotating speed direction of the motor, and the output torque of the motor is larger than the preset torque, the output is normal.
4. The hill hold monitoring method of claim 3 wherein the preset logic further comprises:
if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, and the output torque of the motor is the same as or zero with the rotating speed direction of the motor, outputting a fault;
and if the angular acceleration of the motor is the same as or zero with the rotating speed direction of the motor, the output torque of the motor is opposite to the rotating speed direction of the motor, and the output torque of the motor is smaller than or equal to the preset torque, outputting a fault.
5. The hill-holding monitoring method according to claim 1, wherein the basis for the judgment of the hill-holding monitoring method further comprises an output result of a second monitoring logic, and the second monitoring logic comprises:
if the rotating speed of the motor is less than the safe rotating speed, the output is normal;
and if the rotating speed of the motor is greater than or equal to the safe rotating speed, outputting a fault.
6. The hill-holding monitoring method according to claim 1 or 5, characterized in that the basis for the judgment of the hill-holding monitoring method further comprises an output result of a third monitoring logic, and the third monitoring logic comprises:
if the required torque of the motor is within a limited range, outputting normally;
and if the required torque of the motor is not in the limited range, outputting a fault.
7. The hill-holding monitoring method according to claim 1, characterized by comprising:
and if the monitoring result obtained by judgment is a fault, cutting off the torque output of the motor.
8. The hill-holding monitoring method according to claim 1, characterized by comprising:
if the obtained monitoring result is judged to be a fault, outputting a request signal to drive the vehicle to exit the slope parking mode;
and if the vehicle does not exit the hill-holding mode within a preset time period after the request signal is output, cutting off the torque output of the motor.
9. A vehicle, comprising a motor controller configured to monitor whether a hill-holding mode of the vehicle is operating normally, wherein the motor controller is configured to determine according to an output result of a first monitoring logic, and wherein the first monitoring logic comprises:
if the rotating speed of the motor is less than the safe rotating speed, the first monitoring logic outputs normally;
and if the rotating speed of the motor is greater than or equal to the safe rotating speed, the first monitoring logic outputs a fault or is normal according to preset logic.
10. A readable storage medium, characterized in that it has a program stored thereon, which when running, performs the hill-holding monitoring method according to any one of claims 1 to 8.
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| CN113085570B (en) | 2024-01-12 |
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