CN113942487B - Downshift control method and device and electric automobile - Google Patents
Downshift control method and device and electric automobile Download PDFInfo
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- CN113942487B CN113942487B CN202010692836.8A CN202010692836A CN113942487B CN 113942487 B CN113942487 B CN 113942487B CN 202010692836 A CN202010692836 A CN 202010692836A CN 113942487 B CN113942487 B CN 113942487B
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—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
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Abstract
The application discloses a downshift control method, a downshift control device and an electric automobile, wherein the method comprises the following steps: acquiring a braking control signal and a vehicle speed value of a vehicle; judging the braking state of the vehicle according to the braking control signal; and when the braking state of the vehicle is a brake pedal loosening process, and the vehicle speed value is smaller than a first threshold value, controlling the vehicle to shift down. By adopting the technical scheme, when the braking state of the vehicle is identified as the brake pedal releasing state according to the braking control signal of the vehicle, and the vehicle speed value is smaller than the first threshold value, the vehicle finishes the downshift. The vehicle is downshifted at the moment of releasing the brake pedal, and the driver can re-step on the brake pedal at any time because the foot of the driver does not leave the brake pedal when the brake pedal is released, so that the driver is not easy to cause tension of the driver even if under-braking feel occurs, the driving safety is improved, and the drivability of the multi-gear electric vehicle can be obviously optimized on the premise of not increasing the hardware cost.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a downshift control method and device and an electric automobile.
Background
With the increasing problems of energy shortage and environmental pollution in the modern society, electric automobiles are receiving attention as new energy automobiles in various circles. The electric automobile uses a vehicle-mounted power supply as power and uses a motor to drive wheels to run.
The power of the motor is transmitted through torque conversion of a gearbox, and the torque is completely or partially interrupted in the vehicle downshift process, so that a driver can feel underbraking. For example, when the driver finds that the vehicle is parked 15 m in front, the driver predicts that the rear-end collision is not caused by braking from 10 m, and then the driver downshifts the vehicle when the distance from the driver to the vehicle in front is 10 m, the driver can feel that the vehicle is under-braked, and the driver can feel that the vehicle is not completely parked at the distance of 10 m due to the under-brake, so that the rear-end collision accident occurs. Thereby causing tension to the driver and increasing driving unsafe.
Disclosure of Invention
In view of the above problems, the present application provides a downshift control method and device, and an electric vehicle, which are used for reducing the tension of a driver and improving the driving safety.
In a first aspect of the present application, there is provided a downshift control method, comprising:
acquiring a braking control signal and a vehicle speed value of a vehicle;
judging the braking state of the vehicle according to the braking control signal;
and when the braking state of the vehicle is a brake pedal loosening process, and the vehicle speed value is smaller than a first threshold value, controlling the vehicle to shift down.
Optionally, the acquiring the braking control signal and the vehicle speed value of the vehicle includes:
acquiring a brake master cylinder pressure value and a vehicle speed value of a vehicle;
the judging the braking state of the electric automobile according to the braking control signal comprises the following steps:
and judging the braking state of the electric automobile according to the pressure value of the brake master cylinder.
Optionally, the determining the braking state of the electric automobile according to the master cylinder pressure value includes:
calculating the change rate of the brake master cylinder pressure;
and when the change rate of the brake master cylinder pressure is larger than the second threshold value, the brake master cylinder pressure is smaller than the third threshold value, and the braking state of the vehicle is a brake pedal releasing state.
Optionally, the controlling the vehicle to downshift includes:
a downshift instruction is sent out;
and increasing the torque-off speed and the gear-in force according to the gear-down command so as to facilitate the gear-down of the vehicle.
Optionally, the increasing the torque-off rate and the gear-in force according to the gear-down command includes:
the whole vehicle controller sends a torque unloading rate increasing instruction to the motor controller;
and the whole vehicle controller sends a command for increasing the gear feeding force to a controller of a gearbox shifting fork control motor.
In a second aspect of the present application, there is provided a downshift control device, comprising:
the device comprises an acquisition unit, a judging unit and a control unit;
the acquisition unit is used for acquiring a braking control signal and a vehicle speed value of the vehicle;
the judging unit is used for judging the braking state of the vehicle according to the braking control signal;
the control unit is used for controlling the vehicle to shift down when the braking state of the vehicle is a brake pedal loosening process and the vehicle speed value is smaller than a first threshold value.
Optionally, the acquiring unit is further used for acquiring a brake master cylinder pressure value and a vehicle speed value of the vehicle;
the judging unit is also used for judging the braking state of the electric automobile according to the brake master cylinder pressure value.
Optionally, the judging unit further includes:
a calculation unit for calculating a rate of change of the master cylinder pressure;
the judging unit is used for judging whether the change rate of the brake master cylinder pressure is larger than a second threshold value, the brake master cylinder pressure is smaller than a third threshold value, and the braking state of the vehicle is a brake pedal releasing state.
Optionally, the control unit is further configured to issue a downshift instruction; and increasing the torque-off speed and the gear-in force according to the gear-down command so as to facilitate the gear-down of the vehicle.
In a third aspect of the present application, there is provided an electric vehicle including the downshift control device of any one of the above.
Compared with the prior art, the above technical scheme has the advantages that:
the application provides a method and a device for controlling downshifting, wherein the method comprises the following steps: acquiring a braking control signal and a vehicle speed value of a vehicle; judging the braking state of the vehicle according to the braking control signal; and when the braking state of the vehicle is a brake pedal loosening process, and the vehicle speed value is smaller than a first threshold value, controlling the vehicle to shift down.
By adopting the technical scheme, when the braking state of the vehicle is identified as the brake pedal releasing state according to the braking control signal of the vehicle, and the vehicle speed value is smaller than the first threshold value, the vehicle finishes the downshift. Therefore, the conventional three downshift conditions are not adopted for downshifting, and the downshift of the vehicle is completed in the process of releasing the brake pedal, and the driver can re-step on the brake pedal at any time because the foot of the driver does not leave the brake pedal when the brake pedal is released, so that even if the driver has the feel of under-braking, the driver is not easy to cause tension of the driver, the driving safety is improved, and the drivability of the multi-gear electric automobile can be obviously optimized on the premise of not increasing the hardware cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a typical process for an electric vehicle downshift;
FIG. 2 is a flow chart of a downshift control method provided herein;
fig. 3 is a schematic diagram of a downshift control device provided in the present application.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A vehicle downshift is a shift of the vehicle from a higher gear to a lower gear, for example from a fourth gear to a third gear. Currently, the selection of the vehicle shift-down timing mainly refers to 3 signals: vehicle speed signal, accelerator signal, brake signal. There are three specific conditions to trigger a downshift:
(1) Coasting downshifts: the driver does not step on the accelerator and does not step on the brake, so that the vehicle slowly reduces the speed along with the sliding until the speed is reduced to a low gear speed threshold value, and the downshift is triggered.
(2) Brake downshift: the driver steps on the brake to reduce the speed, so that the vehicle can reduce the speed to a low gear speed threshold value through the brake, and the downshift is triggered.
(3) Upshift and downshift: the driver steps on the accelerator to accelerate and actively downshifts in order to meet higher power demands.
In order to reduce electricity consumption and increase driving range, the electric automobile generates negative torque feedback power during coasting or braking downshifting, namely, for the case (1) and the case (2). Because the motor is downshifted, the motor is required to sequentially undergo 3 processes of torque removal, synchronizer gear shifting and torque loading.
Referring to fig. 1, a typical process for an electric vehicle downshift is shown.
The electric automobile downshifting can be divided into five stages, wherein in the first stage, the vehicle brakes and decelerates or slides, and at the moment, negative torque feedback generates electricity. In the second phase, the vehicle starts to shift and the motor removes the negative torque. And in the third stage, after the negative torque is removed, the synchronizer starts to shift gears. And in the fourth stage, after gear shifting is finished, the negative torque of the motor is loaded back. And fifthly, continuing feedback power generation.
Taking the case of the (2) th brake downshift as an example, when the motor is subjected to a negative torque removal process after the driver steps on the brake deceleration, the deceleration of the electric vehicle is reduced, that is, the driver feels under-brake. In short, the driver may feel that his foot is stepping on the brake but the vehicle is accelerating. Therefore, the driver can feel that the estimated parking distance vehicle cannot stop to cause collision, but the driver can not further step on the brake when the brake is stepped on, so that the driver is stressed, and the driving unsafe is increased.
Based on this, the present application provides a downshift control method and device, the method including: acquiring a braking control signal and a vehicle speed value of a vehicle; judging the braking state of the vehicle according to the braking control signal; and when the braking state of the vehicle is a brake pedal loosening process, and the vehicle speed value is smaller than a first threshold value, controlling the vehicle to shift down.
By adopting the technical scheme, when the braking state of the vehicle is identified as the brake pedal releasing state according to the braking control signal of the vehicle, and the vehicle speed value is smaller than the first threshold value, the vehicle finishes the downshift. It can be seen that the present application does not take place in the conventional three downshift situations, but rather completes the downshift of the vehicle during the release of the brake pedal. The operation of releasing the brake pedal reduces the deceleration of the vehicle, and the driver expects the braking force to be removed, so that the deceleration reduction is not easy to be perceived by the driver due to the torque removal, the underbrake feeling is not easy to be generated, and the tension of the driver due to the reduction of the deceleration of the vehicle can be reduced. And because the feet of the driver do not leave the brake pedal when the brake pedal is released, even if the driver has the feeling of under-braking, the driver can re-step on the brake pedal at any time, the tension of the driver is not easy to cause, the driving safety is improved, and the driving performance of the multi-gear electric automobile can be obviously optimized on the premise of not increasing the hardware cost.
Referring to fig. 2, fig. 2 is a flowchart of a downshift control method provided herein, which may include the following steps.
Step 201: and acquiring a brake control signal and a vehicle speed value of the vehicle.
Since the present application does not employ three conditions in the prior art to trigger a downshift, the downshift is triggered when the vehicle releases the brake pedal. It is necessary to determine whether the vehicle is in a brake pedal release state or not, and the current brake state of the vehicle can be determined by a brake control signal of the vehicle.
In one possible embodiment, the brake control signal may be a master cylinder pressure value.
Step 202: and judging the braking state of the vehicle according to the braking control signal.
And judging the braking state of the vehicle according to the acquired braking signal.
In one possible embodiment, when the brake signal is a master cylinder pressure value, the braking state of the vehicle may be determined according to the master cylinder pressure value.
Specifically, the rate of change of the master cylinder pressure may be calculated; and when the change rate of the brake master cylinder pressure is larger than the second threshold value and the brake master cylinder pressure is smaller than the third threshold value, the braking state of the vehicle is a brake pedal releasing state.
To ensure that the brake pedal is released fast enough, it is necessary to determine whether the rate of change of the brake master cylinder pressure is greater than the second threshold; in order to ensure that the magnitude of driver's brake pedal release is sufficiently large, it is necessary to determine whether the master cylinder pressure value is smaller than the third threshold value, and when both of the above conditions are satisfied, it is possible to ensure that the brake pedal is in a brake pedal release state, rather than a small magnitude of brake pedal shake due to a slight vehicle sway or the like.
It will be appreciated that the second threshold and the third threshold may be configured differently by those skilled in the art according to different types of vehicles, and the present application is not limited in detail.
Step 203: and when the braking state of the vehicle is a brake pedal loosening process, and the vehicle speed value is smaller than a first threshold value, controlling the vehicle to shift down.
And when the brake state of the vehicle is identified as a brake pedal releasing state, and the speed value of the vehicle is smaller than a first threshold value, controlling the vehicle to shift down.
It is understood that the first threshold value may be set differently according to different types of vehicles by those skilled in the art, and the present application is not limited specifically.
In one possible implementation, when the braking state of the vehicle is a brake pedal release state and the vehicle speed value is smaller than a first threshold value, a downshift instruction may be issued first, and according to the downshift instruction, the torque release rate and the upshift force are increased so that the vehicle can be downshifted more quickly, referring to fig. 1, that is, the time taken by the second stage and the third stage is reduced.
In the case of the aforementioned (3) th upshift, the driver may feel a power response delay because the motor cannot supply torque during the synchronizer shift, and the power response delay may be reduced by increasing the torque release rate and the upshift force as described above.
In one possible implementation manner, the motor controller MCU can be instructed by the whole vehicle controller VCU to realize the acceleration of the torque dumping rate; the whole vehicle controller VCU gives instructions to a controller of a gearbox shifting fork control motor, and increases of gear-shifting force are achieved. Thereby enabling rapid shifting with a faster dump torque rate and a greater shifting force than normal shifting.
By adopting the technical scheme, when the braking state of the vehicle is identified as the brake pedal releasing state according to the braking control signal of the vehicle, and the vehicle speed value is smaller than the first threshold value, the vehicle finishes the downshift. It can be seen that the present application does not take place in the conventional three downshift situations, but rather completes the downshift of the vehicle during the release of the brake pedal. The operation of releasing the brake pedal reduces the deceleration of the vehicle, and the driver expects the braking force to be removed, so that the deceleration reduction is not easy to be perceived by the driver due to the torque removal, the underbrake feeling is not easy to be generated, and the tension of the driver due to the reduction of the deceleration of the vehicle can be reduced. And because the feet of the driver do not leave the brake pedal when the brake pedal is released, even if the driver has the feeling of under-braking, the driver can re-step on the brake pedal at any time, the tension of the driver is not easy to cause, the driving safety is improved, and the driving performance of the multi-gear electric automobile can be obviously optimized on the premise of not increasing the hardware cost.
In addition to providing a downshift control method, an embodiment of the present invention further provides a downshift control device, as shown in fig. 3, including:
an acquisition unit 301, a judgment unit 302, and a control unit 303. Wherein:
the acquiring unit 301 is configured to acquire a brake control signal and a vehicle speed value of a vehicle;
the judging unit 302 is configured to judge a braking state of the vehicle according to the braking control signal;
the control unit 303 is configured to control the vehicle to downshift when the braking state of the vehicle is a brake pedal release process and the vehicle speed value is smaller than a first threshold value.
As a possible implementation manner, the acquiring unit is further configured to acquire a master cylinder pressure value and a vehicle speed value of the vehicle; the judging unit is also used for judging the braking state of the electric automobile according to the brake master cylinder pressure value.
As a possible implementation manner, the judging unit further includes: a calculation unit for calculating a rate of change of the master cylinder pressure; the judging unit is used for judging whether the change rate of the brake master cylinder pressure is larger than a second threshold value, the brake master cylinder pressure is smaller than a third threshold value, and the braking state of the vehicle is a brake pedal releasing state.
As a possible implementation, the control unit is further configured to issue a downshift instruction; and increasing the torque-off speed and the gear-in force according to the gear-down command so as to facilitate the gear-down of the vehicle.
The downshift device provided by the application does not adopt the conventional three downshift conditions to perform downshift, but completes the downshift of the vehicle in the process of releasing the brake pedal. The operation of releasing the brake pedal reduces the deceleration of the vehicle, and the driver expects the braking force to be removed, so that the deceleration reduction is not easy to be perceived by the driver due to the torque removal, the underbrake feeling is not easy to be generated, and the tension of the driver due to the reduction of the deceleration of the vehicle can be reduced. And because the feet of the driver do not leave the brake pedal when the brake pedal is released, even if the driver has the feeling of under-braking, the driver can re-step on the brake pedal at any time, the tension of the driver is not easy to cause, the driving safety is improved, and the driving performance of the multi-gear electric automobile can be obviously optimized on the premise of not increasing the hardware cost.
The embodiment of the invention provides an electric automobile adopting the downshift control device, and also provides a downshift control method and device.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The apparatus embodiments described above are merely illustrative, wherein the units and modules illustrated as separate components may or may not be physically separate. In addition, some or all of the units and modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing is merely illustrative of the embodiments of this invention and it will be appreciated by those skilled in the art that variations and modifications may be made without departing from the principles of the invention, and it is intended to cover all modifications and variations as fall within the scope of the invention.
Claims (4)
1. A downshift control method, characterized in that the method comprises:
acquiring a brake master cylinder pressure value and a vehicle speed value of an electric vehicle;
judging the braking state of the electric automobile according to the pressure value of the brake master cylinder;
when the braking state of the electric automobile is a brake pedal loosening process, and the vehicle speed value is smaller than a first threshold value, controlling the electric automobile to shift down;
the judging the braking state of the electric automobile according to the brake master cylinder pressure value comprises the following steps:
calculating the change rate of the brake master cylinder pressure;
when the change rate of the brake master cylinder pressure is larger than a second threshold value, the brake master cylinder pressure is smaller than a third threshold value, and the brake state of the electric automobile is a brake pedal releasing state;
the controlling the electric vehicle to downshift includes:
a downshift instruction is sent out;
and increasing the torque unloading rate and the gear-in force according to the gear-down instruction so as to facilitate the gear-down of the electric automobile.
2. The method of claim 1, wherein said increasing the torque-down rate and the upshift force in accordance with the downshift command comprises:
the whole vehicle controller sends a torque unloading rate increasing instruction to the motor controller;
and the whole vehicle controller sends a command for increasing the gear feeding force to a controller of a gearbox shifting fork control motor.
3. A downshift control device, characterized in that the device includes:
the device comprises an acquisition unit, a judging unit and a control unit;
the acquisition unit is used for acquiring a brake master cylinder pressure value and a vehicle speed value of the electric vehicle;
the judging unit is used for judging the braking state of the electric automobile according to the brake master cylinder pressure value;
the control unit is used for controlling the electric automobile to shift down when the braking state of the electric automobile is a brake pedal loosening process and the vehicle speed value is smaller than a first threshold value;
the judging unit further includes:
a calculation unit for calculating a rate of change of the master cylinder pressure;
the judging unit is used for judging whether the change rate of the brake master cylinder pressure is larger than a second threshold value, the brake master cylinder pressure is smaller than a third threshold value, and the brake state of the electric automobile is a brake pedal loosening state;
the control unit is also used for sending out a downshift instruction; and increasing the torque unloading rate and the gear-in force according to the gear-down instruction so as to facilitate the gear-down of the electric automobile.
4. A device according to claim 3, characterized in that the control unit is adapted in particular to:
the whole vehicle controller sends a torque unloading rate increasing instruction to the motor controller;
and the whole vehicle controller sends a command for increasing the gear feeding force to a controller of a gearbox shifting fork control motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010692836.8A CN113942487B (en) | 2020-07-17 | 2020-07-17 | Downshift control method and device and electric automobile |
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| CN202010692836.8A CN113942487B (en) | 2020-07-17 | 2020-07-17 | Downshift control method and device and electric automobile |
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| CN113942487A CN113942487A (en) | 2022-01-18 |
| CN113942487B true CN113942487B (en) | 2023-07-04 |
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| CN115891943A (en) * | 2022-11-22 | 2023-04-04 | 中国第一汽车股份有限公司 | Brake pedal control method and system and vehicle with same |
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| JP2000304126A (en) * | 1999-04-19 | 2000-11-02 | Komatsu Ltd | Gear shift control device for working vehicle |
| JP2007050866A (en) * | 2005-08-19 | 2007-03-01 | Toyota Motor Corp | Controller for hybrid vehicle |
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| CN113942487A (en) | 2022-01-18 |
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