CN115230480A - Method and system for realizing vehicle full-electric sliding dragging - Google Patents
Method and system for realizing vehicle full-electric sliding dragging Download PDFInfo
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- CN115230480A CN115230480A CN202211028199.XA CN202211028199A CN115230480A CN 115230480 A CN115230480 A CN 115230480A CN 202211028199 A CN202211028199 A CN 202211028199A CN 115230480 A CN115230480 A CN 115230480A
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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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
- B60L2240/54—Drive Train control parameters related to batteries
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Abstract
The invention discloses a method and a system for realizing vehicle full-electric sliding dragging, which relate to the field of vehicle control, wherein the method comprises the steps of acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN (controller area network) bus of a vehicle; based on the acquired electric quantity signal and the energy recovery state signal, judging whether the battery can carry out energy recovery currently is realized; when the battery can not recover energy and the vehicle is in a sliding state, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle. The CAN bus based on the vehicle acquires an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time, and specifically comprises the following steps: the VCU obtains an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time through a CAN bus of the vehicle. The invention can improve the driving experience and ensure the driving safety.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a method and a system for realizing full-electric sliding dragging of a vehicle.
Background
Compared with the traditional vehicle, the electric vehicle has no dragging sense when sliding, and in order to improve the driving experience under the working condition, the dragging sense of the whole vehicle when sliding is simulated by generally adopting a sliding energy recovery mode at present. However, when the vehicle is fully charged or energy recovery is at a fault, the driving experience cannot be improved by coasting energy recovery.
Currently, a method for realizing the dragging feeling of an electric Vehicle is provided, which monitors the electric quantity of a battery pack and the energy recovery fault state in real time through a VCU (Vehicle Control Unit), calculates and measures the state of the Vehicle in real time when the VCU detects that the energy recovery cannot be carried out and the whole Vehicle is in a sliding state, and actively boosts pressure through calipers to provide dragging force for the Vehicle, so that the dragging feeling of the electric Vehicle during running is consistent with that of a traditional Vehicle, and the driving experience is improved.
For the scheme for realizing the dragging feeling, the dragging force is provided by actively pressurizing through an Electronic Stability Controller (ESC) system, and the ESC closes a liquid inlet valve in the process of actively building pressure, so that a brake pedal is hard to step on when the vehicle is in a sliding state, a driver can generate panic due to stepping on the brake pedal in the processes from the sliding state to the braking process, and abnormal operation can be possibly caused so as to generate safety problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for realizing full-electric sliding dragging of a vehicle, which can improve the driving experience and ensure the driving safety.
In order to achieve the above purpose, the method for realizing the full-electric sliding drag of the vehicle provided by the invention specifically comprises the following steps:
acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN bus of the vehicle;
based on the acquired electric quantity signal and the energy recovery state signal, judging whether the battery can carry out energy recovery currently is realized;
when the battery can not recover energy and the vehicle is in a sliding state, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle.
On the basis of the scheme, the vehicle-based CAN bus acquires the electric quantity signal and the energy recovery state signal of the vehicle battery pack in real time, and specifically comprises the following steps:
the VCU obtains an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time through a CAN bus of the vehicle.
On the basis of the above scheme, the judgment of whether the battery can currently perform energy recovery or not is realized based on the acquired electric quantity signal and the energy recovery state signal, and the specific steps include:
the VCU judges whether the electric quantity of the battery pack is full according to the electric quantity signal, and judges whether the energy recovery function is failed according to the energy recovery state signal:
when the electric quantity of the battery pack is not full and the energy recovery function is not failed, judging that the vehicle can recover energy currently;
when the electric quantity of the battery pack is full or the energy recovery function is failed, the VCU judges that the vehicle cannot recover energy currently, and sends a signal that the energy recovery cannot be performed to the EPB controller.
On the basis of the scheme, when the battery cannot recover energy and the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle, and the method specifically comprises the following steps:
the EPB controller receives a signal which is sent by the VCU and can not recover energy, and judges whether the vehicle is in a sliding state at present:
if the vehicle is not in the sliding state at present, no processing is carried out;
if the vehicle is in a sliding state, clamping force is provided for the rear wheels through the EPB motor to provide dragging force for the vehicle.
On the basis of the scheme, the clamping force is provided for the rear wheel through the EPB motor to provide dragging force for the vehicle, and the method specifically comprises the following steps:
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle.
On the basis of the scheme, the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the method specifically comprises the following steps:
calculating to obtain a target clamping force for generating a dragging torque by the vehicle;
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the clamping force is gradually increased in a stepped mode until the target clamping force is achieved.
On the basis of the scheme, after the clamping force is provided for the rear wheels through the EPB motor to provide the dragging force for the vehicle, the method further comprises the following steps:
calculating to obtain the slip rate of the rear wheel of the vehicle based on the detection of a wheel speed sensor;
and releasing the clamping force applied to the rear wheel when the slip ratio of the rear wheel of the vehicle reaches a threshold value according to the calculated slip ratio of the rear wheel of the vehicle.
On the basis of the scheme, the specific mode for calculating the slip ratio of the rear wheel of the vehicle is as follows: vehicle rear wheel slip rate = (vehicle speed-wheel speed) × 100%/vehicle speed.
The invention provides a system for realizing vehicle full-electric sliding dragging, which comprises:
the acquisition module is used for acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN bus of a vehicle;
the judging module is used for judging whether the battery can be subjected to energy recovery currently or not based on the acquired electric quantity signal and the energy recovery state signal;
and the execution module is used for providing clamping force for the rear wheels through the EPB motor to provide dragging force for the vehicle when the battery cannot recover energy and the vehicle is in a sliding state currently.
On the basis of the scheme, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method specifically comprises the following steps: the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle.
Compared with the prior art, the invention has the advantages that: based on electric quantity signal and the energy recuperation state signal of vehicle battery package, when judging that it can't carry out energy recuperation and the vehicle is in the state of slideing at present to obtain the battery, provide the clamp force for the rear wheel through the EPB motor and provide the power of dragging for the vehicle, produce the back calliper motor clamp force that needs to provide promptly and make the vehicle produce the moment of dragging for the vehicle is slided the state to the in-process of stepping on the braking, and the driver still can normally step on brake pedal and carry out braking operation, improves and drives experience and guarantees to drive safety.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for achieving full electric coasting retardation of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a system for implementing vehicle full-electric coasting and dragging according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method for realizing vehicle full-electric sliding dragging, which is characterized in that based on an electric quantity signal and an energy recovery state signal of a vehicle battery pack, when the battery is judged to be incapable of recovering energy and the vehicle is in a sliding state at present, an EPB (electric power brake) motor provides clamping force for a rear wheel to provide dragging force for the vehicle, namely, the clamping force of a rear caliper motor required to be provided is generated to enable the vehicle to generate dragging torque, so that a driver can still normally step on a brake pedal to perform braking operation in the process from the sliding state to the braking stepping on of the vehicle, the driving experience is improved, and the driving safety is ensured. The embodiment of the invention correspondingly provides a system for realizing the full-electric sliding and dragging of the vehicle.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Referring to fig. 1, an embodiment of the present invention provides a method for realizing a full-electric coasting drag of a vehicle, which specifically includes the following steps:
s1: acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a Controller Area Network (CAN) bus of the vehicle;
in the embodiment of the invention, based on a CAN bus of a vehicle, an electric quantity signal and an energy recovery state signal of a vehicle battery pack are obtained in real time, and the method specifically comprises the following steps: the VCU obtains an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time through a CAN bus of the vehicle.
The VCU detects through the CAN bus to obtain the electric quantity signal and the energy recovery state signal of obtaining the vehicle battery package, make things convenient for follow-up electric quantity signal and the energy recovery state signal that CAN be according to the vehicle battery package, realize the judgement whether the energy recovery function of vehicle is out of order.
S2: based on the acquired electric quantity signal and the energy recovery state signal, judging whether the battery can carry out energy recovery currently is realized;
in the embodiment of the invention, based on the acquired electric quantity signal and the energy recovery state signal, the judgment of whether the battery can recover energy at present is realized, and the specific steps comprise:
the VCU judges whether the electric quantity of the battery pack is full according to the electric quantity signal, and judges whether the energy recovery function is failed according to the energy recovery state signal:
when the electric quantity of the battery pack is not full and the energy recovery function is not failed, judging that the vehicle can recover energy currently;
when the electric quantity of the battery pack is full or the energy recovery function is failed, the VCU judges that the vehicle cannot recover energy currently, and sends a signal that the energy recovery cannot be performed to the EPB controller.
According to the invention, based on the electric quantity signal and the energy recovery state signal, whether the electric quantity of the battery pack is full or not and whether the energy recovery can be carried out currently or not can be realized, when the electric quantity of the battery pack is full or the energy recovery function is failed, the corresponding electric quantity signal or the energy recovery state signal can be correspondingly embodied, when the electric quantity of the battery pack is full or the energy recovery function is failed, the fact that the vehicle cannot carry out the energy recovery currently is judged, and at the moment, the VCU can send out the signal that the energy recovery cannot be carried out to the EPB controller.
S3: when the battery is disabled for energy recovery and the vehicle is currently in a coasting state, the vehicle is provided with a retarding force by providing a clamping force to the rear wheels by an EPB (Electrical Park Brake) motor.
In the embodiment of the invention, when the battery can not recover energy and the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method specifically comprises the following steps:
the EPB controller receives a signal which is sent by the VCU and cannot be used for energy recovery, and judges whether the vehicle is in a sliding state:
if the vehicle is not in the sliding state at present, no processing is carried out;
if the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle.
Namely, after receiving the signal which is sent by the VCU and can not recover energy, the EPB controller detects whether the vehicle is in a sliding state at present, if the vehicle is in the sliding state at present, then the clamping force is provided for the rear wheels through the EPB motor to provide dragging force for the vehicle, and the clamping force is provided for the vehicle to generate dragging force through the working mode of the EPB motor.
In the embodiment of the invention, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method specifically comprises the following steps: the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle. The EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and under the action of the left rear caliper motor and the right rear caliper motor, clamping force is generated, so that vehicle dragging feeling is generated.
In the embodiment of the invention, the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the method specifically comprises the following steps:
s301: calculating to obtain a target clamping force which enables the vehicle to generate a dragging torque; the target clamping force is calculated by dividing the drag torque by the tire rolling radius. The dragging torque is sent to the EPB controller by the vehicle control unit.
S302: the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the clamping force is gradually increased in a stepped mode until the target clamping force is achieved.
And after the target clamping force of the dragging torque generated by the vehicle is obtained by calculating the clamping force of the rear caliper motor required to be provided, the target clamping force is not directly applied, but the clamping force is gradually increased in a stepped manner until the target clamping force is reached. The mode of increasing the force in a stepped way can avoid the abrasion of the motor caused by disposable heavy current and the service life attenuation of the motor.
In the embodiment of the present invention, after the EPB motor provides a clamping force to the rear wheel to provide a dragging force to the vehicle, the method further includes:
s411: calculating to obtain the slip ratio of the rear wheel of the vehicle based on the detection of a wheel speed sensor; the concrete way of calculating the slip ratio of the rear wheel of the vehicle is as follows: vehicle rear wheel slip rate = (vehicle speed-wheel speed) × 100%/vehicle speed.
S412: and releasing the application of the clamping force to the rear wheel when the slip ratio of the rear wheel of the vehicle reaches a threshold value according to the calculated slip ratio of the rear wheel of the vehicle.
When the slip ratio of the rear wheels of the vehicle reaches a threshold value, the vehicle loses stability, so that the clamping force applied to the rear wheels needs to be removed in time, the vehicle exits from a clamping state, and the driving safety of the vehicle is ensured.
It should be noted that, because the sliding energy recovery generally does not exceed the deceleration of 0.1g, the present invention receives the dragging torque sent by the vehicle control unit through the EPB controller, that is, the electronic caliper controller, calculates the clamping force of the rear caliper motor that needs to be provided at this time to make the vehicle generate the dragging torque, and during the process from the sliding state to the braking, the driver can still normally step on the brake pedal to perform the braking operation, thereby improving the driving experience.
According to the method for realizing vehicle full-electric sliding dragging, disclosed by the embodiment of the invention, based on the electric quantity signal and the energy recovery state signal of the vehicle battery pack, when the battery cannot recover energy and the vehicle is in a sliding state at present, clamping force is provided for the rear wheel through the EPB motor to provide dragging force for the vehicle, namely, the clamping force of the rear caliper motor required to be provided is generated to enable the vehicle to generate dragging torque, so that a driver can still normally step on a brake pedal to perform braking operation in the process from the sliding state to the braking state, the driving experience is improved, and the driving safety is ensured. The embodiment of the invention correspondingly provides a system for realizing the full-electric sliding and dragging of the vehicle.
In a possible implementation manner, an embodiment of the present invention further provides a readable storage medium, where the readable storage medium is located in a PLC (Programmable Logic Controller) Controller, and the readable storage medium stores a computer program, where the program, when executed by a processor, implements the following steps of implementing a method for dragging a vehicle during full-electric coasting:
acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN bus of the vehicle;
based on the acquired electric quantity signal and the energy recovery state signal, judging whether the battery can carry out energy recovery currently is realized;
when the battery can not recover energy and the vehicle is in a sliding state, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle.
In the embodiment of the invention, based on a CAN bus of a vehicle, an electric quantity signal and an energy recovery state signal of a vehicle battery pack are obtained in real time, and the method specifically comprises the following steps:
the VCU obtains an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time through a CAN bus of the vehicle.
In the embodiment of the invention, the judgment of whether the battery can carry out energy recovery at present is realized based on the acquired electric quantity signal and the energy recovery state signal, and the specific steps comprise:
the VCU judges whether the electric quantity of the battery pack is full according to the electric quantity signal, and judges whether the energy recovery function is failed according to the energy recovery state signal:
when the electric quantity of the battery pack is not full and the energy recovery function is not failed, judging that the vehicle can recover energy currently;
when the electric quantity of the battery pack is full or the energy recovery function is failed, the VCU judges that the vehicle cannot recover energy currently, and sends a signal that the energy recovery cannot be performed to the EPB controller.
According to the invention, based on the electric quantity signal and the energy recovery state signal, whether the electric quantity of the battery pack is full or not and whether the energy recovery can be carried out currently or not can be realized, when the electric quantity of the battery pack is full or the energy recovery function is failed, the corresponding electric quantity signal or the energy recovery state signal can be correspondingly embodied, when the electric quantity of the battery pack is full or the energy recovery function is failed, the fact that the vehicle cannot carry out the energy recovery currently is judged, and at the moment, the VCU can send out the signal that the energy recovery cannot be carried out to the EPB controller.
In the embodiment of the invention, when the battery can not recover energy and the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method comprises the following specific steps:
the EPB controller receives a signal which is sent by the VCU and cannot be used for energy recovery, and judges whether the vehicle is in a sliding state:
if the vehicle is not in the sliding state at present, no processing is carried out;
if the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle.
In the embodiment of the invention, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method specifically comprises the following steps:
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle.
In the embodiment of the invention, the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the method specifically comprises the following steps:
calculating to obtain a target clamping force which enables the vehicle to generate a dragging torque;
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the clamping force is gradually increased in a stepped mode until the target clamping force is achieved.
In the embodiment of the present invention, after providing the clamping force to the rear wheel through the EPB motor to provide the dragging force to the vehicle, the method further includes:
calculating to obtain the slip ratio of the rear wheel of the vehicle based on the detection of a wheel speed sensor;
and releasing the application of the clamping force to the rear wheel when the slip ratio of the rear wheel of the vehicle reaches a threshold value according to the calculated slip ratio of the rear wheel of the vehicle.
In the embodiment of the invention, the concrete way of calculating the slip ratio of the rear wheel of the vehicle is as follows: vehicle rear wheel slip rate = (vehicle speed-wheel speed) × 100%/vehicle speed.
According to the invention, based on the electric quantity signal and the energy recovery state signal of the vehicle battery pack, when the battery is judged to be incapable of energy recovery and the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, namely the clamping force of the rear caliper motor required to be provided is generated to enable the vehicle to generate dragging torque, so that a driver can still normally step on a brake pedal to perform braking operation in the process from the sliding state to braking stepping on, the driving experience is improved, and the driving safety is ensured.
The storage medium may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Referring to fig. 2, the system for realizing vehicle full-power sliding dragging provided in the embodiment of the invention enables a driver to still normally step on a brake pedal to perform braking operation in the process from a sliding state to braking, improves driving experience, and ensures driving safety, and the system comprises an acquisition module, a judgment module and an execution module.
The acquisition module is used for acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN bus of a vehicle; the judging module is used for judging whether the battery can carry out energy recovery currently or not based on the acquired electric quantity signal and the energy recovery state signal; the execution module is used for providing clamping force for the rear wheels through the EPB motor to provide dragging force for the vehicle when the battery cannot recover energy and the vehicle is in a sliding state at present.
Based on electric quantity signal and the energy recuperation state signal of vehicle battery package, when judging that it can't carry out energy recuperation and the vehicle is in the state of slideing at present to obtain the battery, provide the clamp force for the rear wheel through the EPB motor and provide the power of dragging for the vehicle, produce the back calliper motor clamp force that needs to provide promptly and make the vehicle produce the moment of dragging for the vehicle is slided the state to the in-process of stepping on the braking, and the driver still can normally step on brake pedal and carry out braking operation, improves and drives experience and guarantees to drive safety.
In the embodiment of the invention, based on a CAN bus of a vehicle, an electric quantity signal and an energy recovery state signal of a vehicle battery pack are obtained in real time, and the method specifically comprises the following steps:
the VCU obtains an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time through a CAN bus of the vehicle.
In the embodiment of the invention, based on the acquired electric quantity signal and the energy recovery state signal, the judgment of whether the battery can recover energy at present is realized, and the specific steps comprise:
the VCU judges whether the electric quantity of the battery pack is full according to the electric quantity signal, and judges whether the energy recovery function is failed according to the energy recovery state signal:
when the electric quantity of the battery pack is not full and the energy recovery function is not failed, judging that the vehicle can recover energy currently;
when the electric quantity of the battery pack is full or the energy recovery function is failed, the vehicle is judged that the energy recovery cannot be carried out at present, and the VCU sends an energy recovery failure signal to the EPB controller.
According to the invention, based on the electric quantity signal and the energy recovery state signal, whether the electric quantity of the battery pack is full or not can be realized, whether energy recovery can be carried out or not can be currently judged, when the electric quantity of the battery pack is full or the energy recovery function is in failure, the corresponding electric quantity signal or the energy recovery state signal can be correspondingly embodied, when the electric quantity of the battery pack is full or the energy recovery function is in failure, the fact that the vehicle cannot carry out energy recovery currently is judged, and at the moment, the VCU can send an energy recovery incapability signal to the EPB controller.
In the embodiment of the invention, when the battery can not recover energy and the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method comprises the following specific steps:
the EPB controller receives a signal which is sent by the VCU and cannot be used for energy recovery, and judges whether the vehicle is in a sliding state:
if the vehicle is not in the sliding state at present, no processing is carried out;
if the vehicle is in a sliding state, clamping force is provided for the rear wheels through the EPB motor to provide dragging force for the vehicle.
Namely, after receiving the signal which is sent by the VCU and can not recover energy, the EPB controller detects whether the vehicle is in the sliding state at present, if the vehicle is in the sliding state at present, then the clamping force is provided for the rear wheels through the EPB motor to provide dragging force for the vehicle, and the clamping force is provided for the vehicle to generate dragging force through the working mode of the EPB motor.
In the embodiment of the invention, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, and the method specifically comprises the following steps:
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle.
In the embodiment of the invention, the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the method specifically comprises the following steps:
calculating to obtain a target clamping force for generating a dragging torque by the vehicle;
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the clamping force is gradually increased in a stepped mode until the target clamping force is achieved.
And after the target clamping force of the dragging torque generated by the vehicle is obtained by calculating the clamping force of the rear caliper motor required to be provided, the target clamping force is not directly applied, but the clamping force is gradually increased in a stepped manner until the target clamping force is reached. The mode of increasing the force in a stepped way can avoid the abrasion of the motor caused by disposable heavy current and the service life attenuation of the motor.
In the embodiment of the present invention, after providing the clamping force to the rear wheel through the EPB motor to provide the dragging force to the vehicle, the method further includes:
calculating to obtain the slip rate of the rear wheel of the vehicle based on the detection of a wheel speed sensor;
and releasing the application of the clamping force to the rear wheel when the slip ratio of the rear wheel of the vehicle reaches a threshold value according to the calculated slip ratio of the rear wheel of the vehicle.
In the embodiment of the invention, the concrete way of calculating the slip ratio of the rear wheel of the vehicle is as follows: vehicle rear wheel slip rate = (vehicle speed-wheel speed) × 100%/vehicle speed.
According to the invention, based on the electric quantity signal and the energy recovery state signal of the vehicle battery pack, when the battery is judged to be incapable of energy recovery and the vehicle is in a sliding state at present, the EPB motor provides clamping force for the rear wheel to provide dragging force for the vehicle, namely the clamping force of the rear caliper motor required to be provided is generated to enable the vehicle to generate dragging torque, so that a driver can still normally step on a brake pedal to perform braking operation in the process from the sliding state to braking stepping on, the driving experience is improved, and the driving safety is ensured.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. A method for realizing dragging of a vehicle during full-electric sliding is characterized by comprising the following steps:
acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN bus of a vehicle;
based on the acquired electric quantity signal and the energy recovery state signal, judging whether the battery can carry out energy recovery currently is realized;
when the battery can not recover energy and the vehicle is in a sliding state, the EPB motor provides clamping force for the rear wheels to provide dragging force for the vehicle.
2. The method for realizing vehicle full-electric coasting and dragging according to claim 1, wherein the method for obtaining the electric quantity signal and the energy recovery state signal of the vehicle battery pack in real time based on the CAN bus of the vehicle comprises the following specific steps:
the VCU obtains an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time through a CAN bus of the vehicle.
3. The method for realizing the vehicle full-electric sliding dragging according to claim 2, wherein the judgment of whether the battery can currently perform energy recovery is realized based on the acquired electric quantity signal and the energy recovery state signal, and the specific steps comprise:
the VCU judges whether the electric quantity of the battery pack is full according to the electric quantity signal, and judges whether the energy recovery function is failed according to the energy recovery state signal:
when the electric quantity of the battery pack is not full and the energy recovery function is not failed, judging that the vehicle can recover energy currently;
when the electric quantity of the battery pack is full or the energy recovery function is failed, the vehicle is judged that the energy recovery cannot be carried out at present, and the VCU sends an energy recovery failure signal to the EPB controller.
4. The method for realizing the full-electric coasting and dragging of the vehicle as claimed in claim 3, wherein when the battery cannot recover energy and the vehicle is currently in a coasting state, the clamping force provided by the EPB motor to the rear wheels provides dragging force for the vehicle, and the specific steps comprise:
the EPB controller receives a signal which is sent by the VCU and cannot be used for energy recovery, and judges whether the vehicle is in a sliding state:
if the vehicle is not in the sliding state at present, no processing is carried out;
if the vehicle is in a sliding state, clamping force is provided for the rear wheels through the EPB motor to provide dragging force for the vehicle.
5. The method for realizing the full-electric coasting and dragging of the vehicle as claimed in claim 1, wherein the clamping force provided to the rear wheels by the EPB motor provides dragging force for the vehicle, and specifically comprises the following steps:
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle.
6. The method for realizing the full-electric sliding drag of the vehicle as claimed in claim 5, wherein the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, specifically:
calculating to obtain a target clamping force for generating a dragging torque by the vehicle;
the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, and the clamping force is gradually increased in a stepped mode until the target clamping force is achieved.
7. The method of claim 1, wherein after providing the vehicle with the drag force by providing the clamping force to the rear wheels via the EPB motor, further comprising:
calculating to obtain the slip rate of the rear wheel of the vehicle based on the detection of a wheel speed sensor;
and releasing the clamping force applied to the rear wheel when the slip ratio of the rear wheel of the vehicle reaches a threshold value according to the calculated slip ratio of the rear wheel of the vehicle.
8. The method for realizing the full-electric coasting drag of the vehicle as claimed in claim 7, wherein the concrete way of calculating the slip ratio of the rear wheels of the vehicle is as follows: vehicle rear wheel slip rate = (vehicle speed-wheel speed) × 100%/vehicle speed.
9. A system for achieving full electric coasting drag of a vehicle, comprising:
the acquisition module is used for acquiring an electric quantity signal and an energy recovery state signal of a vehicle battery pack in real time based on a CAN bus of a vehicle;
the judging module is used for judging whether the battery can carry out energy recovery currently or not based on the acquired electric quantity signal and the energy recovery state signal;
and the execution module is used for providing clamping force for the rear wheels through the EPB motor to provide dragging force for the vehicle when the battery cannot recover energy and the vehicle is in a sliding state currently.
10. The system for realizing full electric sliding drag of the vehicle as claimed in claim 9, wherein the clamping force provided to the rear wheel by the EPB motor provides drag force for the vehicle, specifically: the EPB controller drives the left rear caliper motor and the right rear caliper motor to act, so that clamping force is provided for the rear wheels to provide dragging force for the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211028199.XA CN115230480A (en) | 2022-08-25 | 2022-08-25 | Method and system for realizing vehicle full-electric sliding dragging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211028199.XA CN115230480A (en) | 2022-08-25 | 2022-08-25 | Method and system for realizing vehicle full-electric sliding dragging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115230480A true CN115230480A (en) | 2022-10-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211028199.XA Pending CN115230480A (en) | 2022-08-25 | 2022-08-25 | Method and system for realizing vehicle full-electric sliding dragging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115230480A (en) |
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2022
- 2022-08-25 CN CN202211028199.XA patent/CN115230480A/en active Pending
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