CN116373613A - 车辆控制方法以及车辆控制系统 - Google Patents

车辆控制方法以及车辆控制系统 Download PDF

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CN116373613A
CN116373613A CN202211509722.0A CN202211509722A CN116373613A CN 116373613 A CN116373613 A CN 116373613A CN 202211509722 A CN202211509722 A CN 202211509722A CN 116373613 A CN116373613 A CN 116373613A
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vehicle
vehicle control
sensing
gear
torque command
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辛炯辰
权度仁
秋政默
全永浩
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Hyundai Kefico Corp
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Hyundai Kefico Corp
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    • 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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    • 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
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  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Transmission Device (AREA)

Abstract

本申请涉及车辆控制方法以及车辆控制系统。根据本发明的在倒车挡状态下电动汽车前进时，用于保护车辆和驾驶员的车辆控制方法，包括：用于感测车辆的挡位的步骤；当感测到所述挡位为R档时，对所述车辆马达产生负转矩指令的步骤；感测所述车辆的车速的步骤；以及当感测到所述车速为正车速时，通过所述车辆仪表板显示警示灯或发出警示声的步骤。

Description

车辆控制方法以及车辆控制系统
技术领域
本发明涉及一种用于电动汽车的车辆控制系统及方法，更具体地，涉及一种在倒车挡状态下电动汽车前进时，用于保护车辆和驾驶员的车辆控制系统及方法。
背景技术
在下坡路段滑行时，由于驾驶员缺乏变速操作经验，即使将挡位切换为R挡(倒车挡)，也会发生车辆因重力而向前行驶的情况。最近，这种情况发生在内燃机车中，并成为一个问题。这是尽管车辆已向驾驶员发出对异常情况的警告，但驾驶员没有意识到，而且，由于内燃机车的特性，车辆因发动机负载而被熄火，在没有辅助动力的情况下需要由液压制动运行时，由于驾驶员缺乏制动执行能力而引起的事故。
因此，需要一种在下坡路段滑行时，在驾驶员不小心将挡位切换为R档的状态下，防止车辆前进的同时，保护驾驶员和车辆的技术，内燃机汽车和电动汽车同样需要这种技术。
发明内容
本发明所要解决的技术问题在于，提供一种在下坡路段滑行时，驾驶员不小心将挡位切换为R档的状态下车辆前进时，可以保护驾驶员和车辆的车辆控制系统及方法。
本发明要所解决的问题不限于上述问题，本领域的普通技术人员通过以下描述将清楚地理解其他未提及的问题。
为了解决所述技术问题，本发明提供一种车辆控制方法，其为在倒车挡状态下电动汽车前进时，用于保护车辆和驾驶员的车辆控制方法，其中，包括：用于感测车辆的挡位的步骤；当感测到所述挡位为R档时，对所述车辆马达产生负转矩指令的步骤；感测所述车辆的车速的步骤；以及当感测到所述车速为正车速时，通过所述车辆仪表板显示警示灯或发出警示声的步骤。
所述车辆控制方法，还可以包括：感测所述车辆的制动踏板的动作的步骤；以及当未感测到所述制动踏板的动作时，产生零转矩指令的步骤。
在产生所述零转矩指令的步骤中可以产生所述零转矩指令，与所述车辆的加速踏板的动作无关。
所述车辆控制方法，还可以包括在未感测到所述制动踏板的动作时，还产生再生制动指令的步骤。
所述车辆控制方法，当所述车辆的电池的充电状态(SOC，state of charge)小于等于参考值时，产生再生制动指令，否则，还可以包括保持所述零转矩指令的步骤。
为了解决所述技术问题，本发明提供一种车辆控制系统，其为在倒车挡状态下电动汽车前进时，用于保护车辆和驾驶员的车辆控制系统，包括：感测部，用于感测车辆的挡位；车速感测部，用于感测所述车辆的车速；以及车辆控制部，用于对所述车辆的马达产生转矩指令，所述车辆控制部，当感测到所述挡位为R档时，产生负转矩指令，当感测到所述车速为正车速时，通过所述车辆仪表板显示警示灯或发出警示声。
所述车辆控制系统，还可以包括用于感测所述车辆的制动踏板的动作的制动踏板感测部，当未感测到所述制动踏板的动作时，所述车辆控制部产生零转矩指令。
所述车辆控制系统，还可以包括用于感测所述车辆的加速踏板的动作的加速踏板感测部，当未感测到所述制动踏板的动作时，所述车辆控制部产生所述零转矩指令，与所述加速踏板的动作无关。
当未感测到所述制动踏板的动作时，所述车辆控制部还可以产生再生制动指令。
当所述车辆的电池的充电状态小于等于参考值时，所述车辆控制部可以产生再生制动指令，否则保持所述零转矩指令。
根据如上所述的本发明，在电动汽车行驶在下坡路段时，驾驶员不小心将挡位切换为R档的状态下车辆前进时，可以有效地保护驾驶员和车辆。
本发明的效果不限于上述效果，本领域的普通技术人员通过以下描述将清楚地理解其他未提及的效果。
附图说明
图1示出适用本发明的车辆行驶下坡道路的情况。
图2示出根据本发明的一实施例的车辆控制系统的框图。
图3示出根据本发明的一实施例的车辆控制方法的流程图。
具体实施方式
下面，将参照附图详细说明本发明的优选实施例。在以下说明及附图中，对实际上相同的构成要素分别标注相同的附图标记，并省略重复说明。在说明本发明时，若判断对相关公知功能或结构的具体说明会使本发明的要旨不明确，则省略对其的详细说明。
图1示出应用本发明的车辆(电动汽车)行驶下坡道路的情况。如图所示，当车辆1行驶下坡道路时，驾驶员不小心将挡位切换为R档的状态下，在未踩加速踏板的情况下缓行时(或未充分踩下加速踏板)，即使挡位为R档，也会发生车辆因重力而向前行驶的情况。本发明提供一种在这种情况下可以保护驾驶员和车辆的车辆控制系统及方法。
图2示出根据本发明的一实施例的车辆控制系统的框图。根据本实施例的车辆控制系统，包括：挡位感测部10、车速感测部20、制动踏板感测部30、加速踏板感测部40、电池管理系统(BMS，battery management system)50、车辆控制部60、仪表板70、马达控制部80及马达90。
挡位感测部10感测车辆1的挡位，输出与该挡位相对应的信号。
车速感测部20感测车辆1的速度，输出与车速相对应的信号。车速感测部20可以由用于感测车辆1的车轮速度的传感器而构成。
制动踏板感测部30感测制动踏板的动作，输出与制动踏板的动作量相对应的信号。
加速踏板感测部40感测加速踏板的动作，输出与加速踏板的动作量相对应的信号。
BMS50，监视、控制及管理电池，测量电池的充电状态(SOC，state of charge)，并输出与其相对应的信号。
车辆控制部60基于来自挡位感测部10、车速感测部20、制动踏板感测部30、加速踏板感测部40、BMS50等的信号来确定行驶模式，并对马达90产生转矩指令或再生制动指令后，输出至马达控制部80。车辆控制部60可以考虑行驶模式(加速、减速、滑行、定速行驶、缓行等)、前轮/后轮分配比、车辆状态等来计算所需转矩。
马达控制部80根据来自车辆控制部60的转矩指令或再生制动指令，控制马达90的转矩或执行再生制动。
下面，参考图3更详细说明根据本实施例的车辆控制系统的详细动作。
图3示出根据本发明的一实施例的车辆控制方法的流程图。
在步骤110中，车辆控制部60通过挡位感测部10感测车辆1的挡位。
在步骤115中，当由于驾驶员对变速杆(或按钮)的误操作而感测到挡位为R档时，在步骤120中，车辆控制部60产生负(即，反向)转矩指令。即，当加速踏板感测部40感测到加速踏板的动作时，产生与其相应的负转矩指令，而当未感测到加速踏板的动作时，产生负的缓行转矩指令。
在步骤125中，车辆控制部60通过车速感测部20感测车辆1的车速。
在正常的R档下倒车行驶时，若产生负转矩，则车速也会产生负车速。然而，若在产生负转矩的状态下产生正车速，则会是车辆1在下坡道路前进的同时，马达90向相反方向旋转的情况。如此，由于施加外力，而原朝一方向旋转的马达90朝相反方向旋转时，会对马达90造成严重的损坏，这将成为因车辆故障引起的损失以及威胁驾驶员的安全驾驶的因素。
因此，在步骤130中，若车辆1的车速被感测为正(即，正方向)车速，则在步骤135中，车辆控制部60确定为异常情况。并且，在步骤140中，车辆控制部60通过车辆1的仪表板70显示警示灯、产生警示声，向驾驶员通知异常情况。
在步骤145中，车辆控制部60通过制动踏板感测部30感测制动踏板的动作。
当驾驶员响应于警示灯或警示声，在步骤150中启动制动踏板时，在步骤155中，车辆控制部60解除警示灯及警示声。
然而，若在步骤150中未感测到制动踏板的动作，则在步骤160中，车辆控制部60判断驾驶员没有制动意思，并在步骤165中产生零转矩指令。此时，车辆控制部60产生零转矩指令，这与加速踏板是否被加速踏板感测部40操作，即驾驶员是否踩下加速踏板无关。然后，马达控制部80将马达90的转矩控制为0，使得车辆1处于滑行状态。此时，由于车辆1正在行驶下坡道路，因此，车速为正值。
并且，在步骤170中，当从BMS50感测的SOC小于等于预定参考值(例如，约90％)时(即，可再生制动的情况)，在步骤175中，车辆控制部60产生再生制动指令。然后，马达控制部80执行马达90的再生制动。若在驾驶员没有意识到异常情况下，行驶下坡道路的过程中执行再生制动，则驾驶员会感觉到车辆1会瞬时间从后面拉动。这是驾驶员没有想到的情况，即使驾驶员踩下加速踏板等表现出加速意志，车辆1也不会加速，而发生车辆1减速行驶的感觉变化，从而，驾驶员可以意思到异常情况。即使是忽视警示灯或警示声的驾驶员，也可以通过全身的感觉而不是视听觉来识别异常情况。
若在步骤170中由于来自BMS50的SOC不小于等于参考值(例如，约90％)而不能执行再生制动，则在步骤180中车辆控制部60保持零转矩指令以保持滑行状态。在保持滑行的状态下，不会损坏马达90的功能，因此，制动功能也可以正常运行。因此，即使驾驶员在没有意识到异常情况的状态下驾驶，驾驶员也可以保持对车辆的控制权而不会造成车辆损失或事故。
根据本发明的实施例，在电动车上由于驾驶员的失误而挡位处于R档的状态下心事下坡道路时，可以通过警示灯或警示声通知驾驶员异常情况，在这种情况下，即使驾驶员没有意识到异常情况，也可以通过再生制动，改变驾驶感觉，使驾驶员能够通过全身的感觉来意识到异常情况，即使不能再生制动的情况下，也可以通过产生及保持零转矩指令，来防止车辆马达的损坏。
可以通过计算机程序指令来执行本发明所附框图的每个块及流程图的各步骤的组合。由于计算机程序指令可以加载在通用计算机、专用计算机或其他可编程数据处理设备的处理器上，所有由计算机或其他可编程数据处理设备的处理器执行的指令产生用于执行框图的每个块或流程图的各步骤中说明的功能的装置。由于计算机程序指令也可以存储在能够由计算机或其他可编程数据处理设备支持的计算机可用或计算机可读存储器中，以便以特定方式体现功能，所以存储在计算机可用或计算机可读存储器中的指令可以产生其中嵌入有指令装置的制造项目，该指令装置执行框图的每个块或流程图的各步骤中说明的功能。由于计算机程序指令可以加载到计算机或其他可编程数据处理设备上，所以计算机或其他可编程数据处理设备执行一系列操作步骤，并且生成由计算机执行的处理，使得在计算机或其他可编程数据处理设备中执行的指令可以提供操作，用于执行框图的每个块和流程图的各步骤中说明的功能。
此外，每个块或每个步骤可以指代模块、节段或代码的一部分，其包括用于执行特定逻辑功能的一个或多个指令。此外，应注意，在一些替代实施例中，在块或步骤中叙述的功能可以在偏离顺序的情况下发生。例如，连续示出的两个块或步骤可以基本上同时执行，或者有时可以根据对应的功能以相反的顺序执行。
以上，仅用于示例性地说明本发明的技术精神，并且本发明所属领域的普通技术人员可以在不脱离本发明的本质特征的情况下对其进行各种改变和修改。因此，本发明中公开的实施例不是旨在限制而是解释本发明的技术精神，并且本发明的技术精神范围不应受上述实施例的限制。本发明的保护范围应由所附权利要求来解释，并且在其等同范围内的所有技术精神都应包括在本发明的范围内。

Claims (10)

1.一种车辆控制方法，其为在倒车挡状态下电动汽车前进时，用于保护车辆和驾驶员的车辆控制方法，其中，包括：
用于感测车辆的挡位的步骤；
当感测到所述挡位为R档时，对所述车辆马达产生负转矩指令的步骤；
感测所述车辆的车速的步骤；以及
当感测到所述车速为正车速时，通过所述车辆仪表板显示警示灯或发出警示声的步骤。
2.根据权利要求1所述的车辆控制方法，其中，还包括：
感测所述车辆的制动踏板的动作的步骤；以及
当未感测到所述制动踏板的动作时，产生零转矩指令的步骤。
3.根据权利要求2所述的车辆控制方法，其中，在产生所述零转矩指令的步骤中产生所述零转矩指令，与所述车辆的加速踏板的动作无关。
4.根据权利要求2所述的车辆控制方法，其中，还包括在未感测到所述制动踏板的动作时，还产生再生制动指令的步骤。
5.根据权利要求2所述的车辆控制方法，其中，当所述车辆的电池的充电状态小于等于参考值时，产生再生制动指令，否则，还包括保持所述零转矩指令的步骤。
6.一种车辆控制系统，其为在倒车挡状态下电动汽车前进时，用于保护车辆和驾驶员的车辆控制系统，包括：
感测部，用于感测车辆的挡位；
车速感测部，用于感测所述车辆的车速；以及
车辆控制部，用于对所述车辆的马达产生转矩指令，
所述车辆控制部，当感测到所述挡位为R档时，产生负转矩指令，当感测到所述车速为正车速时，通过所述车辆仪表板显示警示灯或发出警示声。
7.根据权利要求6所述的车辆控制系统，其中，还包括用于感测所述车辆的制动踏板的动作的制动踏板感测部，
当未感测到所述制动踏板的动作时，所述车辆控制部产生零转矩指令。
8.根据权利要求7所述的车辆控制系统，其中，还包括用于感测所述车辆的加速踏板的动作的加速踏板感测部，
当未感测到所述制动踏板的动作时，所述车辆控制部产生所述零转矩指令，与所述加速踏板的动作无关。
9.根据权利要求7所述的车辆控制系统，其中，当未感测到所述制动踏板的动作时，所述车辆控制部还产生再生制动指令。
10.根据权利要求7所述的车辆控制系统，其中，当所述车辆的电池的充电状态小于等于参考值时，所述车辆控制部产生再生制动指令，否则保持所述零转矩指令。
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