CN116605062A - Anti-slip control method and device for electric vehicle and electric vehicle - Google Patents

Anti-slip control method and device for electric vehicle and electric vehicle Download PDF

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Publication number
CN116605062A
CN116605062A CN202310552503.9A CN202310552503A CN116605062A CN 116605062 A CN116605062 A CN 116605062A CN 202310552503 A CN202310552503 A CN 202310552503A CN 116605062 A CN116605062 A CN 116605062A
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China
Prior art keywords
electric vehicle
resistance
current
vehicle
determining
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Chinese (zh)
Inventor
邹绵意
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Xiaomi Automobile Technology Co Ltd
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Xiaomi Automobile Technology Co Ltd
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Priority to CN202310552503.9A priority Critical patent/CN116605062A/en
Publication of CN116605062A publication Critical patent/CN116605062A/en
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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
    • 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
    • B60L2240/10—Vehicle control parameters
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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 disclosure relates to an anti-slip control method and device for an electric vehicle and the electric vehicle, wherein the method comprises the following steps: obtaining equivalent ramp resistance of the electric vehicle; equivalent ramp resistance is obtained by combining the vehicle carrying capacity of a fixed value and determining the running related parameters of the electric vehicle; acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition; determining target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance; and the motor driving control processing is carried out on the electric vehicle according to the target torque, so that the actual carrying capacity and gradient information of the electric vehicle are avoided being adopted in the calculation process of the target torque, the practicability is high, the slope parking can be realized by determining the obtained target torque, the slope sliding phenomenon can be effectively prevented, and the slope sliding prevention control efficiency is improved.

Description

Anti-slip control method and device for electric vehicle and electric vehicle
Technical Field
The disclosure relates to the technical field of motor control of electric vehicles, and in particular relates to a landslide prevention control method and device of an electric vehicle and the electric vehicle.
Background
At present, in the process of parking an electric vehicle, a parking moment is realized through a motor of the electric vehicle; after the electric vehicle is parked, the maintenance time of the parking moment of the motor is limited, so that the chassis of the electric vehicle is required to take over, a brake caliper of a wheel side is triggered by the chassis to perform wheel side braking, and the parking control is completed.
In the above scheme, when determining the hill-holding moment, the actual load capacity and gradient information of the electric vehicle need to be determined first, and the two information are difficult to acquire on the electric vehicle, so that the determined hill-holding moment is inaccurate and the hill-holding phenomenon is easy to occur.
Disclosure of Invention
The disclosure provides a landslide prevention control method and device for an electric vehicle and the electric vehicle.
According to a first aspect of embodiments of the present disclosure, there is provided a landslide prevention control method of an electric vehicle, the method including: obtaining equivalent ramp resistance of the electric vehicle; the equivalent ramp resistance is obtained by combining the vehicle carrying capacity with a fixed value and the running related parameters of the electric vehicle; acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition; determining a target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance; and performing motor drive control processing on the electric vehicle according to the target torque.
In one embodiment of the present disclosure, the equivalent hill resistance is an equivalent hill resistance of the electric vehicle at a first historical point in time; the first historical time point is a second historical time point closest to the current time point in at least one second historical time point; and at the second historical time point, the speed data of the electric vehicle is greater than or equal to a preset speed threshold value, and the electric vehicle is in an unbraked state.
In one embodiment of the present disclosure, the method further comprises: acquiring a driving related parameter of the electric vehicle at the second historical time point; determining traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle according to the driving related parameters and the vehicle carrying capacity of a fixed value; and determining the equivalent ramp resistance of the electric vehicle at the second historical time point according to the traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle.
In one embodiment of the present disclosure, the driving related parameters include at least one of: the output reduction ratio from the motor of the electric drive axle to the tires of the vehicle, the transmission efficiency of the electric drive axle, the dynamic radius of the tires of the vehicle, the torque of the motor, the speed data, the wind resistance coefficient, the effective windward area, the air density, the self weight of the vehicle, the acceleration of the gravity and the rolling friction coefficient.
In one embodiment of the present disclosure, the obtaining the current working condition of the electric vehicle and the current vehicle request torque includes: acquiring the current whole vehicle request torque, the current total running resistance and the current running mode of the electric vehicle; the current total running resistance is determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point; determining the current total running resistance moment according to the current total running resistance; and under the condition that the current vehicle request torque is smaller than the current total running resistance moment and under the condition that the current running mode is a single pedal mode or a chassis parking function is not enabled, determining that the current working condition is an automatic motor parking working condition.
In one embodiment of the disclosure, the determining the target torque of the electric vehicle according to the current working condition, the current vehicle request torque and the equivalent ramp resistance includes: under the condition that the current working condition is an automatic motor parking working condition, determining the ramp compensation driving torque of the electric vehicle according to the equivalent ramp resistance and the driving related parameters; and determining the sum of the ramp compensation driving torque and the current whole vehicle request torque as the target torque.
In one embodiment of the disclosure, the determining the target torque of the electric vehicle according to the current working condition, the current vehicle request torque and the equivalent ramp resistance further includes: and under the condition that the current working condition is a non-motor automatic parking working condition, determining the current vehicle request torque as the target torque.
According to a second aspect of the embodiments of the present disclosure, there is also provided an anti-slip control device for an electric vehicle, the device including: the first acquisition module is used for acquiring equivalent ramp resistance of the electric vehicle; the equivalent ramp resistance is obtained by combining the vehicle carrying capacity with a fixed value and the running related parameters of the electric vehicle; the second acquisition module is used for acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition; the first determining module is used for determining the target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance; and the driving control module is used for carrying out motor driving control processing on the electric vehicle according to the target torque.
According to a third aspect of the embodiments of the present disclosure, there is also provided an electric vehicle including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to: the steps of the anti-slip control method for the electric vehicle are realized.
According to a fourth aspect of embodiments of the present disclosure, there is also provided a non-transitory computer-readable storage medium, which when executed by a processor, causes the processor to perform the anti-hill-slip control method of an electric vehicle as described above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
by acquiring the equivalent ramp resistance of the electric vehicle; equivalent ramp resistance is obtained by combining the vehicle carrying capacity of a fixed value and determining the running related parameters of the electric vehicle; acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition; determining target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance; and the motor driving control processing is carried out on the electric vehicle according to the target torque, so that the actual carrying capacity and gradient information of the electric vehicle are avoided being adopted in the calculation process of the target torque, the practicability is high, the slope parking can be realized by determining the obtained target torque, the slope sliding phenomenon can be effectively prevented, and the slope sliding prevention control efficiency is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure and do not constitute an undue limitation on the disclosure.
FIG. 1 is a flow chart of a hill-slip prevention control method for an electric vehicle according to one embodiment of the present disclosure;
FIG. 2 is a flow chart of a hill-slip prevention control method for an electric vehicle according to another embodiment of the present disclosure;
FIG. 3 is a schematic view of a structure of an anti-slip control device for an electric vehicle according to an embodiment of the present disclosure;
fig. 4 is a block diagram of an electric vehicle, according to an exemplary embodiment of the present disclosure.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
At present, in the process of parking an electric vehicle, a parking moment is realized through a motor of the electric vehicle; after the electric vehicle is parked, the maintenance time of the parking moment of the motor is limited, so that the chassis of the electric vehicle is required to take over, a brake caliper of a wheel side is triggered by the chassis to perform wheel side braking, and the parking control is completed.
In the above scheme, when determining the hill-holding moment, the actual load capacity and gradient information of the electric vehicle need to be determined first, and the two information are difficult to acquire on the electric vehicle, so that the determined hill-holding moment is inaccurate and the hill-holding phenomenon is easy to occur.
Fig. 1 is a flowchart of a hill-slip prevention control method of an electric vehicle according to an embodiment of the present disclosure. It should be noted that, the anti-slip control method of the electric vehicle of the present embodiment may be applied to an anti-slip control device of the electric vehicle, where the device may be configured in an electronic apparatus, so that the electronic apparatus may perform an anti-slip control function of the electric vehicle.
The electronic device may be disposed in the electric vehicle, or the electronic device may communicate with a controller in the electric vehicle, so that the electric vehicle may implement a hill-slip prevention control function. When the electronic device is disposed in the electric vehicle, the electronic device may be a controller in the electric vehicle.
The electronic device may be any device with computing capability, for example, may be a personal computer (Personal Computer, abbreviated as PC), a mobile terminal, a server, etc., and the mobile terminal may be, for example, a vehicle-mounted device, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, etc., and may be a hardware device with various operating systems, a touch screen, and/or a display screen. The following embodiments will be described with reference to an example in which an execution body is a controller in an electric vehicle.
As shown in fig. 1, the method comprises the steps of:
step 101, obtaining equivalent ramp resistance of an electric vehicle; equivalent ramp resistance is determined by combining the vehicle carrying capacity with a fixed value and running related parameters of the electric vehicle.
In the embodiment of the disclosure, the equivalent ramp resistance is the equivalent ramp resistance of the electric vehicle at the first historical time point; the first historical time point is the second historical time point closest to the current time point in the at least one second historical time point; at the second historical time point, the speed data of the electric vehicle is greater than or equal to a preset speed threshold value, and the electric vehicle is in an unbraked state.
When the speed data of the electric vehicle is smaller than the preset speed threshold value, the calculated acceleration data of the electric vehicle may be inaccurate according to the speed data at each time point, so that the obtained equivalent ramp resistance can be determined by combining the running related parameters of the electric vehicle without considering that the speed data is smaller than the preset speed threshold value.
When the equivalent ramp resistance of the electric vehicle is determined, the braking moment of the electric vehicle is not considered, and if the electric vehicle is in a braking state, the determined equivalent ramp resistance is inaccurate. Therefore, the obtained equivalent hill resistance can be determined in combination with the running-related parameter of the electric vehicle without taking into consideration the electric vehicle in the braked state.
In an embodiment of the present disclosure, the calculating manner of the equivalent ramp resistance of the electric vehicle at the second historical time point may include: acquiring a driving related parameter of the electric vehicle at a second historical time point; determining traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle according to the driving related parameters and the vehicle carrying capacity of a fixed value; and determining the equivalent ramp resistance of the electric vehicle at the second historical time point according to the traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle.
In the embodiment of the present disclosure, the driving related parameter may include at least one of: the output reduction ratio from the motor of the electric drive axle to the tires of the vehicle, the transmission efficiency of the electric drive axle, the dynamic radius of the tires of the vehicle, the torque of the motor, the speed data, the wind resistance coefficient, the effective windward area, the air density, the self weight of the vehicle, the acceleration of the gravity and the rolling friction coefficient.
Wherein the calculation formula of the equivalent hill resistance of the electric vehicle can be as shown in the following formula (1),
Fslope＝Fdrive-Fwind-Facc-Froll (1)
wherein Fslope represents the equivalent hill resistance of the electric vehicle; fdrive represents the traction of the electric vehicle; fwind represents windward resistance of the electric vehicle; facc represents the acceleration resistance of the electric vehicle; froll represents the rolling resistance of an electric vehicle.
The calculation formula of the traction force of the electric vehicle may be as shown in the following formula (2).
Fdrive＝TEM×Gear_Ratio×Gear_Efficiency÷Rdyn (2)
Wherein TEM represents motor torque; gear_ratio represents the output reduction Ratio of the electric drive axle motor to the vehicle tires; gear_efficiency represents the transmission Efficiency of the electric drive axle; rdyn denotes the vehicle tire radius of movement.
The calculation formula of the windward resistance of the electric vehicle may be as shown in the following formula (3).
Fwind＝((Velocity /3.6)2×Cw×Aq×er)/2 (3)
Where, velocity represents speed data of the electric vehicle; cw represents the wind resistance coefficient; aq represents the effective frontal area of the electric vehicle; and er represents the air density.
The calculation formula of the acceleration resistance of the electric vehicle may be as shown in the following formula (4).
Facc＝(Mf+Mload)*Acc (4)
Wherein Mf represents the vehicle own weight of the electric vehicle; mload represents a fixed value of the vehicle load capacity.
The calculation formula of the rolling resistance of the electric vehicle can be shown in the following formula (5).
Froll＝Gravity×(Mf+Mload)×fr (5)
Wherein, the Gravity represents the Gravity acceleration; fr represents the rolling friction coefficient.
The acceleration resistance of the electric vehicle is calculated by combining the vehicle carrying capacity with a fixed value, and is equivalent acceleration resistance and not real acceleration resistance. The rolling resistance of the electric vehicle is calculated by combining the vehicle carrying capacity with a fixed value, and is equivalent rolling resistance and not real rolling resistance.
The calculated ramp resistance is the actual ramp resistance by combining the actual acceleration resistance and the actual rolling resistance. The equivalent ramp resistance in the present disclosure is calculated by combining the equivalent acceleration resistance and the equivalent rolling resistance.
In the embodiment of the disclosure, the fixed-value vehicle load capacity may be determined according to a calibration vehicle load capacity of the electric vehicle, or may be determined empirically. The fixed value of the fixed-value vehicle load capacity can be, for example, zero or the weight of a passenger.
In the embodiment of the disclosure, the controller of the electric vehicle may collect, in real time, running related parameter information of the electric vehicle when the speed data of the electric vehicle is greater than or equal to a preset speed threshold and the electric vehicle is in an unbraked state, so as to calculate an equivalent ramp resistance, and update the equivalent ramp resistance stored in a designated position in the controller according to the calculated equivalent ramp resistance; when the speed data of the electric vehicle is smaller than a preset speed threshold value, or the electric vehicle is in a braking state, calculating and updating the equivalent ramp resistance are not performed, so that the equivalent ramp resistance stored in the controller is the equivalent ramp resistance at a second historical time point closest to the current time point in at least one second time point; and further, when needed, the stored equivalent ramp resistance is read.
102, acquiring the current working condition of an electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition.
In the embodiment of the disclosure, aiming at the automatic parking working condition of a motor, a controller in an automatic vehicle is provided with conditions which need to be met by the working condition; under the condition that the electric vehicle meets the condition, the current working condition of the electric vehicle is determined to be the automatic parking working condition of the motor. And under the condition that the electric vehicle does not meet the condition, determining that the current working condition of the electric vehicle is a non-motor automatic parking working condition.
The motor automatic parking working condition needs to meet the condition, for example, the current vehicle request torque is smaller than the current total running resistance moment, and the current running mode is a single pedal mode or the chassis parking function is not enabled. In an example, the condition that the motor automatic parking condition needs to be met may be that the current vehicle request torque is smaller than the current total running resistance moment, and the current running mode is a single pedal mode. In another example, the condition that the motor automatic parking condition needs to be met may be that the current vehicle request torque is smaller than the current total running resistance moment, and the current running mode is a mode in which the chassis parking function is not enabled.
The current total running resistance can be determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point.
The single pedal mode is a mode of stopping by utilizing a motor, and refers to a mode that a driver can finish operations such as starting, acceleration and deceleration, sliding, even stopping and the like of the electric vehicle through motor driving only by operating an accelerator pedal. In addition, in the single pedal mode, the conventional brake pedal may still be used in the event of emergency braking. In the single pedal mode, the driver presses the accelerator pedal of the electric vehicle, and the electric vehicle accelerates. When the accelerator pedal of the electric vehicle is released, the electric vehicle is decelerated, and after the accelerator pedal is completely released, the electric vehicle is stopped.
Wherein, the chassis parking function is not enabled, which means a mode in which the electronic parking brake system (Electronic parking brake system, EPB) is not enabled. The EPB realizes parking braking through an electronic control wheel side brake. The function of the EPB is the same as the mechanical pull rod handbrake. When the vehicle starts, the EPB does not need to be manually closed, namely, the EPB is not enabled; when the accelerator pedal is stepped on to start, the EPB can be automatically closed.
And step 103, determining the target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance.
Step 104, motor drive control processing is performed on the electric vehicle according to the target torque.
In the embodiment of the disclosure, two opportunities for anti-slip control of the electric vehicle may exist, one opportunity being located during hill-holding. In the process of parking, the electric vehicle controls a motor to output a parking torque (target torque) to realize the parking process; after that, because the maintenance time of the motor output parking torque is limited, the chassis of the electric vehicle can control the brake calipers of the wheel side after the maintenance time, thereby realizing the wheel side braking and completing the parking control. Wherein the time during the hill-holding process, i.e. the maintenance period during which the electric vehicle controls the motor to output the hill-holding torque. The other time is in the starting driving process after the slope is parked. During the starting running process, the brake calipers of the wheel rim stop wheel rim braking, and then the motor outputs torque to prevent the slope from sliding. The time when the wheel brake caliper starts to brake is the time period after the wheel brake is stopped.
In the anti-slip control method of the electric vehicle, the equivalent ramp resistance of the electric vehicle is obtained; equivalent ramp resistance is obtained by combining the vehicle carrying capacity of a fixed value and determining the running related parameters of the electric vehicle; acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; determining target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance; and the motor driving control processing is carried out on the electric vehicle according to the target torque, so that the actual carrying capacity and gradient information of the electric vehicle are avoided being adopted in the calculation process of the target torque, the practicability is high, the slope parking can be realized by determining the obtained target torque, the slope sliding phenomenon can be effectively prevented, and the slope sliding prevention control efficiency is improved.
Fig. 2 is a flowchart of a hill-slip prevention control method of an electric vehicle according to another embodiment of the present disclosure. It should be noted that, the anti-slip control method of the electric vehicle of the present embodiment may be applied to an anti-slip control device of the electric vehicle, where the device may be configured in an electronic apparatus, so that the electronic apparatus may perform an anti-slip control function of the electric vehicle.
The electronic device may be disposed in the electric vehicle, or the electronic device may communicate with a controller in the electric vehicle, so that the electric vehicle may implement a hill-slip prevention control function. When the electronic device is disposed in the electric vehicle, the electronic device may be a controller in the electric vehicle.
The electronic device may be any device with computing capability, for example, may be a personal computer (Personal Computer, abbreviated as PC), a mobile terminal, a server, etc., and the mobile terminal may be, for example, a vehicle-mounted device, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, etc., and may be a hardware device with various operating systems, a touch screen, and/or a display screen. The following embodiments will be described with reference to an example in which an execution body is a controller in an electric vehicle.
As shown in fig. 2, the method comprises the steps of:
step 201, obtaining equivalent ramp resistance of an electric vehicle; equivalent ramp resistance is determined by combining the vehicle carrying capacity with a fixed value and running related parameters of the electric vehicle.
Step 202, acquiring the current whole vehicle request torque, the current total running resistance and the current running mode of the electric vehicle; the current total running resistance is determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point.
In the embodiment of the present disclosure, the windward resistance of the electric vehicle at the current point in time may be referred to formula (3). And (3) replacing the numerical value of each parameter in the formula (3) with the numerical value of each parameter at the current time point, and calculating to obtain the windward resistance of the electric vehicle at the current time point.
In the embodiment of the present disclosure, the acceleration resistance of the electric vehicle at the current point in time may be referred to formula (4). The acceleration resistance of the electric vehicle at the current time point can be calculated by replacing the values of the parameters in the formula (4) with the values of the parameters at the current time point.
In the embodiment of the present disclosure, the rolling resistance of the electric vehicle at the current point in time may be referred to formula (5). The rolling resistance of the electric vehicle at the current time point can be calculated by replacing the values of the parameters in the formula (5) with the values of the parameters at the current time point.
In the embodiment of the present disclosure, the current running mode, for example, a single pedal mode, a mode in which the chassis parking function is enabled, a mode in which the chassis parking function is not enabled, and the like may be set according to actual needs.
Step 203, determining the current total running resistance moment according to the current total running resistance.
In the embodiment of the present disclosure, the controller in the electric vehicle performs the process of step 203, for example, may be to obtain an output reduction ratio of the electric drive axle motor to the vehicle tire, an electric drive axle transmission efficiency, and a vehicle tire radius of motion; the current total running torque is calculated by combining the current total running resistance, the output reduction ratio from the electric drive axle motor to the vehicle tyre, the transmission efficiency of the electric drive axle and the running radius of the vehicle tyre.
Step 204, under the condition that the current vehicle request torque is smaller than the current total running resistance moment, and under the condition that the current running mode is a single pedal mode or the chassis parking function is not enabled, determining that the current working condition is an automatic motor parking working condition.
In the disclosed embodiment, the current operating condition is determined to be a non-motor automatic park operating condition, except in the case of step 204. Here, the case other than the case in step 204, for example, a mode in which the chassis parking function is enabled, a case in which the current vehicle-mounted request torque is greater than or equal to the current total running resistance torque, and the like, is not particularly limited herein.
Step 205, determining the ramp compensation driving torque of the electric vehicle according to the equivalent ramp resistance and the driving related parameters under the condition that the current working condition is the motor automatic parking working condition.
In the embodiment of the present disclosure, the controller in the electric vehicle performs the process of step 205, for example, may be to obtain the output reduction ratio of the electric drive axle motor to the vehicle tire, the transmission efficiency of the electric drive axle, and the radius of motion of the vehicle tire; and calculating the ramp compensation driving torque of the electric vehicle by combining the equivalent ramp resistance, the output reduction ratio from the electric drive axle motor to the vehicle tyre, the transmission efficiency of the electric drive axle and the dynamic radius of the vehicle tyre.
The calculation formula of the hill compensation driving torque of the electric vehicle may be as shown in the following formula (6).
TEM_slope＝ Fslope’* Rdyn /Gear_Ratio/ Gear_Efficiency (6)
Wherein tem_slope represents a hill compensation driving torque of the electric vehicle; fslope' represents equivalent ramp resistance; rdyn represents the radius of the tire of the vehicle; gear_ratio represents the output reduction Ratio of the electric drive axle motor to the vehicle tires; gear_efficiency represents the electric drive axle transmission Efficiency.
It should be noted that, in step 203, the calculation formula of the current total running resistance moment may refer to formula (6). And (3) replacing the equivalent ramp resistance in the formula (6) with the current total running resistance, and calculating to obtain the current total running resistance moment of the electric vehicle.
And 206, determining the sum of the ramp compensation driving torque and the current whole vehicle request torque as the target torque.
And step 207, determining the current vehicle request torque as the target torque under the condition that the current working condition is a non-motor automatic parking working condition.
Step 208, motor drive control processing is performed on the electric vehicle according to the target torque.
It should be noted that, for details of step 201, reference may be made to step 101 in the embodiment shown in fig. 1, and details will not be described here.
In the anti-slip control method of the electric vehicle, the equivalent ramp resistance of the electric vehicle is obtained; equivalent ramp resistance is obtained by combining the vehicle carrying capacity of a fixed value and determining the running related parameters of the electric vehicle; acquiring the current whole vehicle request torque, the current total running resistance and the current running mode of the electric vehicle; the current total running resistance is determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point; determining the current total running resistance moment according to the current total running resistance; under the condition that the current vehicle request torque is smaller than the current total running resistance moment, and under the condition that the current running mode is a single pedal mode or the chassis parking function is not enabled, determining that the current working condition is an automatic motor parking working condition; under the condition that the current working condition is an automatic motor parking working condition, determining the ramp compensation driving torque of the electric vehicle according to the equivalent ramp resistance and the driving related parameters; determining the sum of the ramp compensation driving torque and the current whole vehicle request torque as a target torque; under the condition that the current working condition is a non-motor automatic parking working condition, determining the current whole vehicle request torque as a target torque; and the motor driving control processing is carried out on the electric vehicle according to the target torque, so that the actual carrying capacity and gradient information of the electric vehicle are avoided being adopted in the calculation process of the target torque, the practicability is high, the slope parking can be realized by determining the obtained target torque, the slope sliding phenomenon can be effectively prevented, and the slope sliding prevention control efficiency is improved.
Fig. 3 is a schematic structural view of an anti-slip control device for an electric vehicle according to an embodiment of the present disclosure.
As shown in fig. 3, the anti-slip control device of an electric vehicle may include: a first acquisition module 301, a second acquisition module 302, a first determination module 303, and a drive control module 304.
The first acquiring module 301 is configured to acquire an equivalent ramp resistance of the electric vehicle; the equivalent ramp resistance is obtained by combining the vehicle carrying capacity with a fixed value and the running related parameters of the electric vehicle;
a second obtaining module 302, configured to obtain a current working condition of the electric vehicle and a current vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition;
a first determining module 303, configured to determine a target torque of the electric vehicle according to the current working condition, the current vehicle request torque, and the equivalent ramp resistance;
and a drive control module 304 for performing motor drive control processing for the electric vehicle according to the target torque.
In one embodiment of the present disclosure, the equivalent hill resistance is an equivalent hill resistance of the electric vehicle at a first historical point in time; the first historical time point is a second historical time point closest to the current time point in at least one second historical time point; and at the second historical time point, the speed data of the electric vehicle is greater than or equal to a preset speed threshold value, and the electric vehicle is in an unbraked state.
In one embodiment of the present disclosure, the apparatus further comprises: the device comprises a third acquisition module, a second determination module and a third determination module; the third acquisition module is used for acquiring driving related parameters of the electric vehicle at the second historical time point; the second determining module is used for determining traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle according to the driving related parameters and the vehicle carrying capacity of a fixed value; the third determining module is configured to determine an equivalent ramp resistance of the electric vehicle at the second historical time point according to a traction force, a windward resistance, an acceleration resistance, and a rolling resistance of the electric vehicle.
In one embodiment of the present disclosure, the driving related parameters include at least one of: the output reduction ratio from the motor of the electric drive axle to the tires of the vehicle, the transmission efficiency of the electric drive axle, the dynamic radius of the tires of the vehicle, the torque of the motor, the speed data, the wind resistance coefficient, the effective windward area, the air density, the self weight of the vehicle, the acceleration of the gravity and the rolling friction coefficient.
In one embodiment of the present disclosure, the second obtaining module 302 is specifically configured to obtain a current vehicle request torque, a current total running resistance, and a current running mode of the electric vehicle; the current total running resistance is determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point; determining the current total running resistance moment according to the current total running resistance; and under the condition that the current vehicle request torque is smaller than the current total running resistance moment and under the condition that the current running mode is a single pedal mode or a chassis parking function is not enabled, determining that the current working condition is an automatic motor parking working condition.
In one embodiment of the present disclosure, the first determining module 303 is specifically configured to determine, when the current operating condition is an automatic motor parking operating condition, a hill compensation driving torque of the electric vehicle according to the equivalent hill resistance and the driving related parameter; and determining the sum of the ramp compensation driving torque and the current whole vehicle request torque as the target torque.
In one embodiment of the present disclosure, the first determining module 303 is specifically further configured to determine the current vehicle request torque as the target torque when the current operating condition is a non-motor automatic parking operating condition.
In the anti-slip control device of the electric vehicle, the equivalent ramp resistance of the electric vehicle is obtained; equivalent ramp resistance is obtained by combining the vehicle carrying capacity of a fixed value and determining the running related parameters of the electric vehicle; acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition; determining target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance; and the motor driving control processing is carried out on the electric vehicle according to the target torque, so that the actual carrying capacity and gradient information of the electric vehicle are avoided being adopted in the calculation process of the target torque, the practicability is high, the slope parking can be realized by determining the obtained target torque, the slope sliding phenomenon can be effectively prevented, and the slope sliding prevention control efficiency is improved.
According to a third aspect of the embodiments of the present disclosure, there is also provided an electric vehicle including: a processor; a memory for storing processor-executable instructions, wherein the processor is configured to: the anti-slip control method of the electric vehicle as described above is realized.
In order to implement the above-described embodiments, the present disclosure also proposes a storage medium.
Wherein the instructions in the storage medium, when executed by the processor, enable the processor to perform the anti-slip control method of an electric vehicle as described above.
To achieve the above embodiments, the present disclosure also provides a computer program product.
Wherein the computer program product, when executed by a processor of an electronic device, enables the electronic device to perform the method as above.
Fig. 4 is a block diagram of an electric vehicle 400, according to an exemplary embodiment of the present disclosure. For example, electric vehicle 400 may be a hybrid vehicle, an electric vehicle, or other vehicle requiring motor drive. The electric vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 4, an electric vehicle 400 may include various subsystems, such as an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. Wherein electric vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of electric vehicle 400 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, a navigation system, and the like.
The sensing system 420 may include several sensors for sensing information of the environment surrounding the electric vehicle 400. For example, the sensing system 420 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 440 may include components that provide powered movement of the electric vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of electric vehicle 400 are controlled by computing platform 450. The computing platform 450 may include at least one processor 451 and memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.
The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The memory 452 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 453, the memory 452 may also store data such as road maps, route information, vehicle location, direction, speed, etc. The data stored by memory 452 may be used by computing platform 450.
In an embodiment of the present disclosure, the processor 451 may execute the instructions 453 to complete all or part of the steps of the anti-slip control method of the electric vehicle described above.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (16)

1. A slip-preventing control method of an electric vehicle, characterized by comprising:
obtaining equivalent ramp resistance of the electric vehicle; the equivalent ramp resistance is obtained by combining the vehicle carrying capacity with a fixed value and the running related parameters of the electric vehicle;
acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition;
Determining a target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance;
and performing motor drive control processing on the electric vehicle according to the target torque.
2. The method of claim 1, wherein the equivalent hill resistance is an equivalent hill resistance of the electric vehicle at a first historical point in time;
the first historical time point is a second historical time point closest to the current time point in at least one second historical time point;
and at the second historical time point, the speed data of the electric vehicle is greater than or equal to a preset speed threshold value, and the electric vehicle is in an unbraked state.
3. The method according to claim 2, wherein the method further comprises:
acquiring a driving related parameter of the electric vehicle at the second historical time point;
determining traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle according to the driving related parameters and the vehicle carrying capacity of a fixed value;
and determining the equivalent ramp resistance of the electric vehicle at the second historical time point according to the traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle.
4. A method according to any one of claims 1 to 3, wherein the driving related parameter comprises at least one of: the output reduction ratio from the motor of the electric drive axle to the tires of the vehicle, the transmission efficiency of the electric drive axle, the dynamic radius of the tires of the vehicle, the torque of the motor, the speed data, the wind resistance coefficient, the effective windward area, the air density, the self weight of the vehicle, the acceleration of the gravity and the rolling friction coefficient.
5. The method of claim 1, wherein the obtaining the current operating condition of the electric vehicle and the current vehicle request torque comprises:
acquiring the current whole vehicle request torque, the current total running resistance and the current running mode of the electric vehicle; the current total running resistance is determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point;
determining the current total running resistance moment according to the current total running resistance;
and under the condition that the current vehicle request torque is smaller than the current total running resistance moment and under the condition that the current running mode is a single pedal mode or a chassis parking function is not enabled, determining that the current working condition is an automatic motor parking working condition.
6. The method of claim 1, wherein the determining the target torque of the electric vehicle based on the current operating condition, the current vehicle requested torque, and the equivalent hill resistance comprises:
under the condition that the current working condition is an automatic motor parking working condition, determining the ramp compensation driving torque of the electric vehicle according to the equivalent ramp resistance and the driving related parameters;
and determining the sum of the ramp compensation driving torque and the current whole vehicle request torque as the target torque.
7. The method of claim 6, wherein the determining the target torque for the electric vehicle based on the current operating condition, the current vehicle requested torque, and the equivalent hill resistance further comprises:
and under the condition that the current working condition is a non-motor automatic parking working condition, determining the current vehicle request torque as the target torque.
8. An anti-slip control device for an electric vehicle, the device comprising:
the first acquisition module is used for acquiring equivalent ramp resistance of the electric vehicle; the equivalent ramp resistance is obtained by combining the vehicle carrying capacity with a fixed value and the running related parameters of the electric vehicle;
The second acquisition module is used for acquiring the current working condition of the electric vehicle and the current whole vehicle request torque; the current working conditions comprise an automatic motor parking working condition and a non-automatic motor parking working condition;
the first determining module is used for determining the target torque of the electric vehicle according to the current working condition, the current whole vehicle request torque and the equivalent ramp resistance;
and the driving control module is used for carrying out motor driving control processing on the electric vehicle according to the target torque.
9. The apparatus of claim 8, wherein the equivalent hill resistance is an equivalent hill resistance of the electric vehicle at a first historical point in time;
the first historical time point is a second historical time point closest to the current time point in at least one second historical time point;
and at the second historical time point, the speed data of the electric vehicle is greater than or equal to a preset speed threshold value, and the electric vehicle is in an unbraked state.
10. The apparatus of claim 9, wherein the apparatus further comprises: the device comprises a third acquisition module, a second determination module and a third determination module;
The third acquisition module is used for acquiring driving related parameters of the electric vehicle at the second historical time point;
the second determining module is used for determining traction force, windward resistance, acceleration resistance and rolling resistance of the electric vehicle according to the driving related parameters and the vehicle carrying capacity of a fixed value;
the third determining module is configured to determine an equivalent ramp resistance of the electric vehicle at the second historical time point according to traction force, windward resistance, acceleration resistance, and rolling resistance of the electric vehicle.
11. The apparatus according to any one of claims 8 to 10, wherein the travel-related parameters include at least one of: the output reduction ratio from the motor of the electric drive axle to the tires of the vehicle, the transmission efficiency of the electric drive axle, the dynamic radius of the tires of the vehicle, the torque of the motor, the speed data, the wind resistance coefficient, the effective windward area, the air density, the self weight of the vehicle, the acceleration of the gravity and the rolling friction coefficient.
12. The apparatus of claim 8, wherein the second acquisition module is configured to,
acquiring the current whole vehicle request torque, the current total running resistance and the current running mode of the electric vehicle; the current total running resistance is determined according to the equivalent ramp resistance and the windward resistance, the acceleration resistance and the rolling resistance of the electric vehicle at the current time point;
Determining the current total running resistance moment according to the current total running resistance;
and under the condition that the current vehicle request torque is smaller than the current total running resistance moment and under the condition that the current running mode is a single pedal mode or a chassis parking function is not enabled, determining that the current working condition is an automatic motor parking working condition.
13. The apparatus of claim 8, wherein the first determining means is specifically configured to,
under the condition that the current working condition is an automatic motor parking working condition, determining the ramp compensation driving torque of the electric vehicle according to the equivalent ramp resistance and the driving related parameters;
and determining the sum of the ramp compensation driving torque and the current whole vehicle request torque as the target torque.
14. The apparatus of claim 13, wherein the first determining means is further configured to,
and under the condition that the current working condition is a non-motor automatic parking working condition, determining the current vehicle request torque as the target torque.
15. An electric vehicle, characterized by comprising:
a processor;
a memory for storing the processor-executable instructions;
Wherein the processor is configured to:
a step of realizing the anti-slip control method of an electric vehicle according to any one of claims 1 to 7.
16. A non-transitory computer readable storage medium, which when executed by a processor, causes the processor to perform the anti-hill method of controlling an electric vehicle of any one of claims 1 to 7.
CN202310552503.9A 2023-05-16 2023-05-16 Anti-slip control method and device for electric vehicle and electric vehicle Pending CN116605062A (en)

Priority Applications (1)

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CN202310552503.9A CN116605062A (en) 2023-05-16 2023-05-16 Anti-slip control method and device for electric vehicle and electric vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310552503.9A CN116605062A (en) 2023-05-16 2023-05-16 Anti-slip control method and device for electric vehicle and electric vehicle

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Publication Number Publication Date
CN116605062A true CN116605062A (en) 2023-08-18

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Country Link
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