WO2018205375A1 - Procédé et appareil de commande de véhicule - Google Patents

Procédé et appareil de commande de véhicule Download PDF

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Publication number
WO2018205375A1
WO2018205375A1 PCT/CN2017/090730 CN2017090730W WO2018205375A1 WO 2018205375 A1 WO2018205375 A1 WO 2018205375A1 CN 2017090730 W CN2017090730 W CN 2017090730W WO 2018205375 A1 WO2018205375 A1 WO 2018205375A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
traction force
motor
information
steering
Prior art date
Application number
PCT/CN2017/090730
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English (en)
Chinese (zh)
Inventor
唐聪
Original Assignee
中车大连电力牵引研发中心有限公司
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Filing date
Publication date
Application filed by 中车大连电力牵引研发中心有限公司 filed Critical 中车大连电力牵引研发中心有限公司
Publication of WO2018205375A1 publication Critical patent/WO2018205375A1/fr

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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
    • 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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • 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

Definitions

  • the invention relates to vehicle control technology, in particular to a vehicle control method and device, and belongs to the technical field of vehicle control.
  • the first method is a method of increasing the starting traction of the vehicle and cooperating with the braking of the vehicle.
  • the operating line information of the vehicle is collected in advance, the maximum ramp information in the running line is obtained, and the minimum traction force required for starting the vehicle on the ramp is calculated according to the lane information and the vehicle self information, and is used as the preset traction force value.
  • the vehicle is braked to prevent the vehicle from rolling, and at the same time, the traction of the vehicle is increased.
  • the traction force of the vehicle reaches the preset traction force value, the vehicle brake is released, so that the vehicle is safely started.
  • the inventors have found that when the vehicle is started on a flat road, the required traction force is smaller than the above-mentioned preset traction force value, and the method of increasing the vehicle's starting traction force without distinguishing the road condition causes the vehicle to accelerate at the start of the flat road. Large, so that the vehicle "rushed" out, there are certain security risks.
  • the second method is to set the ramp start button inside the vehicle.
  • the operator presses the ramp start button to activate the ramp start mode.
  • the traction system provides the vehicle with a large traction force to enable the vehicle to complete the start on the ramp. .
  • this method requires the operator to judge that the vehicle is on a ramp and to operate manually, with poor timeliness.
  • the traction system provides a fixed traction force, and the angle of the ramp through which the operating route passes is not the same, so this method has certain limitations.
  • the invention provides a vehicle control method and device, thereby solving the problem that the traction force at the time of starting the vehicle cannot be adjusted according to the slope condition in the prior art.
  • a first aspect of the present invention provides a vehicle control method including:
  • the first information of the vehicle includes: motor steering;
  • the car level is determined according to the first information of the vehicle
  • Another aspect of the present invention provides a vehicle control apparatus including:
  • An acquisition module configured to acquire and acquire first information of the vehicle, where the first information of the vehicle includes: a motor steering;
  • a judging module configured to determine, according to the motor steering, whether the vehicle is rolling
  • a determining module configured to determine a slip grade according to the first information of the vehicle if the determining module determines the slipping
  • a compensation module configured to provide the vehicle with a compensated traction force corresponding to the rolling level according to the rolling level
  • the acquisition module is further configured to acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle;
  • the determining module is further configured to determine, according to the current driving parameter of the vehicle, whether a condition for canceling the compensated traction force is met, so that the compensation module cancels the compensated traction force, if the current driving parameter of the vehicle satisfies the cancellation The condition for compensating for traction.
  • the technical effect of the vehicle control method and device provided by the present invention is that: by acquiring the steering of the motor, it can automatically determine whether the vehicle is rolling, and then determining the rolling level of the vehicle according to the first information of the vehicle, and compensating for the traction force corresponding to the rolling level of the vehicle. It is able to provide appropriate compensation traction according to the situation of the vehicle rolling, to avoid the compensation of the traction force is too small, the vehicle continues to slide, or the compensated traction force is too large, and the instantaneous acceleration of the vehicle is too large. And, according to the grade of the car, the car The vehicle provides a corresponding compensated traction, and the level of the slip is determined by the magnitude of the ramp angle.
  • the vehicle control method and apparatus provided by the present invention determines whether the condition for canceling the compensation traction force is satisfied according to the second information of the vehicle, and if so, cancels the compensation traction force, and causes the vehicle to travel under the traction force corresponding to the level.
  • FIG. 1 is a flow chart showing a vehicle control method according to an exemplary embodiment of the present invention
  • FIG. 2A is a flowchart of a vehicle control method according to another exemplary embodiment of the present invention.
  • 2B is a square wave diagram of detecting a probe output in a vehicle control method according to another exemplary embodiment of the present invention.
  • FIG. 3 is a structural diagram of a vehicle control device according to an exemplary embodiment of the present invention.
  • FIG. 4 is a structural diagram of a vehicle control device according to another exemplary embodiment of the present invention.
  • FIG. 1 is a flowchart of a vehicle control method according to an exemplary embodiment of the present invention, including:
  • Step 101 Acquire and acquire first information of the vehicle, where the first information of the vehicle includes: motor steering.
  • step 102 it is determined whether the vehicle is rolling according to the steering of the motor.
  • the traction force is provided by the motor of the vehicle, and the traction force is transmitted to the wheel through the gear box to drive the vehicle to run.
  • the vehicle is subjected to the gravity component parallel to the ramp, causing the vehicle to slide down.
  • the wheel rotates and is transmitted to the motor through the gear box to drive the motor to rotate.
  • the steering of the motor is different, and when the vehicle is started, the steering of the motor is obtained to determine whether the vehicle is rolling.
  • Step 103 If it is determined that the car is slipping, the car level is determined according to the first information of the vehicle.
  • the first information of the vehicle may further include a motor speed or a vehicle traveling speed.
  • the ramp Steep the greater the effect of the vehicle's gravity component, the faster the vehicle will slide down.
  • the degree that is, the level of the car.
  • step 104 the vehicle is provided with the compensated traction force corresponding to the rolling level according to the rolling level.
  • the vehicle control method provided by the embodiment compensates the corresponding traction force according to the degree of vehicle slip, so that the method provided by the embodiment can be used in different road environments, for example, having multiple ramps and ramps. Road environments with different angles.
  • the traction force of the vehicle is the sum of the traction force corresponding to the vehicle level and the compensation traction force.
  • Step 105 Acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle; determine, according to the current driving parameter of the vehicle, whether the condition for canceling the compensation traction force is met, and if satisfied, cancel the compensation traction force.
  • the driving parameter may be the driving speed of the vehicle or the motor speed, and the vehicle traveling speed or the motor speed is obtained to determine the driving state of the vehicle.
  • the compensation traction force is canceled, so that the vehicle is driven by the traction force corresponding to the level. .
  • the vehicle control method provided in this embodiment can automatically determine whether the vehicle is rolling by acquiring the steering of the motor, and then determine the rolling level of the vehicle according to the first information of the vehicle, and compensate the traction force corresponding to the rolling level for the vehicle.
  • the vehicle control method can provide an appropriate compensation traction force according to the vehicle slip condition, avoiding the compensated traction force being too small, the vehicle continues to slide down, or the compensated traction force is too large, and the vehicle instantaneous acceleration is too large, and the vehicle provided by the embodiment is also made. Control methods can be used in different road environments.
  • the vehicle control method provided in this embodiment determines whether the condition for canceling the compensation traction force is satisfied according to the second information of the vehicle, and if so, cancels the compensation traction force, so that the vehicle runs under the traction force corresponding to the level.
  • the energy consumption required is required.
  • FIG. 2A is a flowchart of a vehicle control method according to another exemplary embodiment of the present invention. include:
  • Step 201 Two detection probes are installed at a preset position of the motor, and the motor is determined to be steered according to the signal detected by the detection probe.
  • the detection probe is mounted on the gear of the motor, and the two detection probes are installed at different positions of the gear.
  • the middle of the two adjacent gears is the gap, which is the gear root.
  • the probe output 1 is detected.
  • the detection probe outputs 0.
  • the detection probe is mounted on a component that does not rotate with the gear.
  • 2B is a square wave diagram of a detection probe output in a vehicle control method according to another exemplary embodiment of the present invention.
  • the first detecting probe is installed at a position capable of detecting the middle of any one of the gear roots
  • the second detecting probe is installed at a position capable of detecting the intersection of any one of the gear root and the top of the gear.
  • the first detection probe will output a square wave 1; and the second detection probe will output a square wave 2 or 3 depending on the direction of rotation of the gear, and the square wave 1 output by the first detection probe
  • the phase difference between the square wave 2 or 3 of the second detection probe output can obtain the steering of the motor.
  • step 202 it is judged whether the motor steering and the predefined steering are the same. If they are the same, it is judged that the vehicle is not rolling; if not, the rolling is determined.
  • the first detection probe output square wave 1 and the second detection probe output square wave 2 can be predefined as positive steering.
  • the motor steering and pre-operation are considered.
  • the definition turns the same.
  • the motor steering is considered to be opposite to the predefined steering.
  • Step 203 if it is determined that the vehicle is rolling, the rolling level is determined according to the first information of the vehicle.
  • the first information of the vehicle includes a vehicle traveling speed or a motor speed.
  • the motor speed is obtained by detecting the gear speed of the detecting probe, and the rolling level is determined, which is convenient for implementation.
  • the motor speed can be binned, and each speed file corresponds to a car, etc.
  • Level each level of the car corresponds to an Fb value.
  • the rotation speed is greater than or equal to A, and B is a first gear, corresponding to the first grade of the rolling car (Fb1); the rotation speed is greater than or equal to B, and C is the second gear, corresponding to the second grade of the rolling car (Fb2).
  • the rolling level is determined by the motor speed.
  • Step 204 providing the vehicle with the compensated traction force corresponding to the rolling level according to the rolling level.
  • a fixed corresponding compensating traction force can be determined for each rolling level, and the fixed compensating traction force can also be adjusted by a coefficient.
  • Step 205 Acquire and acquire the motor rotation speed of the vehicle. If the rotation speed of the motor is greater than the upper limit value, determine that the condition for canceling the compensation traction force is satisfied; otherwise, determine that the condition for canceling the compensation traction force is not satisfied; if satisfied, cancel the compensation traction force.
  • the motor speed can represent the running speed of the vehicle. When the motor speed is greater than the upper limit, it is considered that the vehicle is successfully started on the ramp and can drive normally. At this time, the compensating traction force is cancelled, so that the vehicle runs under the traction force corresponding to its level. Avoid excessive acceleration of the vehicle.
  • Step 206 Determine whether the rotation speed of the motor is less than a lower limit value. If it is less than, re-compensate the traction force for the vehicle; wherein the lower limit value is less than the upper limit value.
  • the traction force corresponding to the vehicle level is less than the gravity component acting on the vehicle, causing the vehicle to decelerate or even slipping.
  • the motor speed is less than the lower limit, the vehicle is compensated again. .
  • the lower limit value is set to a value smaller than the upper limit value.
  • the vehicle control method provided by the embodiment determines the motor speed by two detecting probes installed at different positions of the motor gear, determines whether the vehicle is rolling, and determines the slip grade according to the vehicle sliding speed, and provides the corresponding driving level.
  • the compensating traction force when the vehicle can drive normally, cancel the compensated traction force, in order to avoid the vehicle being unable to climb normally due to the steep slope after the compensation of the traction force is cancelled, the deceleration or even the rolling situation occurs, when the vehicle motor speed is lower than At the lower limit, the vehicle is again provided with compensating traction to ensure safe driving.
  • the staff member does not need to participate, and the timeliness is good, and the method provided by the embodiment provides compensation for the traction force according to the rolling level matching, and is suitable for the route with complicated road environment.
  • FIG. 3 is a structural diagram of a vehicle control device according to an exemplary embodiment of the present invention.
  • control device As shown in FIG. 3, the control device provided in this embodiment includes:
  • the acquisition module 31 is configured to collect and acquire first information of the vehicle, and the first information of the vehicle includes: motor steering.
  • the principle of implementing the above functions is the same as step 101.
  • the judging module 32 is configured to judge whether the vehicle is rolling according to the steering of the motor.
  • the principle of implementing the above functions is the same as step 102.
  • the determining module 33 is configured to determine a slip grade according to the first information of the vehicle if the determining module determines the slip.
  • the principle of implementing the above functions is the same as step 103.
  • the compensation module 34 is configured to provide the vehicle with the compensated traction corresponding to the rolling level according to the rolling level.
  • the principle of implementing the above functions is the same as step 104.
  • the acquisition module 31 is further configured to acquire and acquire second information of the vehicle, where the second information includes current driving parameters of the vehicle.
  • the determining module 32 is further configured to determine, according to the current driving parameter of the vehicle, whether the condition for canceling the compensation traction force is met, so that the compensation module 34 cancels the compensation of the traction force if the current driving parameter of the vehicle satisfies the condition for canceling the compensation traction force.
  • the principle of implementing the above functions is the same as step 105.
  • the collection module 31, the determination module 32, the determination module 33, and the compensation module 34 are sequentially connected, and the determination module 32 is also connected to the compensation module 34.
  • the vehicle control device provided in this embodiment can automatically determine whether the vehicle is rolling by acquiring the steering of the motor, and then determine the rolling level of the vehicle according to the first information of the vehicle, and compensate the traction force corresponding to the rolling level for the vehicle.
  • the vehicle control method can provide an appropriate compensation traction force according to the vehicle slip condition, avoiding the compensated traction force being too small, the vehicle continues to slide down, or the compensated traction force is too large, and the vehicle instantaneous acceleration is too large, and the vehicle provided by the embodiment is also made.
  • the control device can be used in different road environments.
  • the vehicle control device determines whether the condition for canceling the compensation traction force is satisfied according to the second information of the vehicle, and if so, cancels the compensation traction force, and causes the vehicle to travel under the traction force corresponding to the level.
  • the problem of excessive acceleration can also reduce the energy consumption required to provide compensation for traction.
  • FIG. 4 is a structural diagram of a vehicle control device according to another exemplary embodiment of the present invention.
  • the vehicle control device provided by the embodiment further includes: a detection module 35.
  • the detecting module 35 is configured to determine the motor steering according to the signals detected by the two detecting probes installed at the preset position of the motor.
  • the principle of implementing the above functions is the same as step 201.
  • the judging module 32 further includes a slip determination module 36, and the slip determination module 36 is configured to:
  • step 202 If the motor steering is the same as the predefined steering, it is judged that there is no rolling; if the motor steering is opposite to the predefined steering, the rolling is judged.
  • the principle of implementing the above functions is the same as step 202.
  • the current driving parameter of the vehicle collected by the acquisition module 31 is the rotational speed of the motor.
  • the determining module 32 further includes: an uncompensated traction determining module 37, configured to: if the rotational speed of the motor is greater than the upper limit, determine that the condition for canceling the compensated traction force is satisfied; otherwise, determine that the condition for canceling the compensated traction force is not satisfied.
  • an uncompensated traction determining module 37 configured to: if the rotational speed of the motor is greater than the upper limit, determine that the condition for canceling the compensated traction force is satisfied; otherwise, determine that the condition for canceling the compensated traction force is not satisfied.
  • the determining module 32 further includes: a recompensation traction determining module 38, configured to:
  • step 206 Determine whether the motor speed is less than the lower limit. If it is less than, re-compensate the traction force for the vehicle; wherein the lower limit is less than the upper limit.
  • the principle of implementing the above functions is the same as step 206.
  • the vehicle control device determines the motor speed by two detecting probes installed at different positions of the motor gear, determines whether the vehicle is rolling, and determines the slip grade according to the vehicle sliding speed, and provides the corresponding driving level.
  • the compensating traction force when the vehicle can drive normally, cancel the compensated traction force, in order to avoid the vehicle being unable to climb normally due to the steep slope after the compensation of the traction force is cancelled, the deceleration or even the rolling situation occurs, when the vehicle motor speed is lower than At the lower limit, the vehicle is again provided with compensating traction to ensure safe driving.
  • the staff is not required to participate, and the timeliness is good, and the method provided by the embodiment compensates the traction force according to the rolling level matching, and is suitable for the route with complicated road environment.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes: various kinds of ROM, RAM, disk, or optical disk.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne un procédé et un appareil de commande de véhicule, le procédé de commande de véhicule comprenant : la collecte et l'acquisition de premières informations d'un véhicule, les premières informations du véhicule comprenant la direction de moteur ; en fonction de la direction de moteur, la détermination du fait que le véhicule se déplace vers l'arrière ou non ; s'il est déterminé que le véhicule se déplace vers l'arrière, alors la détermination d'un niveau de déplacement arrière en fonction des premières informations du véhicule ; en fonction du niveau de déplacement arrière, fourniture au véhicule d'une force de traction de compensation qui correspond au niveau de déplacement arrière ; la collecte et l'acquisition de deuxièmes informations du véhicule, les deuxièmes informations comprenant des paramètres de conduite actuels du véhicule ; en fonction des paramètres de conduite actuels du véhicule, la détermination du fait qu'une condition d'annulation de la force de traction de compensation est satisfaite ou non et, si la condition est satisfaite, alors l'annulation de la force de traction de compensation. Le procédé et l'appareil de commande de véhicule peuvent déterminer automatiquement si un véhicule se déplace vers l'arrière, et fournir une force de traction de compensation correspondante pour le véhicule en fonction du niveau de déplacement arrière ; lorsque le véhicule satisfait à une condition pour annuler la force de traction de compensation, la force de traction de compensation pour le véhicule est annulée, de façon à résoudre le problème de la technologie existante dans laquelle un véhicule ne peut pas recevoir de façon flexible une force de traction de compensation en fonction de l'état de déplacement arrière du véhicule.
PCT/CN2017/090730 2017-05-08 2017-06-29 Procédé et appareil de commande de véhicule WO2018205375A1 (fr)

Applications Claiming Priority (2)

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CN201710318587.4A CN107176061A (zh) 2017-05-08 2017-05-08 车辆控制方法及装置
CN201710318587.4 2017-05-08

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