WO2021139710A1 - 停车控制方法及装置、整车控制器、新能源车辆 - Google Patents

停车控制方法及装置、整车控制器、新能源车辆 Download PDF

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Publication number
WO2021139710A1
WO2021139710A1 PCT/CN2021/070598 CN2021070598W WO2021139710A1 WO 2021139710 A1 WO2021139710 A1 WO 2021139710A1 CN 2021070598 W CN2021070598 W CN 2021070598W WO 2021139710 A1 WO2021139710 A1 WO 2021139710A1
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WIPO (PCT)
Prior art keywords
new energy
energy vehicle
vehicle
mode
request
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PCT/CN2021/070598
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English (en)
French (fr)
Inventor
张帅
陈淑江
侯文涛
董欣然
孙策
孙佳新
邓伟峰
Original Assignee
长城汽车股份有限公司
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Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Priority to US17/790,196 priority Critical patent/US20230060311A1/en
Priority to EP21738694.5A priority patent/EP4063982A4/en
Publication of WO2021139710A1 publication Critical patent/WO2021139710A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0267—Fault communication, e.g. human machine interface [HMI]
    • G05B23/027—Alarm generation, e.g. communication protocol; Forms of alarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60L2240/12—Speed
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/24—Driver interactions by lever actuation
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/22—Standstill, e.g. zero speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B60W2510/186—Status of parking brakes
    • 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

  • This application relates to the technical field of new energy vehicles, and in particular to a parking control method and device for new energy vehicles, vehicle controllers, and new energy vehicles.
  • this application aims to propose a parking control method for a new energy vehicle to realize a parking control strategy in a single pedal mode.
  • a parking control method for a new energy vehicle is executed by a vehicle controller, and the parking control method for the new energy vehicle includes: judging whether a single-pedal mode is activated; in the single-pedal mode In the case of being activated, it is determined whether the deceleration control conditions are met, and the deceleration control conditions at least include: the gear is the driving gear; the creep mode is not activated; and the speed of the new energy vehicle is not greater than the first preset value and It has continued for the first preset time; when the deceleration control condition is met, the new energy vehicle is controlled to decelerate; in the process of controlling the new energy vehicle to decelerate, it is determined whether it is satisfied to send a brake to the motor controller.
  • the condition of the stop request wherein the condition for sending the brake request at least includes that the vehicle speed is not greater than a second preset value and has lasted for a second preset time, wherein the second preset value is less than the first preset value;
  • the braking request is sent to the motor controller, wherein the motor controller controls the new energy source in response to the braking request
  • the vehicle enters the braking mode so that the speed of the new energy vehicle is less than a third preset value, wherein the third preset value is less than the second preset value; and when the new energy vehicle is in the braking mode and If the vehicle speed of the new energy vehicle is less than the third preset value and has lasted for the third preset time, sending a parking request to the electronic handbrake, so that the new energy vehicle is in the parking mode.
  • the deceleration control conditions further include one or more of the following: the vehicle state is READY; the single pedal state is valid; there is no braking request sent by the vehicle controller to the motor controller; the accelerator pedal opening is not Greater than the first preset opening degree; the brake pedal is not activated or the brake master cylinder pressure is not greater than the first preset pressure and has lasted for the fourth preset time; the handbrake and/or electronic handbrake are not activated; for driving The available electric power of is not less than the first preset power; and the power system of the new energy vehicle is not faulty.
  • the parking control method of the new energy vehicle further includes: in the process of controlling the new energy vehicle to decelerate, if the deceleration control condition is not satisfied, controlling the new energy vehicle to exit the decelerating movement.
  • condition for sending the brake stop request further includes one or more of the following: the vehicle state is READY; the single pedal state is valid; the opening degree of the accelerator pedal is not greater than the second preset opening degree; the brake pedal is not activated Or the brake master cylinder pressure is not greater than the second preset pressure and has lasted for the fifth preset time; the creep mode is not activated; the gear is the driving gear; the handbrake and/or electronic handbrake are not activated; for driving The available electric power is not less than the second preset power; and the power system of the new energy vehicle is not faulty.
  • the parking control method of the new energy vehicle further includes: in response to the new energy vehicle entering the braking mode, judging whether the condition for sending the brake request is satisfied; and when the sending brake is not satisfied The requested condition is to send a request to exit the braking mode to the motor controller, wherein the motor controller controls the new energy vehicle to exit the braking mode in response to the request to exit the braking mode.
  • the parking control method of the new energy vehicle further includes: when the new energy vehicle is in the parking mode, if the new energy vehicle exits the parking mode or the speed of the new energy vehicle is not If it is less than the third preset value, a parking exit request is sent to the electronic handbrake.
  • the motor controller controlling the new energy vehicle to enter the braking mode includes: in response to receiving the braking request, the motor controller determines whether it is satisfied to enter the braking mode The conditions; wherein the conditions for entering the braking mode include: receiving the braking request, the vehicle controller to stop controlling the new energy vehicle to decelerate, the motor speed is within the preset range and has continued for the sixth A preset time, the motor controller is not faulty; and when the conditions for entering the brake mode are met, the new energy vehicle is controlled to enter the brake mode, wherein the motor controller is in the new brake mode After the energy vehicle enters the braking mode, if the conditions for exiting the braking mode are met, the new energy vehicle is controlled to exit the braking mode, wherein the conditions for exiting the braking mode include one or more of the following: A request to exit the braking mode is received; the vehicle controller starts to control the new energy vehicle to decelerate; the motor speed is greater than the seventh preset value and has continued for the sixth preset time;
  • the parking control method for new energy vehicles described in this application has the following advantages:
  • the vehicle controller controls the vehicle to decelerate.
  • the vehicle controller sends a braking request to the motor controller.
  • the motor controller can control the vehicle to enter the braking mode.
  • the braking mode if the speed of the new energy vehicle is less than the third preset value and has continued for the third preset time, the entire vehicle is controlled
  • the device can send a parking request to the single handbrake, and the electronic handbrake can control the vehicle to park in response to the parking request.
  • Another purpose of the present application is to provide a parking control device for a new energy vehicle to realize a parking control strategy in a single pedal mode.
  • a parking control device for a new energy vehicle is provided in a vehicle controller.
  • the parking control device for a new energy vehicle includes a first judgment module for judging whether the single pedal mode is activated.
  • the second judgment module is used to judge whether the deceleration control condition is satisfied when the single-pedal mode is activated, the deceleration control condition at least includes that the speed of the new energy vehicle is less than a first preset value and has continued The first preset time;
  • the control module is used to control the new energy vehicle to decelerate when the deceleration control condition is satisfied;
  • the third judgment module is used to control the new energy vehicle to decelerate in the process , Judging whether the conditions for sending a braking request to the motor controller are met, wherein the conditions for sending a braking request at least include that the vehicle speed is not greater than a second preset value and has lasted for a second preset time, wherein the second preset The value is less than the first preset value;
  • the first sending module is configured to send
  • the deceleration control conditions further include one or more of the following: the vehicle state is READY; the single pedal state is valid; there is no braking request sent by the vehicle controller to the motor controller; the accelerator pedal opening is not Greater than the first preset opening degree; the brake pedal is not activated or the brake master cylinder pressure is not greater than the first preset pressure and has lasted for the fourth preset time; the handbrake and/or electronic handbrake are not activated; for driving The available electric power of is not less than the first preset power; and the power system of the new energy vehicle is not faulty.
  • control module is also used to control the new energy vehicle to exit the deceleration drive if the deceleration control condition is not met during the process of controlling the new energy vehicle to decelerate.
  • condition for sending the brake stop request further includes one or more of the following: the vehicle state is READY; the single pedal state is valid; the opening degree of the accelerator pedal is not greater than the second preset opening degree; the brake pedal is not activated Or the brake master cylinder pressure is not greater than the second preset pressure and has continued for the fifth preset time; the creep mode is not activated; the gear is the driving gear; the handbrake and/or electronic handbrake are not activated; for driving The available electric power is not less than the second preset power; and the power system of the new energy vehicle is not faulty.
  • the third determining module is further configured to determine whether the condition for sending the braking request is satisfied in response to the new energy vehicle entering the braking mode; and the first sending module is also configured to When the conditions for sending the braking request are met, a request for exiting the braking mode is sent to the motor controller, wherein the motor controller controls the new energy vehicle to exit the braking mode in response to the request for exiting the braking mode Braking mode.
  • the second sending module is also used for when the new energy vehicle is in the parking mode, if the new energy vehicle exits the braking mode or the speed of the new energy vehicle is not less than the
  • the third preset value is to send a parking exit request to the electronic handbrake.
  • the motor controller controlling the new energy vehicle to enter the braking mode includes: in response to receiving the braking request, the motor controller determines whether it is satisfied to enter the braking mode The conditions; wherein the conditions for entering the braking mode include: receiving the braking request, the vehicle controller to stop controlling the new energy vehicle to decelerate, the motor speed is within the preset range and has continued for the sixth A preset time, the motor controller is not faulty; and when the conditions for entering the brake mode are met, the new energy vehicle is controlled to enter the brake mode, wherein the motor controller is in the new brake mode After the energy vehicle enters the braking mode, if the conditions for exiting the braking mode are met, the new energy vehicle is controlled to exit the braking mode, wherein the conditions for exiting the braking mode include one or more of the following: A request to exit the braking mode is received; the vehicle controller starts to control the new energy vehicle to decelerate; the motor speed is greater than the seventh preset value and has continued for the sixth preset time;
  • the parking control device for the new energy vehicle has the same advantages as the above-mentioned parking control method for the new energy vehicle over the prior art, and will not be repeated here.
  • an embodiment of the present application also provides a vehicle controller, which includes the above-mentioned parking control device for a new energy vehicle.
  • an embodiment of the present application also provides a new energy vehicle, and the new energy vehicle includes the vehicle controller described above.
  • FIG. 1 shows a schematic flowchart of a parking control method for a new energy vehicle according to an embodiment of the present application
  • Figures 2 to 5 respectively show how to determine the creep mode
  • Fig. 6 shows a structural block diagram of a parking control device for a new energy vehicle according to an embodiment of the present application.
  • Fig. 1 shows a schematic flowchart of a parking control method for a new energy vehicle according to an embodiment of the present application.
  • an embodiment of the present application provides a parking control method for a new energy vehicle, and the parking control method may be executed by a vehicle controller.
  • the parking control method of the new energy vehicle may include S110 to S160.
  • step S110 it is determined whether the single-pedal mode is activated.
  • the new energy vehicle may be provided with a single-pedal mode switch, and the driver can turn on the single-pedal mode through the single-pedal mode switch.
  • the vehicle controller can detect the signal of the single-pedal mode switch to determine whether the single-pedal mode is activated. For example, if the signal of the single-pedal mode switch indicates that the switch is turned on (for example, the value of the signal can be 1), it can indicate that the single-pedal mode is activated. If the signal of the single-pedal mode switch indicates that the switch is not turned on (for example, the value of the signal is 0). ), it means that the single-pedal mode is not activated.
  • step S120 when the single-pedal mode is activated, it is determined whether the deceleration control condition is satisfied.
  • the deceleration control conditions at least include: the gear is the driving gear; the creep mode is not activated; and the speed of the new energy vehicle is not greater than a first preset value and has lasted for a first preset time.
  • the first preset value may be set to 8km/h
  • the first preset time may be set to 500ms, and so on. It can be understood that the embodiment of the present application is not limited thereto, and the first preset value and the first preset time can be set to any suitable value according to actual needs.
  • the first preset time may be greater than the braking request determination time of the vehicle controller, that is, after the braking request determination time is exceeded, the vehicle speed still remains not greater than the first preset value.
  • the braking request determination time may be a fixed time of the new energy vehicle, and different types of new energy vehicles may have different braking request determination time.
  • the vehicle may also enter creep mode. It can be determined whether the vehicle enters the creep mode according to the gear position, the action of the brake pedal and/or the vehicle speed. This can be divided into the following ways:
  • the new energy vehicle When the gear position of the new energy vehicle is a reverse gear (ie, R gear), the new energy vehicle is controlled to enter the creep mode. That is, the driver's driving intention is to reverse the vehicle, and the creep mode is more appropriate at this time.
  • R gear reverse gear
  • the new energy vehicle is controlled to enter the creep mode . That is, the driver's driving intention is to start driving, and it is more appropriate to enter the creeping mode at this time, and then adjust it according to the driving operation later.
  • the new energy vehicle is controlled to enter the creep mode .
  • the preset vehicle speed can be 10km/h (but not limited to this).
  • the brake pedal is depressed when the vehicle speed is still greater than 10km/h, and the vehicle speed is less than 10km/h. It is completely released at h. At this time, the driver's intention is to want the vehicle to move slowly. After a short deceleration, the new energy vehicle enters the creep mode. As shown in Figure 3, the brake pedal is depressed when the vehicle speed is less than 10km/h, and is later fully released.
  • the driver's intention is to want the vehicle to move slowly.
  • the new energy vehicle enters the creep mode .
  • the vehicle is in a parking state, that is, the vehicle speed is zero.
  • the brake pedal is depressed and later fully released.
  • the driver's intention is to start the vehicle, and the new energy vehicle enters the creep mode, which will be adjusted later according to the driving operation.
  • Figure 5 corresponds to the case of not entering the creep mode. As shown in Figure 5, if the brake pedal is depressed when the vehicle speed is still greater than 10km/h, and is completely released when the vehicle speed is still greater than 10km/h, the new The energy vehicle does not enter the creep mode. If there is no follow-up further instruction, it directly decelerates to the speed of 0 and stops.
  • the embodiment of the present application mainly considers the situation that the new energy vehicle does not enter the creep mode when the gear of the new energy vehicle is the driving gear (that is, the situation that the new energy vehicle enters the creep mode as shown in FIGS. 2 to 4 is not met).
  • the deceleration control control conditions may also include one or more of the following: the vehicle state is READY; the single-pedal state Valid; there is no braking request sent by the vehicle controller to the motor controller; the opening of the accelerator pedal is not greater than the first preset opening; the brake pedal is not activated or the brake master cylinder pressure is not greater than the first preset The pressure is set and it has lasted for the fourth preset time; neither the handbrake nor the electronic handbrake is activated; the available electric power for driving is not less than the first preset power; and the power system of the new energy vehicle is not faulty.
  • the vehicle controller can determine whether a brake stop request has been sent according to its own parameters, the available electric power for driving can be calculated by the vehicle controller, and other parameters can be obtained through the bus, for example.
  • the failure of the power system of the new energy vehicle may be, for example, a motor failure, a wheel failure, etc., and the failure signal of each component of the power system can be sent to the vehicle controller through the bus. It should be noted that, in any embodiment of the present application, whether the power system of the new energy vehicle is faulty may not be considered for the on-board charger of the new energy vehicle, because the failure of the on-board charger does not affect the embodiment of the present application. Implementation.
  • the value of the first preset opening degree should be consistent with that the accelerator pedal is in the braking zone.
  • the first preset opening degree may be 3%.
  • the brake pedal is not activated.
  • the first preset pressure may be 1 bar or the like, for example.
  • the fourth preset time for example, may be greater than the determination period of the creep mode trigger.
  • the determination period of the creep mode trigger is usually less than 100 ms, and the fourth preset time may be set to, for example, 100 ms.
  • the first preset power may be 3KW, for example. It can be understood that the embodiment of the present application is not limited thereto, and the first preset opening degree, the first preset pressure, the fourth preset time, and the first preset power can be set to any suitable value as required.
  • step S130 if the deceleration control condition is satisfied, control the new energy vehicle to decelerate.
  • the new energy vehicle may enter a deceleration control mode, in which the vehicle controller may calculate a negative torque value based on the accelerator pedal opening, for example, to control the vehicle to decelerate.
  • step S140 in the process of controlling the new energy vehicle to decelerate, it is determined whether the condition for sending a brake stop request to the motor controller is satisfied.
  • the condition for sending the braking request at least includes that the vehicle speed is not greater than a second preset value and has continued for a second preset time, wherein the second preset value is less than the first preset value. If the vehicle speed is less than the second preset value and has continued for the second preset time, it can indicate that the deceleration control of the vehicle controller is invalid, and the motor needs to be used to increase the deceleration.
  • the second preset value may be, for example, 3km/h
  • the first preset value may be, for example, 200ms.
  • the conditions for sending the brake request may include one or more of the following in addition to the foregoing items: the vehicle status is READY; single pedal The status is valid; the opening of the accelerator pedal is not greater than the second preset opening; the brake pedal is not activated or the pressure of the master cylinder is not greater than the second preset pressure and has lasted for the fifth preset time; the creep mode is not Activated; the gear is the driving gear; the handbrake and/or the electronic handbrake are not activated; the available electric power for driving is not less than the second preset power; and the power system of the new energy vehicle is not faulty.
  • the value of the second preset opening degree should be consistent with that the accelerator pedal is in the braking zone.
  • the second preset opening degree may be the same as or different from the aforementioned first preset opening degree.
  • the second preset opening degree may be Set to 3%.
  • the brake pedal is not activated. Applies to anti-lock brake system configuration.
  • the second preset pressure may be equal to the first preset pressure, for example, may be 1 bar or the like.
  • the fifth preset time may be equal to the fourth preset time, for example, may be equal to 100 ms.
  • the available electric power for driving may be calculated by the vehicle controller, and the second preset power may be equal to the first preset power, for example, may be equal to 3kw. It can be understood that the second preset pressure, the fifth preset time, and the second preset power are not limited to this, and can be set to any suitable value as required.
  • the new energy vehicle may continue to be controlled to decelerate.
  • step S150 if the conditions for sending the brake request to the motor controller are met, send the brake request to the motor controller.
  • the motor controller can control the new energy vehicle to enter the braking mode.
  • the motor controller can feed back the status of the braking mode to the vehicle controller, so that the vehicle controller can know whether it has entered the braking mode.
  • the motor controller can perform "zero speed control" on the motor, that is, the running state jumps to the speed control mode.
  • the braking mode can make the vehicle speed of the new energy vehicle continue to decrease until it is less than the third preset value.
  • the third preset value may be smaller than the second preset value, for example, the third preset value may be 2km/h, etc., but the embodiment of the present application is not limited to this, and the third preset value may be set as desired. Appropriate value.
  • the motor controller in order to ensure the smoothness of the vehicle, when the motor controller jumps from the torque mode (that is, the deceleration control phase of the vehicle controller) to the speed mode, it is preferable to respond and adjust based on the current torque. Reload after clearing the torque.
  • the motor controller can respond and adjust on the basis of the current torque when the MCU jumps in the torque mode or speed mode to ensure the smoothness of the vehicle, and the torque should not be reset and reloaded.
  • the MCU in order to limit the speed of the vehicle on a steep slope, the MCU should distinguish the motor's "locked-rotor" state based on the electric drive system and thermal management. When the motor is in a non-"locked-rotor" state, the adjustment can be gradually released Torque limit is used to improve the speed limit ability, but attention should be paid to avoid vehicle shaking and jumping phenomenon during the adjustment process.
  • Step S160 when the new energy vehicle is in the parking mode and the speed of the new energy vehicle is less than the third preset value and has lasted for a third preset time, send a parking request to the electronic handbrake to Put the new energy vehicle in a parking mode.
  • the electronic handbrake may perform a pull-up action, so that the new energy vehicle is in a parking mode.
  • the third preset time may be, for example, 5s, but the embodiment of the present application is not limited to this, and the third preset time may be set to any suitable value as required.
  • the vehicle speed is less than the third preset value and has lasted for the third preset time, indicating that the driver has no intention to further change the state of the vehicle, so the new energy vehicle can be controlled to enter the parking mode.
  • the electronic handbrake can also judge the vehicle speed after receiving the parking request. If the electronic handbrake judges that the vehicle speed is greater than a certain preset speed (for example, the vehicle speed is greater than 3km/h), the electronic handbrake may not perform the pull Up action. The electronic handbrake can feed back the information of whether to perform the pull-up action to the vehicle controller, so as to facilitate the vehicle controller to know the status of the electronic handbrake. If the electronic handbrake does not perform the pull-up action, the vehicle controller can perform the corresponding control action based on the vehicle speed and the driver's operating intention. After the electronic handbrake receives the parking request, if it is determined that the vehicle speed is not greater than the certain preset vehicle speed (for example, the vehicle speed is greater than 3km/h), the electronic handbrake can perform a pull-up action.
  • the vehicle speed is not greater than the certain preset vehicle speed (for example, the vehicle speed is greater than 3km/h)
  • the electronic handbrake can perform a pull-up action.
  • the parking control method for a new energy vehicle provided by the embodiment of the present application is coordinated and controlled by the vehicle controller, the motor controller, and the electronic handbrake, and recognizes the driver's operation intention in real time, without the need to use the brake pedal in the single pedal mode Realize the smooth stop and parking of the vehicle.
  • the vehicle controller can still determine in real time whether the deceleration control condition is satisfied during the process of controlling the new energy vehicle to decelerate. If the deceleration control conditions are not met, the new energy vehicle can be controlled to exit deceleration.
  • the vehicle state is not READY; the single-pedal state is invalid; the vehicle speed is greater than a certain preset speed (for example, the vehicle speed is greater than 10km /h) and has lasted for a preset time (for example, 500ms); there is a brake request sent by the vehicle controller to the motor controller; the opening of the accelerator pedal is greater than a certain preset value (for example, 5%), And the torque request corresponding to the accelerator pedal opening> motor actual torque + preset torque (for example, 5Nm) and has lasted for a certain preset time (for example, 50ms); the brake pedal is activated (applicable to anti-lock braking system ) Or the brake master cylinder pressure is greater than a certain preset pressure (for example, 1bar); the creep mode is activated; the gear is R or N; the handbrake and/or electronic handbrake is activated; the vehicle controller calculates The
  • the motor controller may determine whether the conditions for entering the braking mode are satisfied, and the conditions for entering the braking mode may include: receiving all the brakes.
  • the second preset value For example, 3km/h
  • the second preset time for example, 200m
  • the motor controller controls the new energy vehicle to enter the braking mode, it can also determine in real time whether the conditions for exiting the braking mode are met.
  • the conditions for exiting the braking mode may include one or more of the following: receiving a request to exit the braking mode; the vehicle controller starts to control the new energy vehicle to decelerate; the motor speed is greater than the seventh preset value And it has continued for a sixth preset time, where the seventh preset value may be 240 rpm, for example, and the sixth preset time may be 24 ms, for example; the motor controller is faulty. In the case of meeting any one or more of the above, the motor controller will exit the brake stop mode.
  • the motor controller controls the new energy vehicle to enter the braking mode, it can feed back the state of the braking mode to the vehicle controller to facilitate the vehicle controller to know whether it has entered the braking mode. After the vehicle controller enters the braking mode, it can still judge whether the conditions of the braking request are met in real time. If not, it can send a request to exit the braking mode to the motor controller, and the motor controller can respond to all conditions. Describe the request to exit the brake-stop mode and exit the brake-stop mode.
  • the vehicle state is not READY; the single pedal state is invalid; the vehicle speed is greater than a certain preset speed (for example, the vehicle speed is greater than 5km/h) and has continued A preset time (for example, 500ms); there is a braking request sent by the vehicle controller to the motor controller; the opening of the accelerator pedal is greater than a certain preset value (for example, 5%), and the accelerator pedal opening corresponds to The torque request of> the actual torque of the motor + the preset torque (for example, 5Nm) and has lasted for a certain preset time (for example, 50ms); the brake pedal is activated (for anti-lock braking system) or the master cylinder The pressure is greater than a certain preset pressure (for example, 1bar); the creep mode is activated; the gear is R or N; the handbrake and/or electronic handbrake is activated; the available electric power for driving calculated by the vehicle controller Less than a certain preset power (for
  • the information that the electronic handbrake performs the pull-up action is fed back to the vehicle controller, and the vehicle controller can determine that the new energy vehicle is in the parking mode based on the information, and when the new energy vehicle is in the parking mode If the vehicle controller determines that the new energy vehicle exits the braking mode, or determines that the speed of the new energy vehicle is not less than the third preset value (which may be caused by the driver’s intervention), the vehicle controller can The electronic handbrake sends a parking exit request, and the electronic handbrake responds to the request and can no longer be pulled up, so that the new energy vehicle exits the parking mode. When the new energy vehicle is in the parking mode, the vehicle controller can still detect the driver's operation intention in real time, thereby effectively controlling the new energy vehicle.
  • Fig. 6 shows a structural block diagram of a parking control device for a new energy vehicle according to an embodiment of the present application.
  • an embodiment of the present application also provides a parking control device for a new energy vehicle.
  • the device may be installed in a vehicle controller, and the device may include: a first judgment module 610 for judging a single Whether the pedal mode is activated; the second judgment module 620 is used to judge whether the deceleration control condition is satisfied when the single-pedal mode is activated, and the deceleration control condition at least includes that the speed of the new energy vehicle is less than the first preset
  • the control module 630 is used to control the new energy vehicle to decelerate when the deceleration control condition is met; the third judgment module 640 is used to control the new energy vehicle.
  • the first sending module 650 is configured to send to the motor controller when the conditions for sending a brake stop request to the motor controller are met
  • the motor controller controls the new energy vehicle to enter a braking mode so that the vehicle speed of the new energy vehicle is less than a third preset value, wherein the first Three preset values are less than the second preset value
  • the second sending module 660 is configured to be used when the new energy vehicle is in the braking mode and the speed of the new energy vehicle is less than the third preset value and has been If it continues for the third preset time, a parking request is sent to the electronic handbrake.
  • the second judging module still judges whether the deceleration control condition is satisfied, and if not, the control module can control the new energy vehicle to exit the decelerating drive.
  • the third judgment module still judges whether the conditions for sending the brake request are met. In the case that the conditions for sending the brake request are not met, the first The sending module can send a request to exit the brake mode to the motor controller. The motor controller controls the new energy vehicle to exit the braking mode in response to the request for exiting the braking mode.
  • the second sending module A parking exit request can be sent to the electronic handbrake, and the electronic handbrake can no longer be in the pulled up state in response to the request, so that the new energy vehicle exits the parking mode.
  • the motor controller in response to receiving the braking request, can determine whether the conditions for entering the braking mode are met; when the conditions for entering the braking mode are met, control the new energy vehicle Enter the braking mode. After the new energy vehicle enters the braking mode, if the conditions for exiting the braking mode are met, the new energy vehicle can be controlled to exit the braking mode.
  • the specific content of the deceleration control conditions, the conditions for sending the brake request, the conditions for entering the brake mode, and the conditions for exiting the brake mode are the same as those described above.
  • the parking control device of the new energy vehicle includes a processor and a memory.
  • the above-mentioned modules and the like are all stored in the memory as a program unit, and the processor executes the above-mentioned program unit stored in the memory to realize corresponding functions.
  • the processor contains the kernel, and the kernel calls the corresponding program unit from the memory.
  • One or more kernels can be set, and the parking control method for a new energy vehicle according to any embodiment of the present application is executed by adjusting kernel parameters.
  • the memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.
  • an embodiment of the present application further provides a vehicle controller, which may include the parking control device for a new energy vehicle according to any embodiment of the present application.
  • an embodiment of the present application further provides a new energy vehicle.
  • the new energy vehicle may include the vehicle controller described in the embodiment of the present application, and the new energy vehicle may be, for example, a pure electric vehicle.
  • an embodiment of the present application further provides a machine-readable storage medium, in which a program is stored, and when the program is executed, the parking control of the new energy vehicle according to any embodiment of the present application is realized method.
  • the machine-readable storage medium includes, but is not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), Read memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (Flash Memory) or other memory technologies, read-only compact disk read-only memory (CD-ROM), digital versatile disc (DVD) ) Or other optical storage, magnetic cassette tape, magnetic tape disk storage or other magnetic storage devices and other media that can store program codes.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM Read memory
  • EEPROM electrically erasable programmable read-only memory
  • flash Memory Flash Memory
  • CD-ROM compact disk read-only memory
  • An embodiment of the present application provides a processor, the processor is used to run a program, wherein the program executes the parking control method for a new energy vehicle according to any embodiment of the present application when the program is running.
  • An embodiment of the present application provides a device.
  • the device includes a processor, a memory, and a program stored in the memory and capable of running on the processor.
  • the processor executes the program, the new energy vehicle according to any embodiment of the present application is implemented Parking control method.
  • the devices in this article can be servers, PCs, PADs, mobile phones, etc.
  • the application also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes the steps of the parking control method for a new energy vehicle according to any embodiment of the application.
  • this application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

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Abstract

涉及新能源车辆技术领域，提供一种停车控制方法及装置、整车控制器、新能源车辆。停车控制方法包括：判断单踏板模式是否激活（S110）；在单踏板模式被激活的情况下，判断是否满足减速控制条件（S120）；在满足减速控制条件的情况下，控制新能源车辆减速行驶（S130）；在控制新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件（S140）；在满足向电机控制器发送刹停请求的条件的情况下，向电机控制器发送刹停请求（S150）；在新能源车辆处于刹停模式且新能源车辆的车速小于第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求，以使新能源车辆处于驻车模式（S160）。其能够实现单踏板模式下的车辆平稳停止并驻车。

Description

停车控制方法及装置、整车控制器、新能源车辆
相关申请的交叉引用
本申请要求2020年01月07日提交的中国专利申请202010015584.5的权益，该申请的内容通过引用被合并于本文。
技术领域
本申请涉及新能源车辆技术领域，特别涉及一种新能源车辆的停车控制方法及装置、整车控制器、新能源车辆。
背景技术
随着新能源汽车技术的发展，近年新能源汽车行业内逐渐兴起“单踏板”控制概念，即通过一个加速踏板即实现车辆的加速-匀速-减速控制。“单踏板”控制方式能够降低制动踏板的使用频率，从而提升车辆的能量利用率及驾驶感受，降低驾驶疲劳。相关技术中，依靠“单踏板”模式执行的减速控制并没有行之有效的策略。
发明内容
有鉴于此，本申请旨在提出一种新能源车辆的停车控制方法，以实现单踏板模式下的停车控制策略。
为达到上述目的，本申请的技术方案是这样实现的：
一种新能源车辆的停车控制方法，所述新能源车辆的停车控制方法由整车控制器执行，所述新能源车辆的停车控制方法包括：判断单踏板模式是否激活；在所述单踏板模式被激活的情况下，判断是否满足减速控制条件，所述减速控制条件至少包括：档位为行车档；蠕行模式未被激活；以及所述新能源车辆的车速不大于第一预设值且已持续第一预设时间；在满足所述减速控制条件的情况下，控制所述新能源车辆减速行驶；在控制所述新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件，其中所述发送刹停请求的条件至少包括车速不大于第二预设值且已持续第二预设时间，其中所述第二预设值小于所述第一预设值；在满足向所述电机控制器发送刹停请求的条件的情况下，向所述电机控制器发送所述刹停请求，其中所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式以使所述新能源车 辆的车速小于第三预设值，其中所述第三预设值小于所述第二预设值；以及在所述新能源车辆处于刹停模式且所述新能源车辆的车速小于所述第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求，以使所述新能源车辆处于驻车模式。
进一步的，所述减速控制条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；不存在由整车控制器向电机控制器发送的刹停请求；加速踏板的开度不大于第一预设开度；制动踏板未被启用或制动主缸压力不大于第一预设压力且已持续第四预设时间；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第一预设功率；以及所述新能源车辆的动力系统无故障。
进一步的，所述新能源车辆的停车控制方法还包括：在控制所述新能源车辆减速行驶的过程中，如果所述减速控制条件不满足，则控制所述新能源车辆退出减速行驶。
进一步的，所述发送刹停请求的条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；加速踏板的开度不大于第二预设开度；制动踏板未被启用或制动主缸压力不大于第二预设压力且已持续第五预设时间；蠕行模式未被激活；档位为行车档；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第二预设功率；以及所述新能源车辆的动力系统无故障。
进一步的，所述新能源车辆的停车控制方法还包括：响应于所述新能源车辆进入所述刹停模式，判断是否满足所述发送刹停请求的条件；以及在不满足所述发送刹停请求的条件，向所述电机控制器发送退出刹停模式的请求，其中所述电机控制器响应于所述退出刹停模式的请求，控制所述新能源车辆退出所述刹停模式。
进一步的，所述新能源车辆的停车控制方法还包括：在所述新能源车辆处于驻车模式的情况下，如果所述新能源车辆退出所述刹停模式或者所述新能源车辆的车速不小于所述第三预设值，则向所述电子手刹发送退出驻车请求。
进一步的，所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式包括：所述电机控制器响应于接收到所述刹停请求，判断是否满足进入刹停模式的条件；其中所述进入刹停模式的条件包括：接收到所述刹停请求、所述整车控制器停止控制所述新能源车辆减速行驶、电机转速处于预设范围内且已持续第六预设时间、所述电机控制器无故障；以及在满足所述进入刹停模式的条件的情况下，控制所述新能源车辆进入所述刹停模式，其中所述电机控制器在所述新能源车辆进入所述刹停模式后，如果满足退出刹停模式的条件，则控制所述新能源车辆退出所述刹停模式，其 中所述退出刹停模式的条件包括以下一者或多者：接收到退出刹停模式的请求；所述整车控制器开始控制所述新能源车辆减速行驶；所述电机转速大于第七预设值且已持续第六预设时间；所述电机控制器故障。
相对于现有技术，本申请所述的新能源车辆的停车控制方法具有以下优势：
在单踏板模式被激活的情况下，如果满足减速控制条件，整车控制器控制车辆减速行驶。在车辆减速行驶的情况下，如果满足发送刹停请求的条件，整车控制器向电机控制器发送刹停请求。电机控制器响应于刹停请求，可以控制车辆进入刹停模式，在刹停模式中，如果新能源车辆的车速小于所述第三预设值且已持续第三预设时间，则整车控制器可以向单子手刹发送驻车请求，电子手刹可以响应于所述驻车请求控制车辆驻车。由此，通过整车控制器、电机控制器、电子手刹的协调控制，并通过实时识别驾驶员操作意图，在单踏板模式下无需通过制动踏板即可实现车辆平稳停止并驻车。
本申请的另一目的在于提出一种新能源车辆的停车控制装置，以实现单踏板模式下的停车控制策略。
为达到上述目的，本申请的技术方案是这样实现的：
一种新能源车辆的停车控制装置，所述新能源车辆的停车控制装置设置于整车控制器，所述新能源车辆的停车控制装置包括：第一判断模块，用于判断单踏板模式是否激活；第二判断模块，用于在所述单踏板模式被激活的情况下，判断是否满足减速控制条件，所述减速控制条件至少包括所述新能源车辆的车速小于第一预设值且已持续第一预设时间；控制模块，用于在满足所述减速控制条件的情况下，控制所述新能源车辆减速行驶；第三判断模块，用于在控制所述新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件，其中所述发送刹停请求的条件至少包括车速不大于第二预设值且已持续第二预设时间，其中所述第二预设值小于所述第一预设值；第一发送模块，用于在满足向所述电机控制器发送刹停请求的条件的情况下，向所述电机控制器发送所述刹停请求，其中所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式以使所述新能源车辆的车速小于第三预设值，其中所述第三预设值小于所述第二预设值；以及第二发送模块，用于在所述新能源车辆处于刹停模式且所述新能源车辆的车速小于所述第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求。
进一步的，所述减速控制条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；不存在由整车控制器向电机控制器发送的刹停请求；加速踏板的开度不大于第一预设开度；制动踏板未被启用或制动主缸压力不大于第一预设压力且已持续第四预设时间；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第一预设功率；以及所述新能源车辆的动力系统无故障。
进一步的，所述控制模块还用于在控制所述新能源车辆减速行驶的过程中，如果所述减速控制条件不满足，则控制所述新能源车辆退出减速行驶。
进一步的，所述发送刹停请求的条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；加速踏板的开度不大于第二预设开度；制动踏板未被启用或制动主缸压力不大于第二预设压力且已持续第五预设时间；蠕行模式未被激活；档位为行车档；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第二预设功率；以及所述新能源车辆的动力系统无故障。
进一步的，所述第三判断模块还用于响应于所述新能源车辆进入所述刹停模式，判断是否满足所述发送刹停请求的条件；以及所述第一发送模块还用于在不满足所述发送刹停请求的条件，向所述电机控制器发送退出刹停模式的请求，其中所述电机控制器响应于所述退出刹停模式的请求，控制所述新能源车辆退出所述刹停模式。
进一步的，所述第二发送模块还用于在所述新能源车辆处于驻车模式的情况下，如果所述新能源车辆退出所述刹停模式或者所述新能源车辆的车速不小于所述第三预设值，则向所述电子手刹发送退出驻车请求。
进一步的，所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式包括：所述电机控制器响应于接收到所述刹停请求，判断是否满足进入刹停模式的条件；其中所述进入刹停模式的条件包括：接收到所述刹停请求、所述整车控制器停止控制所述新能源车辆减速行驶、电机转速处于预设范围内且已持续第六预设时间、所述电机控制器无故障；以及在满足所述进入刹停模式的条件的情况下，控制所述新能源车辆进入所述刹停模式，其中所述电机控制器在所述新能源车辆进入所述刹停模式后，如果满足退出刹停模式的条件，则控制所述新能源车辆退出所述刹停模式，其中所述退出刹停模式的条件包括以下一者或多者：接收到退出刹停模式的请求；所述整车控制器开始控制所述新能源车辆减速行驶；所述电机转速大于第七预设值且已持续第六预设时间；所述电机控制器故障。
所述新能源车辆的停车控制装置与上述新能源车辆的停车控制方法相对于现有技术所具有的优势相同，在此不再赘述。
相应的，本申请实施例还提供一种整车控制器，所述整车控制器包括上述的新能源车辆的停车控制装置。
相应的，本申请实施例还提供一种新能源车辆，所述新能源车辆包括上述的整车控制器。
本申请的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施方式及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1示出了根据本申请一实施例的新能源车辆的停车控制方法的流程示意图；
图2至图5分别示出了蠕行模式的判定方式；以及
图6示出了根据本申请一实施例的新能源车辆的停车控制装置的结构框图。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施方式及实施方式中的特征可以相互组合。
需要说明的是，本申请实施例提到的“第一”、“第二”、“第三”、“第四”、“第五”、“第六”、“第七”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。
下面将参考附图并结合实施方式来详细说明本申请。
图1示出了根据本申请一实施例的新能源车辆的停车控制方法的流程示意图。如图1所示，本申请实施例提供一种新能源车辆的停车控制方法，该停车控制方法可以由整车控制器执行。所述新能源车辆的停车控制方法可以包括S110至步骤S160。
步骤S110，判断单踏板模式是否激活。
新能源车辆上可以设置有单踏板模式开关，驾驶员可以通过该单踏板模式开关来开启单踏板模式。整车控制器可以检测单踏板模式开关的信号来判断单踏板模式是否激活。例如，如果单踏板模式开关的信号指示开关开启(例如，信号的值可以为1)， 则可以说明单踏板模式激活，如果单踏板模式开关的信号指示开关未开启(例如，信号的值为0)，则可以说明单踏板模式未激活。
步骤S120，在所述单踏板模式被激活的情况下，判断是否满足减速控制条件。
所述减速控制条件至少包括：档位为行车档；蠕行模式未被激活；以及所述新能源车辆的车速不大于第一预设值且已持续第一预设时间。例如，所述第一预设值可以设置为8km/h，所述第一预设时间可以设置为500ms等。可以理解，本申请实施例并不限制于此，所述第一预设值和所述第一预设时间可以根据实际需要设置为任意合适的值。可选的，第一预设时间可以大于整车控制器的刹停请求判定时间，也就是说，在超过刹停请求判定时间之后，车速仍然保持不大于第一预设值。刹停请求判定时间可以是新能源车辆的一个固定时间，不同类型的新能源车辆，刹停请求判定时间可能不同。
在单踏板模式下，车辆也可能进入蠕行模式。可以根据挡位、制动踏板的动作和/或车速来判定车辆是否进入蠕行模式，这主要可以分为以下几种方式：
在所述新能源车辆的档位为倒车档(即R档)的情况下，控制所述新能源车辆进入所述蠕行模式。也即，驾驶员的驾驶意图为倒车，此时蠕行模式较为适宜。
在所述新能源车辆的档位向行车档换档(即倒车档换到行车档R到D或空挡到行车档N到D)的情况下，控制所述新能源车辆进入所述蠕行模式。也即，驾驶员的驾驶意图为行车起步，在此时先进入蠕行模式，稍后再根据驾驶的操作调整较为适宜。
在所述新能源车辆的档位为行车档且车速小于预设车速的情况下，所述制动踏板从踩下状态至完全释放状态动作后，控制所述新能源车辆进入所述蠕行模式。该种方式也分三种情况，如图2所示，预设车速可以是10km/h(但不限于此)，制动踏板在车速还大于10km/h时被踩下，在车速小于10km/h时被完全释放，此时驾驶员的意图为希望车辆缓慢行进，新能源车辆短暂减速之后，进入蠕行模式。如图3所示，制动踏板在车速小于10km/h时被踩下，并且稍后被完全释放，此时驾驶员的意图为希望车辆缓慢行进，新能源车辆短暂减速之后，进入蠕行模式。如图4所示，车辆本处于停车状态，即车速为0。车辆起步前，制动踏板被踩下，并且稍后被完全释放，此时驾驶员的意图为行车起步，新能源车辆进入蠕行模式，稍后再根据驾驶的操作调整。
图5对应于不进入蠕行模式的情况，如图5所示，如果制动踏板在车速还大于10km/h时被踩下，并且在车速还大于10km/h时被完全释放，此时新能源车辆不进入 蠕行模式，如果没有后续进一步的指令，直接减速到车速为0，进行停车。
本申请实施例主要考虑新能源车辆的档位为行车档的情况下，新能源车辆没有进入蠕行模式的情况(即不符合图2至图4所示进入蠕行模式的情况)。
进一步的，新能源车辆行驶过程中，驾驶员可能随时改变驾驶意图，因此，减速控制控制条件除包括前述几项之外，还可以包括以下一者或多者：车辆状态为READY；单踏板状态有效；不存在由整车控制器向电机控制器发送的刹停请求；加速踏板的开度不大于第一预设开度；制动踏板未被启用或制动主缸压力不大于第一预设压力且已持续第四预设时间；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第一预设功率；以及所述新能源车辆的动力系统无故障。整车控制器可以根据自身参数判断是否已发送刹停请求，用于驱动的可用电功率可以是由整车控制器计算获得的，其他参数例如可以通过总线来获取。所述新能源车辆的动力系统的故障例如可以是电机故障、车轮故障等，动力系统各部件的故障信号可以通过总线发送给整车控制器。需要说明的是，在本申请任意实施例中，新能源车辆的动力系统有无故障，可以均不考虑新能源车辆的车载充电机，因为，车载充电机故障与否并不影响本申请实施例的执行。
所述第一预设开度的取值应符合加速踏板处于制动区，例如，第一预设开度可以是3％等。制动踏板未被启用适用于防抱死制动系统配置。所述第一预设压力例如可以是1bar等。所述第四预设时间例如可以大于蠕行模式触发的判定周期，例如，蠕行模式触发的判定周期通常小于100ms，则第四预设时间例如可以设置为100ms等。第一预设功率例如可以是3KW。可以理解，本申请实施例并不限制于此，所述第一预设开度、第一预设压力、第四预设时间、第一预设功率根据需要可以设置为任意合适的值。
通过对减速控制条件进行进一步限制，可以确保能够实时根据驾驶意图来调整车辆状态。
步骤S130，在满足减速控制条件的情况下，控制所述新能源车辆减速行驶。
可选的，在减速控制条件的情况下，新能源车辆可以进入减速控制模式，在该模式中整车控制器可以例如根据加速踏板开度计算负扭矩值，从而控制车辆减速行驶。
步骤S140，在控制所述新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件。
所述发送刹停请求的条件至少包括车速不大于第二预设值且已持续第二预设时 间，其中所述第二预设值小于所述第一预设值。车速小于第二预设值且已持续第二预设时间则可以说明整车控制器的减速控制已无效，需要通过电机来进步减速。所述第二预设值例如可以是3km/h等，所述第一预设值例如可以是200ms等。
进一步，新能源车辆行驶过程中，驾驶员可能随时改变驾驶意图，因此，发送刹停请求的条件除包括前述几项之外，还可以包括以下一者或多者：车辆状态为READY；单踏板状态有效；加速踏板的开度不大于第二预设开度；制动踏板未被启用或制动主缸压力不大于第二预设压力且已持续第五预设时间；蠕行模式未被激活；档位为行车档；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第二预设功率；以及所述新能源车辆的动力系统无故障。所述第二预设开度的取值应符合加速踏板处于制动区，所述第二预设开度可以与前述的第一预设开度相同或不同，例如第二预设开度可以设置为3％。制动踏板未被启用适用于防抱死制动系统配置。所述第二预设压力可以等于第一预设压力，例如可以是1bar等。所述第五预设时间可以等于第四预设时间，例如可以等于100ms。用于驱动的可用电功率可由整车控制器计算获得，所述第二预设功率可以等于第一预设功率，例如可以等于3kw。可以理解，所述第二预设压力、第五预设时间、第二预设功率并不限制于此，可以根据需要设置为任意合适的值。
通过对发送刹停请求的条件进行进一步限制，可以确保能够实时根据驾驶意图来有效控制新能源车辆。
在满足向所述电机控制器发送刹停请求的条件的情况下，可以继续控制所述新能源车辆减速行驶。
步骤S150，在满足向所述电机控制器发送刹停请求的条件的情况下，向所述电机控制器发送所述刹停请求。
电机控制器响应于该刹停请求，可以控制新能源车辆进入刹停模式。电机控制器可以将刹停模式的状态反馈给整车控制器，以方便整车控制器知晓是否已进入刹停模式。
在刹停模式中，电机控制器可以对电机执行“零转速控制”，即，运行状态跳转到转速控制模式。刹停模式可以使得新能源车辆的车速继续减小直到小于第三预设值。该第三预设值可以小于第二预设值，例如，第三预设值可以是2km/h等，但是本申请实施例并不限制于此，第三预设值可以根据需要设置为任意合适的值。
可选的，为保证车辆的平顺性，电机控制器在从扭矩模式(即，整车控制器的减 速控制阶段)到转速模式跳转时，优选在当前扭矩基础上进行响应、调节，不应将扭矩清零后重新加载。可选的，电机控制器可以根据为保证车辆的平顺性，MCU在扭矩模式、转速模式跳转时，应在当前扭矩基础上进行响应、调节，不应将扭矩清零后重新加载。可扩展的，为限制大坡度下车辆的溜坡车速，MCU应基于电驱动系统及热管理对电机“堵转”状态进行区分，当电机处于非“堵转”状态时，可以逐步放开调节扭矩限制，用以提升车速限制能力，但要注意调节过程中避免车辆抖动、蹿动现象发生。
步骤S160，在所述新能源车辆处于刹停模式且所述新能源车辆的车速小于所述第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求，以使所述新能源车辆处于驻车模式。
电子手刹响应于所述驻车请求，可以执行拉起动作，以使所述新能源车辆处于驻车模式。所述第三预设时间例如可以是5s，但是本申请实施例并不限制于此，第三预设时间可以根据需要设置为任意合适的值。车速小于第三预设值且已持续第三预设时间，说明驾驶员没有进一步改变车辆状态的意图，因此可以控制新能源车辆进入驻车模式。
可选的，电子手刹在接收到驻车请求后，也可以对车速进行判断，如果电子手刹判断到车速大于某一预设车速(例如，车速大于3km/h)，则电子手刹可以不执行拉起动作。电子手刹可以将是否执行拉起动作的信息反馈给整车控制器，以方便整车控制器知晓电子手刹的状态。如果电子手刹没有执行拉起动作，则整车控制器可以基于车速和驾驶员操作意图执行相应的控制动作。电子手刹在接收到驻车请求后，如果判断出车速不大于所述某一预设车速(例如，车速大于3km/h)，则电子手刹可以执行拉起动作。
本申请实施例提供的新能源车辆的停车控制方法通过整车控制器、电机控制器、电子手刹的协调控制，并通过实时识别驾驶员操作意图，在单踏板模式下无需通过制动踏板即可实现车辆平稳停止并驻车。
在进一步的可选实施例中，整车控制器在控制新能源车辆减速行驶的过程中，仍然可以实时判断减速控制条件是否满足。如果减速控制条件不满足，则可以控制新能源车辆退出减速行驶。具体而言，如果减速行驶的过程中，发生以下任一者或多者，则退出减速行驶：车辆状态为非READY；单踏板状态无效；车速大于某一预设速速(例 如，车速大于10km/h)且已持续一预设时间(例如，500ms)；存在由整车控制器向电机控制器发送的刹停请求；加速踏板的开度大于某一预设值(例如，5％)、以及加速踏板开度对应的扭矩请求＞电机实际扭矩+预设扭矩(例如，5Nm)且已持续某一预设时间(例如，50ms)；制动踏板被启用(适用于防抱死制动系统)或制动主缸压力大于某一预设压力(例如，1bar)；蠕行模式被激活；档位为R挡或N档；手刹和/或电子手刹被启用；整车控制器计算出的用于驱动的可用电功率小于某一预设功率(例如，2kw)；新能源车辆的动力系统存在故障。也就是说，整车控制器在控制新能源车辆减速行驶的过程中，也可以实时检测驾驶员的操作意图，从而有效控制新能源车辆。
在进一步可选实施例中，电机控制器响应于接收到整车控制器发送的刹停请求，可以判断是否满足进入刹停模式的条件，所述进入刹停模式的条件可以包括：接收到所述刹停请求；所述整车控制器停止控制所述新能源车辆减速行驶，整车控制器是否停止控制新能源车辆减速行驶，可以根据车速来判断，如果车速不大于第二预设值(例如，3km/h)且已持续第二预设时间(例如，200ms)；电机转速处于预设范围(例如，预设范围可以是[-240rpm，240rpm])内且已持续第六预设时间(例如，24ms)，其中电机控制器可以根据车速而计算出；所述电机控制器无故障。在满足上述进入刹停模式的条件的情况下，电机控制器可以控制新能源车辆进入刹停模式。
电机控制器控制新能源车辆进入刹停模式之后，也可以实时判断是否满足退出刹停模式的条件。退出刹停模式的条件可以包括以下一者或多者：接收到退出刹停模式的请求；所述整车控制器开始控制所述新能源车辆减速行驶；所述电机转速大于第七预设值且已持续第六预设时间，其中所述第七预设值例如可以是240rpm，所述第六预设时间例如可以是24ms；所述电机控制器故障。在满足上述任一者或多者的情况下，电机控制器将退出刹停模式。
电机控制器控制新能源车辆进入刹停模式之后，可以将刹停模式的状态反馈给整车控制器，以方便整车控制器知晓是否已进入刹停模式。整车控制器在进入刹停模式后，仍然可以实时判断是否满足刹停请求的条件，如果不满足，则可以向所述电机控制器发送退出刹停模式的请求，电机控制器可以响应于所述退出刹停模式的请求而退出刹停模式。具体而言，如果在刹停模式下，发生以下一者或多者：车辆状态为非READY；单踏板状态无效；车速大于某一预设速速(例如，车速大于5km/h)且已持续一预设时间(例如，500ms)；存在由整车控制器向电机控制器发送的刹停请求；加 速踏板的开度大于某一预设值(例如，5％)、以及加速踏板开度对应的扭矩请求＞电机实际扭矩+预设扭矩(例如，5Nm)且已持续某一预设时间(例如，50ms)；制动踏板被启用(适用于防抱死制动系统)或制动主缸压力大于某一预设压力(例如，1bar)；蠕行模式被激活；档位为R挡或N档；手刹和/或电子手刹被启用；整车控制器计算出的用于驱动的可用电功率小于某一预设功率(例如，2kw)；新能源车辆的动力系统存在故障。也就是说，在新能源车辆处于刹停模式的情况下，整车控制器可以保持实时检测驾驶员的操作意图，从而有效控制新能源车辆。
在进一步的可选实施例中，电子手刹执行拉起动作的信息反馈给整车控制器，整车控制器基于该信息可以判断新能源车辆已处于驻车模式，在新能源车辆处于驻车模式的情况下，整车控制器判断出新能源车辆退出刹停模式，或者判断出新能源的车速不小于第三预设值(可能由于驾驶员的干预而引起)，则整车控制器可以向电子手刹发送退出驻车请求，电子手刹响应于该请求，可以不再拉起，从而使得新能源车辆退出驻车模式。在新能源车辆处于驻车模式的情况下，整车控制器仍然可以保持实时检测驾驶员的操作意图，从而有效控制新能源车辆。
图6示出了根据本申请一实施例的新能源车辆的停车控制装置的结构框图。如图6所示，本申请实施例还提供了一种新能源车辆的停车控制装置，所述装置可以设置于整车控制器，所述装置可以包括：第一判断模块610，用于判断单踏板模式是否激活；第二判断模块620，用于在所述单踏板模式被激活的情况下，判断是否满足减速控制条件，所述减速控制条件至少包括所述新能源车辆的车速小于第一预设值且已持续第一预设时间；控制模块630，用于在满足所述减速控制条件的情况下，控制所述新能源车辆减速行驶；第三判断模块640，用于在控制所述新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件，其中所述发送刹停请求的条件至少包括车速不大于第二预设值且已持续第二预设时间，其中所述第二预设值小于所述第一预设值；第一发送模块650，用于在满足向所述电机控制器发送刹停请求的条件的情况下，向所述电机控制器发送所述刹停请求，其中所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式以使所述新能源车辆的车速小于第三预设值，其中所述第三预设值小于所述第二预设值；以及第二发送模块660，用于在所述新能源车辆处于刹停模式且所述新能源车辆的车速小于所述第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求。
在进一步的可选实施例中，在新能源车辆减速行驶的过程中，第二判断模块仍然会判断减速控制条件是否满足，若不满足，则控制模块可以控制新能源车辆退出减速行驶。
在进一步的可选实施例中，在新能源车辆进入刹停模式之后，第三判断模块仍然会判断是否满足发送刹停请求的条件，在不满足发送刹停请求的条件的情况下，第一发送模块可以向电机控制器发送退出刹停模式的请求。电机控制器响应于所述退出刹停模式的请求，控制所述新能源车辆退出所述刹停模式。
在进一步的可选实施例中，在所述新能源车辆处于驻车模式的情况下，如果新能源车辆退出刹停模式或者新能源车辆的车速不小于第三预设值，则第二发送模块可以向电子手刹发送退出驻车请求，电子手刹响应于该请求可以不再处于拉起状态，从而使得新能源车辆退出驻车模式。
在进一步可选实施例中，电机控制器响应于接收到刹停请求，可以判断是否满足进入刹停模式的条件；在满足所述进入刹停模式的条件的情况下，控制所述新能源车辆进入所述刹停模式。在新能源车辆进入刹停模式后，如果满足退出刹停模式的条件，则可控制制所述新能源车辆退出所述刹停模式。
本申请实施例中，减速控制条件、发送刹停请求的条件、进入刹停模式的条件、退出刹停模式的条件的具体内容与上文所述的一致。
本申请实施例提供的新能源车辆的停车控制装置的具体工作原理及益处与上述本申请实施例提供的新能源车辆的停车控制方法的具体工作原理及益处相同，这里将不再赘述。
所述新能源车辆的停车控制装置包括处理器和存储器，上述各模块等均作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。处理器中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来执行根据本申请任意实施例所述的新能源车辆的停车控制方法。存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
相应的，本申请实施例还提供一种整车控制器，所述整车控制器可以包括根据本申请任意实施例所述的新能源车辆的停车控制装置。
相应的，本申请实施例还提供一种新能源车辆，所述新能源车辆可以包括本申请实施例所述的整车控制器，所述新能源车辆例如可以是纯电动汽车等。
相应的，本申请实施例还提供一种机器可读存储介质，所述机器可读存储介质中存储有程序，该程序被执行时实现根据本申请任意实施例所述的新能源车辆的停车控制方法。其中，所述机器可读存储介质包括但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体(Flash Memory)或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁盘存储或其他磁性存储设备等各种可以存储程序代码的介质。
本申请实施例提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行根据本申请任意实施例所述的新能源车辆的停车控制方法。
本申请实施例提供了一种设备，设备包括处理器、存储器及存储在存储器上并可在处理器上运行的程序，处理器执行程序时实现根据本申请任意实施例所述的新能源车辆的停车控制方法。本文中的设备可以是服务器、PC、PAD、手机等。
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如根据本申请任意实施例所述的新能源车辆的停车控制方法步骤的程序。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过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实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个......”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同 替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (16)

  1. 一种新能源车辆的停车控制方法，其特征在于，所述新能源车辆的停车控制方法由整车控制器执行，所述新能源车辆的停车控制方法包括：
    判断单踏板模式是否激活；
    在所述单踏板模式被激活的情况下，判断是否满足减速控制条件，所述减速控制条件至少包括：档位为行车档；蠕行模式未被激活；以及所述新能源车辆的车速不大于第一预设值且已持续第一预设时间；
    在满足所述减速控制条件的情况下，控制所述新能源车辆减速行驶；
    在控制所述新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件，其中所述发送刹停请求的条件至少包括车速不大于第二预设值且已持续第二预设时间，其中所述第二预设值小于所述第一预设值；
    在满足向所述电机控制器发送刹停请求的条件的情况下，向所述电机控制器发送所述刹停请求，其中所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式以使所述新能源车辆的车速小于第三预设值，其中所述第三预设值小于所述第二预设值；以及
    在所述新能源车辆处于刹停模式且所述新能源车辆的车速小于所述第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求，以使所述新能源车辆处于驻车模式。
  2. 根据权利要求1所述的新能源车辆的停车控制方法，其特征在于，所述减速控制条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；不存在由整车控制器向电机控制器发送的刹停请求；加速踏板的开度不大于第一预设开度；制动踏板未被启用或制动主缸压力不大于第一预设压力且已持续第四预设时间；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第一预设功率；以及所述新能源车辆的动力系统无故障。
  3. 根据权利要求1或2所述的新能源车辆的停车控制方法，其特征在于，所述新能源车辆的停车控制方法还包括：
    在控制所述新能源车辆减速行驶的过程中，如果所述减速控制条件不满足，则控 制所述新能源车辆退出减速行驶。
  4. 根据权利要求1所述的新能源车辆的停车控制方法，其特征在于，所述发送刹停请求的条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；加速踏板的开度不大于第二预设开度；制动踏板未被启用或制动主缸压力不大于第二预设压力且已持续第五预设时间；蠕行模式未被激活；档位为行车档；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第二预设功率；以及所述新能源车辆的动力系统无故障。
  5. 根据权利要求1或4所述的新能源车辆的停车控制方法，其特征在于，所述新能源车辆的停车控制方法还包括：
    响应于所述新能源车辆进入所述刹停模式，判断是否满足所述发送刹停请求的条件；以及
    在不满足所述发送刹停请求的条件，向所述电机控制器发送退出刹停模式的请求，其中所述电机控制器响应于所述退出刹停模式的请求，控制所述新能源车辆退出所述刹停模式。
  6. 根据权利要求5所述的新能源车辆的停车控制方法，其特征在于，所述新能源车辆的停车控制方法还包括：
    在所述新能源车辆处于驻车模式的情况下，如果所述新能源车辆退出所述刹停模式或者所述新能源车辆的车速不小于所述第三预设值，则向所述电子手刹发送退出驻车请求。
  7. 根据权利要求1、4或5所述的新能源车辆的停车控制方法，其特征在于，所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式包括：
    所述电机控制器响应于接收到所述刹停请求，判断是否满足进入刹停模式的条件；其中所述进入刹停模式的条件包括：接收到所述刹停请求、所述整车控制器停止控制所述新能源车辆减速行驶、电机转速处于预设范围内且已持续第六预设时间、所述电机控制器无故障；以及
    在满足所述进入刹停模式的条件的情况下，控制所述新能源车辆进入所述刹停模式，
    其中所述电机控制器在所述新能源车辆进入所述刹停模式后，如果满足退出刹停模式的条件，则控制所述新能源车辆退出所述刹停模式，其中所述退出刹停模式的条件包括以下一者或多者：接收到退出刹停模式的请求；所述整车控制器开始控制所述新能源车辆减速行驶；所述电机转速大于第七预设值且已持续第六预设时间；所述电机控制器故障。
  8. 一种新能源车辆的停车控制装置，其特征在于，所述新能源车辆的停车控制装置设置于整车控制器，所述新能源车辆的停车控制装置包括：
    第一判断模块，用于判断单踏板模式是否激活；
    第二判断模块，用于在所述单踏板模式被激活的情况下，判断是否满足减速控制条件，所述减速控制条件至少包括所述新能源车辆的车速小于第一预设值且已持续第一预设时间；
    控制模块，用于在满足所述减速控制条件的情况下，控制所述新能源车辆减速行驶；
    第三判断模块，用于在控制所述新能源车辆减速行驶的过程中，判断是否满足向电机控制器发送刹停请求的条件，其中所述发送刹停请求的条件至少包括车速不大于第二预设值且已持续第二预设时间，其中所述第二预设值小于所述第一预设值；
    第一发送模块，用于在满足向所述电机控制器发送刹停请求的条件的情况下，向所述电机控制器发送所述刹停请求，其中所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式以使所述新能源车辆的车速小于第三预设值，其中所述第三预设值小于所述第二预设值；以及
    第二发送模块，用于在所述新能源车辆处于刹停模式且所述新能源车辆的车速小于所述第三预设值且已持续第三预设时间的情况下，向电子手刹发送驻车请求。
  9. 根据权利要求8所述的新能源车辆的停车控制装置，其特征在于，所述减速控制条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；不存在由整车控制器向电机控制器发送的刹停请求；加速踏板的开度不大于第一预设开度；制动踏板 未被启用或制动主缸压力不大于第一预设压力且已持续第四预设时间；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第一预设功率；以及所述新能源车辆的动力系统无故障。
  10. 根据权利要求8或9所述的新能源车辆的停车控制装置，其特征在于，所述控制模块还用于在控制所述新能源车辆减速行驶的过程中，如果所述减速控制条件不满足，则控制所述新能源车辆退出减速行驶。
  11. 根据权利要求8所述的新能源车辆的停车控制装置，其特征在于，所述发送刹停请求的条件还包括以下一者或多者：车辆状态为READY；单踏板状态有效；加速踏板的开度不大于第二预设开度；制动踏板未被启用或制动主缸压力不大于第二预设压力且已持续第五预设时间；蠕行模式未被激活；档位为行车档；手刹和/或电子手刹均未被启用；用于驱动的可用电功率不小于第二预设功率；以及所述新能源车辆的动力系统无故障。
  12. 根据权利要求8或11所述的新能源车辆的停车控制装置，其特征在于，
    所述第三判断模块还用于响应于所述新能源车辆进入所述刹停模式，判断是否满足所述发送刹停请求的条件；以及
    所述第一发送模块还用于在不满足所述发送刹停请求的条件，向所述电机控制器发送退出刹停模式的请求，其中所述电机控制器响应于所述退出刹停模式的请求，控制所述新能源车辆退出所述刹停模式。
  13. 根据权利要求12所述的新能源车辆的停车控制装置，其特征在于，所述第二发送模块还用于在所述新能源车辆处于驻车模式的情况下，如果所述新能源车辆退出所述刹停模式或者所述新能源车辆的车速不小于所述第三预设值，则向所述电子手刹发送退出驻车请求。
  14. 根据权利要求8、11或12所述的新能源车辆的停车控制装置，其特征在于，所述电机控制器响应于所述刹停请求，控制所述新能源车辆进入刹停模式包括：
    所述电机控制器响应于接收到所述刹停请求，判断是否满足进入刹停模式的条件；其中所述进入刹停模式的条件包括：接收到所述刹停请求、所述整车控制器停止控制所述新能源车辆减速行驶、电机转速处于预设范围内且已持续第六预设时间、所述电机控制器无故障；以及
    在满足所述进入刹停模式的条件的情况下，控制所述新能源车辆进入所述刹停模式，
    其中所述电机控制器在所述新能源车辆进入所述刹停模式后，如果满足退出刹停模式的条件，则控制所述新能源车辆退出所述刹停模式，其中所述退出刹停模式的条件包括以下一者或多者：接收到退出刹停模式的请求；所述整车控制器开始控制所述新能源车辆减速行驶；所述电机转速大于第七预设值且已持续第六预设时间；所述电机控制器故障。
  15. 一种整车控制器，其特征在于，所述整车控制器包括根据权利要求8-14中任一项所述的新能源车辆的停车控制装置。
  16. 一种新能源车辆，其特征在于，所述新能源车辆包括根据权利要求15所述的整车控制器。
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