CN102874257A - Hill-start assist system for electric car and control method of hill-start assist system - Google Patents
Hill-start assist system for electric car and control method of hill-start assist system Download PDFInfo
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- CN102874257A CN102874257A CN201210404954XA CN201210404954A CN102874257A CN 102874257 A CN102874257 A CN 102874257A CN 201210404954X A CN201210404954X A CN 201210404954XA CN 201210404954 A CN201210404954 A CN 201210404954A CN 102874257 A CN102874257 A CN 102874257A
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Abstract
The invention discloses a hill-start assist system for an electric car. The hill-start assist system comprises a whole vehicle controller which is respectively connected with a gear signal module, a vehicle speed signal module, a footbrake signal module, an accelerator signal module and a motor control module. Signals output by the gear signal module include the D-speed signal and the R-speed signal. The hill-start assist system is characterized in that a hill sensor is further connected on the whole vehicle controller and senses a sensed hill angle signal to the whole vehicle controller, and the whole vehicle controller determines a control signal of the motor control module according to the hill angle signal, the gear signals, a vehicle speed signal, a footbrake signal and an accelerator signal. The hill-start assist system for the electric car has the advantages that a control strategy and mechanical content of an original braking system need not be modified, control is simple, modification cost is low, starting backward slip or forward slip of a vehicle on a hill in a process of releasing brake and stepping on accelerator is prevented, and vehicle slip scratches and collision accidents can be avoided effectively.
Description
Technical field
The present invention relates to automotive control system, specifically, is a kind of electronlmobil uphill starting ancillary system and control method thereof.
Background technology
Along with the develop rapidly of China recent years auto-industry, each big city automobile pollution increases sharply, and causes the traffic congestion situation to happen occasionally, and is especially more obvious at peak load conditions on and off duty.For more city, ramp such as picture Chongqing etc., above the ramp traffic congestion unavoidable, many chaufeurs since lack experience or technology not good, uphill starting often occurs and slip car, easily cause traffic accident.
The uphill starting ancillary system is widely used on the conventional gasoline car as a proven technique, its core concept is the rear braking force delay cutoff that gets off the brakes, guarantee that chaufeur automobile in the process of step on the accelerator that gets off the brakes remains certain braking force, even releasing of brake is step on the accelerator not, braking force also can keep certain hour, thereby prevents from slipping car.
In recent years, the development of electronlmobil commercialization is swift and violent, most of electronlmobil adopts take automatic transmission as main transmission system, comprise mechanical type two-shift automatic variable speed device, static stall change-speed box etc., uphill starting ancillary system based on the conventional gasoline car is widely applied at the automatic transmission electronlmobil, has formed a plurality of patents take uphill starting braking force delay cutoff as the various versions of core.
But the defective of prior art is: the conventional gasoline car need to carry out the machinery transformation of the way to brake circuit, increases the parts such as electromagnetic valve, uphill starting switch, and the machinery refitment cost is higher.
Summary of the invention
In order to address the above problem, the present invention proposes a kind of electronlmobil uphill starting ancillary system, does not need control policy and the mechanical content of original brake system are changed, and only the ramp sensor need be set and get final product, and control is simple, and cost is low.
For achieving the above object, the technical solution adopted in the present invention is as follows:
A kind of electronlmobil uphill starting ancillary system, comprise entire car controller, this entire car controller respectively with the gear signal module, the vehicle speed signal module, the service brake signaling module, throttle signal module and motor control module link to each other, the signal of described gear signal module output comprises D(Drive, D Drive) shelves signal and R(Reverse reverse) the shelves signal, its key is: also be connected with the ramp sensor on described entire car controller, this ramp sensor is sent to entire car controller with the ramp angles signal of induction, and entire car controller is according to the ramp angles signal that receives, gear signal, vehicle speed signal, service brake signal and throttle signal are determined the control signal of described motor control module.
The present invention does not need the electronlmobil without the uphill starting ancillary system is carried out mechanically any change, only need the ramp sensor is fixed on forward engine room, bonding shaft angle degree sensor tag arrow direction is consistent without working direction in the corner situation with wheel, guaranteeing simultaneously that the direction of arrow is parallel with horizontal surface gets final product, change the internal piloting mode basis of entire car controller by programming, only need ancillary cost tens yuans can realize the anti-slip function of uphill starting.
As further describing, described ramp sensor is the single-axis tilt angular transducer, and the scope that takes measurement of an angle is-90 degree～+ 90 degree, and output ramp angles signal is the voltage signal of 0～5V.
The control method of above-mentioned electronlmobil uphill starting ancillary system is carried out according to following steps:
Step 1: entire car controller is closed anti-slip control signal;
Step 2: entire car controller judges whether the vehicle speed signal that the vehicle speed signal module is uploaded is 0;
If current vehicle speed is 0, then return step 1;
If current vehicle speed is not 0, then enter step 3;
Step 3: entire car controller judges whether the service brake signaling module has exported brake signal;
If there is not brake signal, then return step 1;
If brake signal is arranged, then enter step 4;
Step 4: entire car controller judges whether the gear signal module is output as D shelves signal;
If not, then enter step 4 ';
If so, then enter step 5;
Step 5: entire car controller judges ramp angles that the ramp sensor responds to whether 〉=the upward slope threshold value;
If so, then enter step 6;
If not, then return step 1;
Step 6: entire car controller judges whether the service brake signaling module has exported brake signal;
If brake signal is arranged, then return step 1;
If there is not brake signal, then enter step 7;
Step 7: the anti-slip signal of entire car controller output forward, and enter step 8;
Step 8: entire car controller judges whether the throttle signal module exports throttle signal;
If throttle signal is arranged, then return step 1;
If there is not throttle signal, then return step 7;
Step 4 ': entire car controller judges whether the gear signal module is output as R shelves signal;
If so, then enter step 5 ';
If not, then return step 1;
Step 5 ': entire car controller judges ramp angles that the ramp sensor responds to is whether≤the descending threshold value;
If so, then enter step 6 ';
If not, then return step 1;
Step 6 ': entire car controller judges whether the service brake signaling module has exported brake signal;
If brake signal is arranged, then return step 1;
If there is not brake signal, then enter step 7 ';
Step 7 ': entire car controller is exported reverse anti-slip signal, and enters step 8 ';
Step 8 ': entire car controller judges whether the throttle signal module exports throttle signal;
If throttle signal is arranged, then return step 1;
If there is not throttle signal, then return step 7 '.
As preferably, the upward slope threshold value of described ramp angles is+5%, and the descending threshold value is-5%.
Remarkable result of the present invention is: do not need control policy and the mechanical content of original brake system are changed, the internal piloting algorithm that only the ramp sensor need be set and change entire car controller gets final product, control is simple, the repacking cost is low, prevent that slipping or front slide phenomenon after the starting appears in vehicle in the ramp gets off the brakes the process of step on the accelerator, the car of effectively avoiding slipping is wiped and is hung and the generation of collision case.
Description of drawings
Fig. 1 is electrical block diagram of the present invention;
Fig. 2 is control flow chart of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention and principle of work are described in further detail.
As shown in Figure 1, a kind of electronlmobil uphill starting ancillary system, comprise entire car controller 1, this entire car controller 1 respectively with the gear signal module, the vehicle speed signal module, the service brake signaling module, throttle signal module and motor control module link to each other, the signal of described gear signal module output comprises D shelves signal and R shelves signal, on entire car controller 1, also be connected with ramp sensor 2, this ramp sensor 2 is sent to entire car controller 1 with the ramp angles signal of induction, and entire car controller 1 is according to the ramp angles signal that receives, gear signal, vehicle speed signal, service brake signal and throttle signal are determined the control signal of described motor control module.
It is SCA610-CA1H1G that described ramp sensor 2 adopts model, be the single-axis tilt angular transducer, the scope that takes measurement of an angle is-90 degree～+ 90 degree, output ramp angles signal is the voltage signal of 0～5V, and the value of taking measurement of an angle and output voltage signal are linear, it is the microprocessor of MC9S12DG128B that entire car controller 1 adopts the chip model, can accurately receive the detection signal of each functional module output, and the voltage signal of angular transducer output can be treated to the road grade value.
In implementation process, after the entire car controller MC9S12DG128B power supply, form normality 5V power supply voltage between its pin 1 and the ramp sensor SCA610-CA1H1G pin 4, namely form 5V between the ramp sensor pin 8 and 4.
After entire car controller 1 power supply, formation normality 5V output voltage between its pin 7 and 13 is when gear switch during to the D shelves, entire car controller pin 7 is communicated with 5, be to form 12V voltage between pin 5 and 13, do not switch to the D shelves such as gear, then form 0V between the pin 5 and 13; When gear switch during to the R shelves, the pin 7 of entire car controller 1 is communicated with 6, namely forms the 12V electricity between the pin 6 and 13, does not switch to the R shelves such as gear, then forms 0V between the pin 6 and 13, and the magnitude of voltage by judgement pin 5 and pin 6 can obtain gear signal.
In conjunction with the foregoing circuit structure, the present invention also further describes the control method of described electronlmobil uphill starting ancillary system.
As shown in Figure 2, its specifically to control step as follows:
Step 1: entire car controller 1 is closed anti-slip control signal;
Step 2: entire car controller 1 judges whether the vehicle speed signal that the vehicle speed signal module is uploaded is 0;
If current vehicle speed is 0, then return step 1;
If current vehicle speed is not 0, then enter step 3;
Step 3: entire car controller 1 judges whether the service brake signaling module has exported brake signal;
If there is not brake signal, then return step 1;
If brake signal is arranged, then enter step 4;
Step 4: entire car controller 1 judges whether the gear signal module is output as D shelves signal;
If not, then enter step 4 ';
If so, then enter step 5;
Step 5: entire car controller 1 judges ramp angles that ramp sensor 2 responds to whether 〉=the upward slope threshold value;
If so, then enter step 6;
If not, then return step 1;
Step 6: entire car controller 1 judges whether the service brake signaling module has exported brake signal;
If brake signal is arranged, then return step 1;
If there is not brake signal, then enter step 7;
Step 7: the anti-slip signal of entire car controller 1 output forward, and enter step 8;
Step 8: entire car controller 1 judges whether the throttle signal module exports throttle signal;
If throttle signal is arranged, then return step 1;
If there is not throttle signal, then return step 7;
Step 4 ': entire car controller 1 judges whether the gear signal module is output as R shelves signal;
If so, then enter step 5 ';
If not, then return step 1;
Step 5 ': entire car controller 1 judges ramp angles that ramp sensor 2 responds to is whether≤the descending threshold value;
If so, then enter step 6 ';
If not, then return step 1;
Step 6 ': entire car controller 1 judges whether the service brake signaling module has exported brake signal;
If brake signal is arranged, then return step 1;
If there is not brake signal, then enter step 7 ';
Step 7 ': the reverse anti-slip signal of entire car controller 1 output, and enter step 8 ';
Step 8 ': entire car controller 1 judges whether the throttle signal module exports throttle signal;
If throttle signal is arranged, then return step 1;
If there is not throttle signal, then return step 7 '.
As preferably, the upward slope threshold value of described ramp angles is+5%, and the descending threshold value is-5%.
Principle of work of the present invention is:
The present invention mainly considers to go up a slope, and starting is advanced and two kinds of operating modes of descending starting reversing, therefore anti-slip control is carried out algorithmization according to two kinds of operating modes, compare with the conventional electric automobile without the uphill starting ancillary system, native system only need increase an angular transducer, and the ramp angles signal sent to entire car controller with the form of voltage analog signal, by the analog voltage signal of entire car controller 1 according to the ramp angles size, vehicle speed signal, the service brake signal, advance (D shelves) and retreat (R shelves) gear signal etc., whether demand starts the uphill starting ancillary system in analytical calculation.
Ramp angles is gone up a slope for just representing, ramp angles is the negative indication descending, when starting is advanced again after the parking of going up a slope, behind the gear switch D shelves, if brake signal disappears, then start the uphill starting ancillary system, the anti-slip signal of output forward, namely entire car controller 1 sends the torque signal of forward to motor control module;
When the recurrence step moves backward after descending stops, behind the gear switch R shelves, if brake signal disappears, then start the uphill starting ancillary system, export reverse anti-slip signal, namely entire car controller 1 sends the torque signal of counter-rotating to motor control module;
Except above-mentioned two kinds of uphill starting operating modes, other operating modes all do not start the uphill starting ancillary system.
The uphill starting ancillary system will be calculated required adding in advance propulsive effort and export corresponding forward or reverse torque signal by entire car controller 1 according to the ramp angles size.The uphill starting ancillary system starts in rear two seconds, if entire car controller 1 does not collect throttle signal yet, then this ancillary system quits work automatically.
Claims (4)
1. electronlmobil uphill starting ancillary system, comprise entire car controller (1), this entire car controller (1) respectively with the gear signal module, the vehicle speed signal module, the service brake signaling module, throttle signal module and motor control module link to each other, the signal of described gear signal module output comprises D shelves signal and R shelves signal, it is characterized in that: on described entire car controller (1), also be connected with ramp sensor (2), this ramp sensor (2) is sent to entire car controller (1) with the ramp angles signal of induction, and entire car controller (1) is according to the ramp angles signal that receives, gear signal, vehicle speed signal, service brake signal and throttle signal are determined the control signal of described motor control module.
2. electronlmobil uphill starting ancillary system according to claim 1, it is characterized in that: described ramp sensor (2) is the single-axis tilt angular transducer, the scope that takes measurement of an angle is-90 degree～+ 90 degree, and output ramp angles signal is the voltage signal of 0～5V.
3. the control method of an electronlmobil uphill starting ancillary system as claimed in claim 1 is characterized in that carrying out according to following steps:
Step 1: entire car controller (1) is closed anti-slip control signal;
Step 2: entire car controller (1) judges whether the vehicle speed signal that the vehicle speed signal module is uploaded is 0;
If current vehicle speed is 0, then return step 1;
If current vehicle speed is not 0, then enter step 3;
Step 3: entire car controller (1) judges whether the service brake signaling module has exported brake signal;
If there is not brake signal, then return step 1;
If brake signal is arranged, then enter step 4;
Step 4: entire car controller (1) judges whether the gear signal module is output as D shelves signal;
If not, then enter step 4 ';
If so, then enter step 5;
Step 5: entire car controller (1) judges ramp angles that ramp sensor (2) responds to whether 〉=the upward slope threshold value;
If so, then enter step 6;
If not, then return step 1;
Step 6: entire car controller (1) judges whether the service brake signaling module has exported brake signal;
If brake signal is arranged, then return step 1;
If there is not brake signal, then enter step 7;
Step 7: the anti-slip signal of entire car controller (1) output forward, and enter step 8;
Step 8: entire car controller (1) judges whether the throttle signal module exports throttle signal;
If throttle signal is arranged, then return step 1;
If there is not throttle signal, then return step 7;
Step 4 ': entire car controller (1) judges whether the gear signal module is output as R shelves signal;
If so, then enter step 5 ';
If not, then return step 1;
Step 5 ': entire car controller (1) judges ramp angles that ramp sensor (2) responds to is whether≤the descending threshold value;
If so, then enter step 6 ';
If not, then return step 1;
Step 6 ': entire car controller (1) judges whether the service brake signaling module has exported brake signal;
If brake signal is arranged, then return step 1;
If there is not brake signal, then enter step 7 ';
Step 7 ': the reverse anti-slip signal of entire car controller (1) output, and enter step 8 ';
Step 8 ': entire car controller (1) judges whether the throttle signal module exports throttle signal;
If throttle signal is arranged, then return step 1;
If there is not throttle signal, then return step 7 '.
4. the control method of electronlmobil uphill starting ancillary system according to claim 3, it is characterized in that: the upward slope threshold value of described ramp angles is+5%, the descending threshold value is-5%.
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| CN201210404954.XA CN102874257B (en) | 2012-10-23 | 2012-10-23 | Hill-start assist system for electric car and control method of hill-start assist system |
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| CN201210404954.XA CN102874257B (en) | 2012-10-23 | 2012-10-23 | Hill-start assist system for electric car and control method of hill-start assist system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103195922A (en) * | 2013-03-28 | 2013-07-10 | 长城汽车股份有限公司 | Vehicle and uphill control method and device thereof |
| CN103895531A (en) * | 2014-04-18 | 2014-07-02 | 清华大学苏州汽车研究院（吴江） | Ramp starting control method for pure electric vehicle |
| CN103935263A (en) * | 2014-01-22 | 2014-07-23 | 上海大郡动力控制技术有限公司 | Anti-slip strategy for hill starting of pure electric bus driven by permanent magnet motor |
| CN104590252A (en) * | 2013-11-01 | 2015-05-06 | 上海汽车集团股份有限公司 | Reverse sliding control method based on stability control system (SCS) |
| CN105270403A (en) * | 2014-07-22 | 2016-01-27 | 中华汽车工业股份有限公司 | Hill Drive Assist System |
| CN105416087A (en) * | 2015-11-26 | 2016-03-23 | 安徽江淮汽车股份有限公司 | Electric automobile hill starting assistance method |
| JP2017225263A (en) * | 2016-06-16 | 2017-12-21 | トヨタ自動車株式会社 | Electric car |
| CN107933556A (en) * | 2016-10-13 | 2018-04-20 | 江苏卡威汽车工业集团有限公司 | A kind of electric automobile uphill starting device and method |
| CN111806249A (en) * | 2020-06-29 | 2020-10-23 | 江西江铃集团新能源汽车有限公司 | Ramp auxiliary control method and system for electric vehicle |
| CN112249024A (en) * | 2020-10-16 | 2021-01-22 | 东风汽车集团有限公司 | A method for real-time detection of the slope of a vehicle driving ramp |
| CN113442733A (en) * | 2020-03-24 | 2021-09-28 | 林德（中国）叉车有限公司 | Fork truck of mode regulation carries out based on slope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103195922B (en) * | 2013-03-28 | 2015-07-01 | 长城汽车股份有限公司 | Vehicle and uphill control method and device thereof |
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| CN104590252B (en) * | 2013-11-01 | 2018-09-04 | 上海汽车集团股份有限公司 | A kind of rollback control method based on stabilizing control system |
| CN104590252A (en) * | 2013-11-01 | 2015-05-06 | 上海汽车集团股份有限公司 | Reverse sliding control method based on stability control system (SCS) |
| CN103935263A (en) * | 2014-01-22 | 2014-07-23 | 上海大郡动力控制技术有限公司 | Anti-slip strategy for hill starting of pure electric bus driven by permanent magnet motor |
| CN103935263B (en) * | 2014-01-22 | 2019-04-23 | 上海大郡动力控制技术有限公司 | The anti-slip strategy of pure electric vehicle bus uphill starting of magneto driving |
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| CN103895531B (en) * | 2014-04-18 | 2016-04-20 | 清华大学苏州汽车研究院（吴江） | Pure electric vehicle uphill starting control method |
| CN105270403A (en) * | 2014-07-22 | 2016-01-27 | 中华汽车工业股份有限公司 | Hill Drive Assist System |
| CN105416087A (en) * | 2015-11-26 | 2016-03-23 | 安徽江淮汽车股份有限公司 | Electric automobile hill starting assistance method |
| JP2017225263A (en) * | 2016-06-16 | 2017-12-21 | トヨタ自動車株式会社 | Electric car |
| CN107933556A (en) * | 2016-10-13 | 2018-04-20 | 江苏卡威汽车工业集团有限公司 | A kind of electric automobile uphill starting device and method |
| CN113442733A (en) * | 2020-03-24 | 2021-09-28 | 林德（中国）叉车有限公司 | Fork truck of mode regulation carries out based on slope |
| CN113442733B (en) * | 2020-03-24 | 2024-10-15 | 林德（中国）叉车有限公司 | Fork truck based on slope carries out operating mode and adjusts |
| CN111806249A (en) * | 2020-06-29 | 2020-10-23 | 江西江铃集团新能源汽车有限公司 | Ramp auxiliary control method and system for electric vehicle |
| CN112249024A (en) * | 2020-10-16 | 2021-01-22 | 东风汽车集团有限公司 | A method for real-time detection of the slope of a vehicle driving ramp |
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