CN106184193B - The control method and control system and vehicle of vehicle driving - Google Patents
The control method and control system and vehicle of vehicle driving Download PDFInfo
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- CN106184193B CN106184193B CN201510212884.1A CN201510212884A CN106184193B CN 106184193 B CN106184193 B CN 106184193B CN 201510212884 A CN201510212884 A CN 201510212884A CN 106184193 B CN106184193 B CN 106184193B
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Abstract
The control method of vehicle driving disclosed by the invention includes: S1: acquisition accelerator pedal signal and brake pedal signal, to judge the state of gas pedal and brake pedal, two pedals are operated simultaneously, into S2, only brake pedal is operated, into S3, only gas pedal is operated, into S4, two pedals are not operated, into S5；S2: judging whether accelerator pedal signal is greater than threshold value throttle signal, if so, into S6, if it is not, into S4；S3: control motor generates brake force；S4: judging whether accelerator pedal signal is greater than default throttle signal, if so, into S7, if it is not, into S8；S5: control motor generates brake force；S6: accelerator pedal signal is limited to threshold values throttle signal, into S4；S7: control motor generates driving force；And S8: control motor generates brake force.The above method can make vehicle operating simpler.When two pedals are operated, it is ensured that the driving safety of vehicle.Invention additionally discloses the control system of vehicle driving and vehicles.
Description
Technical field
The present invention relates in vehicular field, more specifically, be related to a kind of vehicle driving control method and a kind of vehicle
The control system of traveling and a kind of vehicle.
Background technique
As the improvement of people's living standards, people are to trip mode, more stringent requirements are proposed.Therefore, automobile is used as and mentions
The accommodating consumer goods are confessed to be possessed by more and more people.
Currently, automobile generally controls the car steering under all operating conditions respectively using brake and throttle two pedal.Even if
Vehicle driving is controlled with throttle and brake two pedal, wherein throttle gives vehicle driving force, the size and oil of driving force
Door depth is related.Vehicle brake force is given in brake, and brake force size is related with brake depth.
But above control mode can have the disadvantage in that 1, will appear driver in some cases because stepping on mistake
Pedal causes the case where traffic accident, such as parking；2, two kinds of power of driving force and brake force may be had simultaneously to export together,
Damage might have to vehicle components；3, complete vehicle structure can only be had an impact by the brake force that brake generates in emergency brake,
For example brake force is inadequate or tire locking etc.；4, the kinetic energy of vehicle is converted to thermal energy consumption and falls when braking, and wastes
Many energy.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention needs to provide one
The control method of kind vehicle driving and control system and a kind of vehicle of a kind of vehicle driving.
A kind of control method of vehicle driving, comprising the following steps:
S1: vehicle body stability controller acquires accelerator pedal signal and brake pedal signal, and according to the accelerator pedal signal
And the brake pedal signal judges the state of gas pedal and brake pedal, if the gas pedal and the brake pedal are stepped on simultaneously
Under, S2 is entered step, if the only brake pedal is operated, enters step S3, if the only gas pedal is operated, into step
Rapid S4 enters step S5 if the brake pedal and the gas pedal are not operated；
S2: brake actuator generates the first vehicle braking force, which obtains according to the brake pedal signal
Threshold value throttle signal is taken, judges whether the accelerator pedal signal is greater than the threshold value throttle signal, if so, S6 is entered step, if it is not,
Enter step S4；
S3: the brake actuator generates the second vehicle braking force, and electric machine controller controls electricity according to the accelerator pedal signal
Machine generates third vehicle braking force；
S4: the electric machine controller judges whether the accelerator pedal signal is greater than the first default throttle signal, if so, entering step
Rapid S7, if it is not, entering step S8；
S5: the electric machine controller controls the motor according to the accelerator pedal signal and generates the third vehicle braking force；
S6: the vehicle body stability controller limits the accelerator pedal signal to the threshold values throttle signal, and enters step S4；
S7: the electric machine controller controls the motor according to the accelerator pedal signal and generates vehicle drive force；And
S8: the electric machine controller controls the motor according to the accelerator pedal signal and generates the 4th vehicle braking force.
The control method of above-mentioned vehicle driving can carry out the driving force and brake force control of vehicle according to accelerator pedal signal
System controls vehicle acceleration or deceleration using gas pedal in this way, keeps the operation of vehicle drive more simple, reduces driver and exists
Feeling of fatigue in driving procedure, and the probability that accident occurs is reduced, reduce the damage to vehicle components.Meanwhile it being stepped in brake
When plate and gas pedal are operated simultaneously, vehicle body stability controller can according to brake pedal signal, to accelerator pedal signal into
Row limitation, ensure that the driving safety of vehicle.
In one embodiment, which is preset with the brake pedal signal and the threshold value throttle signal
Corresponding relationship, step S2 includes: that the vehicle body stability controller according to the brake pedal signal and the corresponding relationship obtains the threshold
It is worth throttle signal.
In one embodiment, which is generated by brake depth transducer and is sent to the vehicle body and stablized
Controller, the vehicle body stability controller connect the electric machine controller.
In one embodiment, step S3 or step S5 or step S8 includes: that the electric machine controller controls motor production
For raw power storage in battery, which is to be dragged during the motor generates vehicle braking force by wheel of vehicle is counter
The motor and generate.
In one embodiment, which is greater than the 4th vehicle braking force.
In one embodiment, step S7 comprising steps of
S71: whether the electric machine controller judges the accelerator pedal signal less than the second default throttle signal, this is second default
Throttle signal is greater than the first default throttle signal, if so, S72 is entered step, if it is not, entering step S73；
S72: the electric machine controller changes according to the accelerator pedal signal and vehicle drive force with the accelerator pedal signal
First change rate controls the motor and generates vehicle drive force；
S73: the electric machine controller changes according to the accelerator pedal signal and vehicle drive force with the accelerator pedal signal
Second change rate controls the motor and generates vehicle drive force, which is greater than first change rate.
A kind of control system of vehicle driving, including vehicle body stability controller, electric machine controller, motor and brake
Device, the vehicle body stability controller connect the electric machine controller and the brake actuator, which connects the electric machine controller.The vehicle
Body stability controller is stepped on for acquiring accelerator pedal signal and brake pedal signal according to the accelerator pedal signal and the brake
Partitioned signal judges the state of gas pedal and brake pedal.If the gas pedal and the brake pedal are operated simultaneously, the brake
Brake is used for for generating the first vehicle braking force, the vehicle body stability controller according to the brake pedal signal acquisition threshold value oil
Gate signal, judges whether the accelerator pedal signal is greater than the threshold value throttle signal.If the accelerator pedal signal is greater than threshold value oil
Gate signal, the vehicle body stability controller is for limiting the accelerator pedal signal to the threshold values throttle signal, the electric machine controller
Whether the accelerator pedal signal after judging limitation is greater than the first default throttle signal.If the accelerator pedal signal is not more than the threshold
It is worth throttle signal, the electric machine controller is for judging whether the accelerator pedal signal is greater than the first default throttle signal.If only
There is the brake pedal to be operated, for the brake actuator for generating the second vehicle braking force, which is used for basis should
Accelerator pedal signal controls the motor and generates third vehicle braking force.If the only gas pedal is operated, the electric machine controller
For judging whether the accelerator pedal signal is greater than the first default throttle signal.If it is first pre- that the accelerator pedal signal is greater than this
If throttle signal, which, which is used to control the motor according to the accelerator pedal signal, generates vehicle drive force.If the oil
Door pedal signal is not more than the first default throttle signal, which is used to control the electricity according to the accelerator pedal signal
Machine generates the 4th vehicle braking force.
In one embodiment, which is preset with the brake pedal signal and the threshold value throttle signal
Corresponding relationship, the vehicle body stability controller be used for according to the brake pedal signal and the corresponding relationship obtain the threshold value throttle letter
Number.
In one embodiment, which is generated by brake depth transducer and is sent to the vehicle body and stablized
Controller, the vehicle body stability controller connect the electric machine controller.
In one embodiment, the electric machine controller be used for control the motor generation power storage in battery,
The electric energy is to be dragged the motor by wheel of vehicle is anti-during the motor generates vehicle braking force and generated.
In one embodiment, which is greater than the 4th vehicle braking force.
In one embodiment, when the accelerator pedal signal is greater than the first default throttle signal, the motor control
Whether device judges the accelerator pedal signal less than the second default throttle signal, and it is first default which is greater than this
Throttle signal.If the accelerator pedal signal is less than the second default throttle signal, which believes according to the gas pedal
Number and vehicle drive force with the first change rate that the accelerator pedal signal changes control the motor generate vehicle drive force.If the oil
Door pedal signal is greater than or equal to the second default throttle signal, which drives according to the accelerator pedal signal and vehicle
Power controls the motor with the second change rate that the accelerator pedal signal changes and generates vehicle drive force, which is greater than
First change rate.
A kind of vehicle, the control system including vehicle driving as described above.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the flow chart of the control method of the vehicle driving of better embodiment of the present invention；
Fig. 2 is the module diagram of the control system of the vehicle driving of better embodiment of the present invention；
Fig. 3 is the threshold value throttle signal and brake depth of the control method of the vehicle driving of better embodiment of the present invention
Relation schematic diagram；And
Fig. 4 is the vehicle power of better embodiment of the present invention and the relation schematic diagram of throttle depth.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.In description of the invention
In, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can be in communication with each other；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter to the component of specific examples and being set for describing.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
It please join Fig. 1, better embodiment of the present invention provides a kind of control method of vehicle driving.Incorporated by reference to Fig. 2, vehicle row
The control method sailed can be realized by the control system 100 of vehicle driving.The control system 100 of the vehicle driving is stablized including vehicle body
Controller 102 (Electronic Stability Controller, ESC), electric machine controller 104, motor 106 and brake system
Dynamic device 108.
Vehicle body stability controller 102 connects the brake depth transducer 110, throttle depth transducer 112 and brake of vehicle
Brake 108.Brake depth transducer 110 connects brake pedal 114 and for exporting brake pedal signal.Throttle depth sensing
Device 112 connects gas pedal 116 and for exporting accelerator pedal signal.
Electric machine controller 104 connects motor 106 and vehicle body stability controller 102.Brake actuator 108 connects brake pedal
114 and wheel of vehicle 118.The control method of present embodiment is applicable to hybrid vehicle and pure electric automobile, that is,
It says, vehicle can be hybrid vehicle or pure electric automobile.
Brake actuator 108 includes liquid braking device 120 and brake callipers 122.Brake pedal 114 can pass through such as hydraulic stem
Liquid braking device 120 is connected, when brake pedal 114 is operated, brake pedal 114 drives hydraulic stem mobile, makes hydraulic braking
Device 120 generates driving force to brake callipers 122, clamps down on brake callipers 122 to wheel of vehicle 118, and then make vehicle brake.
Motor 106 can work in electric motor mode or generator mode.When motor 106 work in electric motor mode,
Motor 106 can produce vehicle drive force to drive vehicle to advance；When the work of motor 106 is in generator mode, motor 106 can be incited somebody to action
The kinetic energy of vehicle is converted into electric energy, and generated power storage is in the battery 124 of vehicle.In the moving vehicle of motor 106
It can be converted into power process, motor 106 can generate vehicle braking force to vehicle.Battery 124 and the motor 106 and the motor
Controller 104 connects.Electric machine controller 104 can control the work of motor 106 in electric motor mode or generator mode.
The control method of the vehicle driving the following steps are included:
S1: vehicle body stability controller 102 acquires accelerator pedal signal and brake pedal signal, and is believed according to the gas pedal
Number and the brake pedal signal judge the state of gas pedal 116 and brake pedal 114, if the gas pedal 116 and the brake
Pedal 114 is operated simultaneously, enters step S2, if the only brake pedal 114 is operated, enters step S3, if the only oil
Door pedal 116 is operated, and is entered step S4, if the brake pedal 114 and the gas pedal 116 are not operated, is entered step
S5；
S2: brake actuator 108 generates the first vehicle braking force, and the vehicle body stability controller 102 is according to the brake pedal
Signal acquisition threshold value throttle signal, judges whether the accelerator pedal signal is greater than the threshold value throttle signal, if so, entering step
S6, if it is not, entering step S4；
S3: the brake actuator 108 generates the second vehicle braking force, and electric machine controller 104 is according to the accelerator pedal signal
It controls motor 106 and generates third vehicle braking force；
S4: the electric machine controller 104 judges whether the accelerator pedal signal is greater than the first default throttle signal, if so, into
Enter step S7, if it is not, entering step S8；
S5: the electric machine controller 104 controls the motor 106 according to the accelerator pedal signal and generates the third vehicle braking
Power；
S6: the vehicle body stability controller 102 limits the accelerator pedal signal to the threshold values throttle signal, and enters step
S4；
S7: the electric machine controller 104 controls the motor 106 according to the accelerator pedal signal and generates vehicle drive force；And
S8: the electric machine controller 104 controls the motor 106 according to the accelerator pedal signal and generates the 4th vehicle braking force.
Specifically, in step sl, accelerator pedal signal is the signal for indicating throttle depth, and brake pedal signal is to indicate
The signal for depth of braking.Accelerator pedal signal and brake pedal signal can be sent to vehicle body stability controller 102 simultaneously.Vehicle body is steady
Electric machine controller 104 can be sent to for accelerator pedal signal and brake pedal signal simultaneously by determining controller 102.
For example, throttle depth transducer 112, which can generate, indicates that 0% throttle is deep when driver does not step on the throttle pedal 116
The accelerator pedal signal of degree；When driver steps on the throttle pedal 116, such as the depth stepped on is 116 total depth of gas pedal
10% when, throttle depth transducer 112 can generate indicate 10% throttle depth accelerator pedal signal.
When driver does not step on brake pedal 114, brake depth transducer 110 can generate 0% brake depth of expression
Brake pedal signal；When driver steps on brake pedal 114, such as the depth stepped on is 114 total depth of brake pedal
When 10%, brake depth transducer 110 can generate the brake pedal signal for indicating 10% brake depth.
Therefore, the state of gas pedal 116 and brake pedal 114 include: gas pedal 116 and brake pedal 114 simultaneously
It is operated；Only brake pedal 114 is operated；Only gas pedal 116 is operated；Brake pedal 114 and gas pedal 116 are equal
It is not operated.
Vehicle body stability controller 102 judges gas pedal 116 and brake according to accelerator pedal signal and brake pedal signal
The state of pedal 114 is any of above 4 kinds of states.Specifically, if vehicle body stability controller 102 judges that the gas pedal is believed
Number it is greater than the accelerator pedal signal for indicating 0% throttle depth, vehicle body stability controller 102 judges that gas pedal 116 is operated.If
Vehicle body stability controller 102 judges that the accelerator pedal signal is equal to the accelerator pedal signal for indicating 0% throttle depth, and vehicle body is stablized
Controller 102 judges that gas pedal 116 is not operated.
Similarly, if vehicle body stability controller 102 judges that the brake pedal signal is greater than the brake for indicating 0% brake depth
Pedal signal, vehicle body stability controller 102 judge that brake pedal 114 is operated.If vehicle body stability controller 102 judges the brake
Pedal signal is equal to the brake pedal signal for indicating 0% brake depth, and vehicle body stability controller 102 judges brake pedal 114 not
It is operated.
Similarly, electric machine controller 104, which judges whether the accelerator pedal signal is greater than, indicates that the throttle of 0% throttle depth is stepped on
Partitioned signal, if so, electric machine controller 104 judges that gas pedal 116 is operated, if it is not, electric machine controller 104 judges gas pedal
116 are not operated.
In addition, the control system 100 of vehicle driving further includes brake sensor 126 to judge in present embodiment
Whether brake pedal 114 is operated.Vehicle body stability controller 102 connects brake sensor 126, brake sensor
126 connection brake actuators 108.
Under normal circumstances, vehicle body stability controller 102 judges whether brake pedal 114 is stepped on by brake pedal signal
Under.If the depth transducer 110 that brakes fails, vehicle body stability controller 102 will be judged by brake sensor 126
Whether brake pedal 114 is operated.For example, brake sensor 126 can detect the pressure in liquid braking device 120, and will
The pressure detected is sent to vehicle body stability controller 102, and vehicle body stability controller 102 is stepped on according to the judgement brake of the size of pressure
Whether plate 114 is operated.When brake pedal 114 is operated, hydraulic stem moves in liquid braking device 120, to brake callipers
122 generate driving force, clamp down on brake callipers 122 to generate vehicle braking force wheel 118.At this point, in liquid braking device 120
Pressure increase, therefore, vehicle body stability controller 102 judges that brake pedal 114 is operated.Brake sensor 126 can be with
It is interpreted as the backup sensors whether brake pedal 114 is operated.
When the signal of the signal for the depth transducer 110 that brakes and brake sensor 126 fails simultaneously, vehicle body is stablized
Controller 102 will limit the output power of vehicle.For example, vehicle body stability controller 102 sends a signal to electric machine controller 104,
Make the output power of 104 limiting motor 106 of electric machine controller, the output power of limitation can be determined according to specific vehicle condition.
When vehicle body stability controller 102 judges gas pedal 116 and brake pedal 114 while being operated, vehicle body is stablized
Controller 102 executes preferential logic of braking.Specifically, in step s 2, when brake pedal 114 is operated, brake pedal 114
Make liquid braking device 120 that brake callipers 122 are generated with the driving force clamped down on, brake callipers 122 is made to generate the first system to wheel 118
Power, and then control vehicle brake.
Meanwhile threshold value throttle signal Gainmax is obtained according to collected current brake pedal signal, such as vehicle body
Stability controller 102 is preset with the corresponding relationship of brake pedal signal Yu threshold value throttle signal Gainmax, as shown in Figure 3.
After obtaining threshold value throttle signal GainMax, vehicle body stability controller 102 compares the threshold value throttle signal
GainMax and collected current throttle pedal signal Gain is to judge whether accelerator pedal signal Gain is greater than threshold value oil
Gate signal GainMax.
If current throttle pedal signal Gain is greater than threshold value throttle signal GainMax, in step s 6, vehicle body stablizes control
Device 102 processed limits current throttle pedal signal Gain to threshold value throttle signal GainMax, such as in gas pedal 116 and brake
When pedal 114 is operated simultaneously, vehicle body stability controller 102 is according to the threshold value throttle signal of brake pedal signal acquisition
GainMax is 30%, and collected current throttle pedal signal Gain is 60%, then, vehicle body stability controller 102 will work as
Preceding accelerator pedal signal Gain is limited to 30% and is exported to electric machine controller 104.Vehicle driving can be made safer in this way.
It should be noted that 30% and 60% equal percentage here can be stepped on the percentage of depth with above-mentioned pedal to understand.
If current throttle pedal signal Gain is not more than the threshold value throttle signal GainMax or current throttle pedal signal
After Gain is restricted to threshold value throttle signal GainMax, in step s 4, electric machine controller 104 judges accelerator pedal signal
Whether the first default throttle signal is greater than.In present embodiment, incorporated by reference to Fig. 4, which is to indicate 10%
The signal of throttle depth, it can be understood as, the depth that gas pedal 116 is operated is 10% (figure of 116 total depth of gas pedal
In 4, vehicle power positive value can be regarded as vehicle drive force, and 0 value of vehicle power and negative value can be regarded as vehicle braking force).Motor
Controller 104 generates vehicle system by comparing the relationship of accelerator pedal signal and the first default throttle signal to control motor 106
Power or vehicle drive force.It should be pointed out that in other embodiments, the signal of 10% throttle depth can also be managed
It is other percentages of 116 total depth of gas pedal that solution, which is the depth that gas pedal 116 is operated, and specific percentage can refer to
The damping of gas pedal 116 is stepped on some factors such as relationship, vehicle performance, vehicle safety of depth with gas pedal 116 and is set
It sets.
In addition, step S4 is also applied for the operating condition that only gas pedal 116 is operated.Specifically, because vehicle body is stablized
The judgement of controller 102 only has gas pedal 116 to be operated, and whether electric machine controller 104 further can judge accelerator pedal signal
It is output vehicle drive force or vehicle braking force, specific description to control motor 106 greater than the first default throttle signal
On can joining.
In the step s 7, when accelerator pedal signal is greater than the first default throttle signal, as gas pedal 116 is operated
When depth is more than the 10% of 116 total depth of gas pedal, in electric motor mode, i.e., electric machine controller 104 controls the work of motor 106
Output driving force control signal to motor 106, motor 106 exports vehicle drive force according to the driving force control signal to drive vehicle
Wheel 118 rotate, make vehicle advance or accelerate.The size of vehicle drive force is influenced by 116 depth of gas pedal.
In addition, step S7 is further comprised the steps of: when accelerator pedal signal is greater than the first default throttle signal
S71: whether the electric machine controller 104 judges the accelerator pedal signal less than the second default throttle signal, this second
Default throttle signal is greater than the first default throttle signal, if so, S72 is entered step, if it is not, entering step S73；
S72: the electric machine controller 104 changes according to the accelerator pedal signal and vehicle drive force with the accelerator pedal signal
The first change rate control the motor 106 generate vehicle drive force；
S73: the electric machine controller 104 changes according to the accelerator pedal signal and vehicle drive force with the accelerator pedal signal
The second change rate control the motor 106 generate vehicle drive force, second change rate be greater than first change rate.
In step S71, in present embodiment, incorporated by reference to Fig. 4, the second default throttle signal is to indicate 90% throttle depth
Signal.That is, electric machine controller 104 judges that accelerator pedal signal is the signaling zone positioned at 10%~90% throttle depth
Between (call first interval in the following text) or be located at 90%~100% throttle depth signal spacing (calling second interval in the following text).
In step S72, electric machine controller 104 judges that accelerator pedal signal is located at first interval, with vehicle drive force with
First change rate of accelerator pedal signal variation controls the motor 106 and generates vehicle drive force.
In step S73, electric machine controller 104 judges that accelerator pedal signal is located at second interval, with vehicle drive force with
Second change rate of accelerator pedal signal variation controls the motor 106 and generates vehicle drive force.It is to be understood that being stepped in throttle
When partitioned signal is located at second interval, the variation for the driving force that the variation of accelerator pedal signal causes motor 106 to export is stepped on than throttle
Partitioned signal is located at bigger when first interval, and vehicle power is promoted quickly, can be had greatly improved for driving experience.
In step s 8, i.e., when the depth of driver's accelerator pedal 116 is not above 116 total depth of gas pedal
When 10%, electric machine controller 104 controls the work of motor 106 in generator mode to generate vehicle braking force, makes vehicle deceleration.Tool
Body, at this point, electric machine controller 104 can export braking force control signal, motor 106 works according to the braking force control signal
Generator mode makes wheel 118 is counter to drag motor 106 to generate the 4th vehicle braking force, travels vehicle deceleration.Brake force it is big
It is small to be influenced by 116 depth of gas pedal.
At this point, dragging motor 106 that motor is made to generate electricity since wheel 118 is counter, electric machine controller 104 controls motor 106 and produces
Raw power storage is in the battery 124 of vehicle.In this way, in the driving of hybrid vehicle or pure electric automobile can be improved
Journey.
In step s3, i.e., when only brake pedal 114 is operated, 120 driving brake clamp 122 of liquid braking device are to vehicle
Wheel 118 is clamped down on to generate the second vehicle braking force, and vehicle brake is made.Simultaneously as gas pedal 116 is not operated, at this point, root
According to shown in Fig. 4, electric machine controller 104 controls motor 106 and generates third vehicle braking force.Therefore, in step s3, brake
The vehicle braking force that device 108 is synthesized with motor 106 is than only having the brake force of brake actuator 108 big, and vehicle brake performance is more
Good, vehicle is safer.
Further, third vehicle braking force is bigger than the 4th vehicle braking force, that is to say, that brake pedal 114 is stepped on
When lower, electric machine controller 104 can control motor 106 that can generate bigger vehicle braking force, greatly improve vehicle brake
Performance.
In step s 5, i.e., when the brake pedal 114 and the gas pedal 116 are not operated, electric machine controller 104
The motor 106 is controlled according to the accelerator pedal signal and generates the third vehicle braking force, makes vehicle deceleration.
Similar with step 8, in step S3 and step S5, electric machine controller 104 is by power storage caused by motor 106
In battery 124.In this way, the continual mileage of hybrid vehicle or pure electric automobile can be improved.
In practical normal driving vehicle, (gas pedal 116 and brake pedal 114 are operated can be understood as vehicle simultaneously
Improper driving condition), 1) if driver wants to make vehicle to travel or accelerate, gas pedal 116 can step on to 10%
More than depth, as shown in figure 4, motor 106 generates vehicle drive force at this time, make vehicle driving or acceleration；2) if driver needs
Vehicle deceleration is enabled, it can be by gas pedal 116 pine to 10% depth or hereinafter, the as shown in figure 4, vehicle of the generation of motor 106 at this time
Brake force makes vehicle deceleration；3) if driver needs to enable vehicle emergency brake or parking, can touch on the brake pedal 114, at this time
Motor 106 and brake actuator 108 generate brake force simultaneously, and vehicle is made to stop.
In conclusion the control method and control system 100 of above-mentioned vehicle driving, can carry out vehicle according to accelerator pedal signal
Driving force and braking force control, in this way using gas pedal 116 control vehicle acceleration or deceleration, make the behaviour of vehicle drive
Make more simple, feeling of fatigue of the reduction driver in driving procedure, and reduce the probability that accident occurs, reduces to vehicle zero
The damage of part.Meanwhile when brake pedal 114 and gas pedal 116 are operated simultaneously, vehicle body stability controller 102 being capable of root
According to brake pedal signal, accelerator pedal signal is limited, ensure that the driving safety of vehicle.
Further, during using motor braking, the anti-electric energy storage for dragging motor 106 to generate of the wheel 118 of vehicle
In battery 124, the continual mileage of vehicle can be improved in this way；Simultaneously in emergency brake or parking, the brake actuator 108 of vehicle
The braking-force ratio synthesized with motor 106 only has the brake force of brake actuator 108 big, and vehicle brake performance is more preferable, and vehicle is more
Safety.
Better embodiment of the present invention also provides a kind of vehicle, which includes the control system 100 of above-mentioned vehicle driving,
The vehicle can be hybrid vehicle or pure electric automobile.Therefore, which enables to vehicle driving safer, vehicle driving
It is simpler.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
While embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that:
These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principle of the present invention and objective and become
Type, the scope of the present invention are defined by the claims and their equivalents.
Claims (13)
1. a kind of control method of vehicle driving, which comprises the following steps:
S1: vehicle body stability controller acquires accelerator pedal signal and brake pedal signal, and according to the accelerator pedal signal and is somebody's turn to do
Brake pedal signal judges the state of gas pedal and brake pedal, if the gas pedal and the brake pedal are operated simultaneously,
S2 is entered step, if the only brake pedal is operated, enters step S3, if the only gas pedal is operated, is entered step
S4 enters step S5 if the brake pedal and the gas pedal are not operated；
S2: brake actuator generates the first vehicle braking force, and the vehicle body stability controller is according to the brake pedal signal acquisition threshold
It is worth throttle signal, judges whether the accelerator pedal signal is greater than the threshold value throttle signal, if so, S6 is entered step, if it is not, into
Step S4；
S3: the brake actuator generates the second vehicle braking force, and electric machine controller controls motor according to the accelerator pedal signal and produces
Raw third vehicle braking force；
S4: the electric machine controller judges whether the accelerator pedal signal is greater than the first default throttle signal, if so, entering step
S7, if it is not, entering step S8；
S5: the electric machine controller controls the motor according to the accelerator pedal signal and generates the third vehicle braking force；
S6: the vehicle body stability controller limits the accelerator pedal signal to the threshold value throttle signal, and enters step S4；
S7: the electric machine controller controls the motor according to the accelerator pedal signal and generates vehicle drive force；And
S8: the electric machine controller controls the motor according to the accelerator pedal signal and generates the 4th vehicle braking force.
2. control method as described in claim 1, which is characterized in that the vehicle body stability controller is preset with brake pedal letter
Corresponding relationship number with the threshold value throttle signal, step S2 include: the vehicle body stability controller according to the brake pedal signal and
The corresponding relationship obtains the threshold value throttle signal.
3. control method as described in claim 1, which is characterized in that the brake pedal signal is generated by brake depth transducer
And it is sent to the vehicle body stability controller, which connects the electric machine controller.
4. control method as described in claim 1, which is characterized in that step S3 or step S5 or step S8 includes: the motor
Controller controls the power storage of motor generation in battery, which is to generate the process of vehicle braking force in the motor
In, it is dragged the motor by wheel of vehicle is counter and is generated.
5. control method as described in claim 1, which is characterized in that the third vehicle braking force is greater than the 4th vehicle braking
Power.
6. control method as described in claim 1, which is characterized in that step S7 comprising steps of
S71: whether the electric machine controller judges the accelerator pedal signal less than the second default throttle signal, the second default throttle
Signal is greater than the first default throttle signal, if so, S72 is entered step, if it is not, entering step S73；
S72: the electric machine controller changed according to the accelerator pedal signal and vehicle drive force with the accelerator pedal signal first
Change rate controls the motor and generates vehicle drive force；
S73: the electric machine controller changed according to the accelerator pedal signal and vehicle drive force with the accelerator pedal signal second
Change rate controls the motor and generates vehicle drive force, which is greater than first change rate.
7. a kind of control system of vehicle driving, which is characterized in that including vehicle body stability controller, electric machine controller, motor and
Brake actuator, the vehicle body stability controller connect the electric machine controller and the brake actuator, which connects the motor control
Device processed；
The vehicle body stability controller for acquiring accelerator pedal signal and brake pedal signal, and according to the accelerator pedal signal and
The brake pedal signal judges the state of gas pedal and brake pedal；
If the gas pedal and the brake pedal are operated simultaneously, which, should for generating the first vehicle braking force
Vehicle body stability controller is used for judging whether the accelerator pedal signal is big according to the brake pedal signal acquisition threshold value throttle signal
In the threshold value throttle signal；
If the accelerator pedal signal is greater than the threshold value throttle signal, the vehicle body stability controller is for limiting the accelerator pedal signal
For system to the threshold value throttle signal, which judges whether the accelerator pedal signal after limitation is greater than the first default throttle
Signal；
If the accelerator pedal signal is not more than the threshold value throttle signal, the electric machine controller is for judging that the accelerator pedal signal is
It is no to be greater than the first default throttle signal；
If the only brake pedal is operated, which uses for generating the second vehicle braking force, the electric machine controller
Third vehicle braking force is generated in controlling the motor according to the accelerator pedal signal；
If the only gas pedal is operated, the electric machine controller is for judging it is first pre- whether the accelerator pedal signal is greater than this
If throttle signal；
If the accelerator pedal signal is greater than the first default throttle signal, which is used for according to the accelerator pedal signal
It controls the motor and generates vehicle drive force；
If the accelerator pedal signal is not more than the first default throttle signal, which is used to be believed according to the gas pedal
It number controls the motor and generates the 4th vehicle braking force.
8. control system as claimed in claim 7, which is characterized in that the vehicle body stability controller is preset with brake pedal letter
Corresponding relationship number with the threshold value throttle signal, the vehicle body stability controller are used to be closed according to the brake pedal signal and the correspondence
System obtains the threshold value throttle signal.
9. control system as claimed in claim 7, which is characterized in that the brake pedal signal is generated by brake depth transducer
And it is sent to the vehicle body stability controller, which connects the electric machine controller.
10. control system as claimed in claim 7, which is characterized in that the electric machine controller is used to control motor generation
For power storage in battery, which is to drag the electricity by wheel of vehicle is anti-during the motor generates vehicle braking force
Machine and generate.
11. control system as claimed in claim 7, which is characterized in that the third vehicle braking force is greater than the 4th vehicle system
Power.
12. control system as claimed in claim 7, which is characterized in that be greater than the first default oil in the accelerator pedal signal
When gate signal, whether which judges the accelerator pedal signal less than the second default throttle signal, the second default oil
Gate signal is greater than the first default throttle signal；
If the accelerator pedal signal is less than the second default throttle signal, the electric machine controller is according to the accelerator pedal signal and vehicle
Driving force controls the motor with the first change rate that the accelerator pedal signal changes and generates vehicle drive force；
If the accelerator pedal signal is greater than or equal to the second default throttle signal, which believes according to the gas pedal
Number and vehicle drive force with the second change rate that the accelerator pedal signal changes control the motor generate vehicle drive force, this second
Change rate is greater than first change rate.
13. a kind of vehicle, which is characterized in that the control system including the described in any item vehicle drivings of such as claim 7~12.
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| CN201510212884.1A CN106184193B (en) | 2015-04-29 | 2015-04-29 | The control method and control system and vehicle of vehicle driving |
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| JP2019143539A (en) * | 2018-02-21 | 2019-08-29 | 本田技研工業株式会社 | vehicle |
| CN110823181A (en) * | 2018-07-23 | 2020-02-21 | 郑州宇通重工有限公司 | Sanitation vehicle, vehicle body posture detection method thereof, vehicle body stabilization method and corresponding system |
| CN109278725B (en) * | 2018-11-21 | 2020-04-17 | 重庆长安新能源汽车科技有限公司 | Method, system, computer readable storage medium and vehicle for vehicle power control |
| CN112208528B (en) * | 2019-06-24 | 2022-07-22 | 长城汽车股份有限公司 | Vehicle control method and device and vehicle |
| CN113246947B (en) * | 2020-02-13 | 2024-01-09 | 松下知识产权经营株式会社 | Detection device |
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| CN104417538A (en) * | 2013-08-26 | 2015-03-18 | 比亚迪股份有限公司 | Electric vehicle, system for controlling driving and braking of electric vehicle and control method for electric vehicle |
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| US8554419B2 (en) * | 2010-05-28 | 2013-10-08 | Ford Global Technologies, Llc | Control of a vehicle powertrain in response to brake pedal input |
| EP2789516B1 (en) * | 2011-12-09 | 2020-09-16 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device |
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| CN103946092A (en) * | 2011-12-09 | 2014-07-23 | 丰田自动车株式会社 | Hybrid-vehicle control device |
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