CN107176061A - Control method for vehicle and device - Google Patents
Control method for vehicle and device Download PDFInfo
- Publication number
- CN107176061A CN107176061A CN201710318587.4A CN201710318587A CN107176061A CN 107176061 A CN107176061 A CN 107176061A CN 201710318587 A CN201710318587 A CN 201710318587A CN 107176061 A CN107176061 A CN 107176061A
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- Prior art keywords
- vehicle
- tractive force
- compensation
- car slipping
- judge
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides a kind of control method for vehicle and device, and control method for vehicle includes：Collection obtains the vehicle first information, and the vehicle first information includes：Motor steering；According to motor steering judge vehicle whether car slipping；If judging car slipping, car slipping grade is determined according to the vehicle first information；According to car slipping grade compensation tractive force corresponding with car slipping grade is provided for vehicle；Collection obtains the information of vehicle second, and the second information includes the current driving parameters of vehicle；According to the current driving parameters of vehicle, judge whether to meet the condition for cancelling compensation tractive force, if meeting, cancel compensation tractive force.Control method for vehicle and device that the present invention is provided, can automatic decision vehicle whether car slipping, and corresponding compensation tractive force is provided according to car slipping grade for vehicle, when vehicle meets the condition for cancelling compensation tractive force, cancel the tractive force for its compensation, solve the problem of tractive force flexibly can not being compensated for it according to vehicle car slipping situation in the prior art.
Description
Technical field
The present invention relates to wagon control technology, more particularly to a kind of control method for vehicle and device, belong to wagon control skill
Art field.
Background technology
Track traffic in recent years is widely used in national or even global Traffic Systems, the operation of track traffic
Safety is also increasingly paid close attention to by people.But the driving conditions of track traffic are complicated, various ramps are contained in lines of operation,
And the vehicle frequently start-stop on ramp is needed, in order to not occur car slipping phenomenon when ensureing that vehicle starts on ramp, is had at present
Two kinds of ramps start control method and are used in track traffic.
First method is to increase the startup tractive force of vehicle, and brakes the method being engaged with vehicle.Collection in advance
The operating line information of vehicle, obtains ramp information maximum in working line, is calculated according to lane information, vehicle self information
Vehicle starts required minimum tractive force on the ramp, as default value of thrust.In vehicle launch, car is kept
Braking, to prevent vehicle car slipping, while increase the tractive force of vehicle, when the tractive force of vehicle reaches default value of thrust,
Freeing vehicle is braked, so that vehicle safety starts.But, inventor has found that, when vehicle starts in level road, required leads
Gravitation is less than above-mentioned default value of thrust, and this road conditions that do not differentiate between increase the method for vehicle launch tractive force, can make vehicle
Acceleration when level road starts is excessive, vehicle " punching " is gone out, there is certain potential safety hazard.
Second method is to set ramp start button in vehicle interior.When vehicle starts on ramp, pressed by operator
Gug start button, opens ramp start-up mode, under the start-up mode of ramp, and trailer system is supplied to one, vehicle larger
Tractive force, enables the vehicle to complete the startup on ramp.However, it is found by the inventors that, this method needs operator to judge car
Be in ramp and manually operated, poor in timeliness.Moreover, under the start-up mode of ramp, trailer system provides one admittedly
Fixed tractive force, and the ramp angles that lines of operation are passed through are not quite similar, therefore this method has certain limitation.
Therefore it provides it is a kind of can automatically according to slope condition adjust vehicle launch when tractive force method, be ability
The technical problem of field technique personnel's urgent need to resolve.
The content of the invention
The present invention provides a kind of control method for vehicle and device, so as to solve not adjusted according to slope condition in the prior art
The problem of tractive force during whole vehicle launch.
The first aspect of the invention is to provide a kind of control method for vehicle, including：
Collection obtains the vehicle first information, and the vehicle first information includes：Motor steering；
According to the motor steering judge vehicle whether car slipping；
If judging car slipping, car slipping grade is determined according to the vehicle first information；
According to the car slipping grade compensation tractive force corresponding with the car slipping grade is provided for vehicle；
Collection obtains the information of vehicle second, and second information includes the current driving parameters of the vehicle；
According to the current driving parameters of the vehicle, judge whether to meet the condition for cancelling the compensation tractive force, if full
Foot, cancels the compensation tractive force.
Another aspect of the present invention is to provide a kind of controller of vehicle, including：
Acquisition module, the vehicle first information is obtained for gathering, and the vehicle first information includes：Motor steering；
Judge module, for according to the motor steering judge vehicle whether car slipping；
Determining module, if judging car slipping for the judge module, car slipping etc. is determined according to the vehicle first information
Level；
Compensating module, draws for providing compensation corresponding with the car slipping grade according to the car slipping grade for vehicle
Power；
The acquisition module is additionally operable to collection and obtains the information of vehicle second, and it is current that second information includes the vehicle
Driving parameters；
The judge module is additionally operable to according to the current driving parameters of the vehicle, is judged whether to meet and is cancelled the compensation
The condition of tractive force, if so that the compensating module cancels the current driving parameters of the compensation tractive force vehicle and meets institute
State the condition for cancelling the compensation tractive force.
The control method for vehicle and device technique effect that the present invention is provided be：Being capable of automatic decision by obtaining motor steering
Vehicle whether car slipping, the car slipping grade of vehicle is determined further according to the vehicle first information, be vehicle compensation it is corresponding with car slipping grade
Tractive force, appropriate compensation tractive force can be provided according to vehicle car slipping situation, it is to avoid the tractive force of compensation is too small, vehicle after
Continuous downslide, or the tractive force of compensation are too big, the problem of vehicle transient acceleration is too big.Also, carried according to car slipping grade for vehicle
For corresponding compensation tractive force, and the size that car slipping grade is ramp angles is determined, this setup makes the present invention
The control method for vehicle and device of offer can be used in different road bad borders.In addition, the vehicle control that the present embodiment is provided
Method and device processed judges whether to meet the condition for cancelling compensation tractive force, if it is satisfied, then taking according to the second information of vehicle
Disappear compensation tractive force, makes vehicle in the corresponding tractive force downward driving of its level.Vehicle is obtained in the presence of compensation tractive force
State, that is, the information of vehicle second, so as to judge whether that compensation tractive force can be cancelled, it is to avoid vehicle has been at compensation and led
In the presence of gravitation, the problem of acceleration is excessive, additionally it is possible to be reduced to provide the energy resource consumption needed for compensation tractive force.
Brief description of the drawings
Fig. 1 is the flow chart of the control method for vehicle shown in an exemplary embodiment of the invention；
Fig. 2A is the flow chart of the control method for vehicle shown in another exemplary embodiment of the present invention；
The square wave figure that Fig. 2 B export for detection probe in the control method for vehicle shown in another exemplary embodiment of the present invention；
Fig. 3 is the structure chart of the controller of vehicle shown in an exemplary embodiment of the invention；
Fig. 4 is the structure chart of the controller of vehicle shown in another exemplary embodiment of the present invention.
Embodiment
Fig. 1 is the flow chart of the control method for vehicle shown in an exemplary embodiment of the invention, including：
Step 101, collection obtains the vehicle first information, and the vehicle first information includes：Motor steering.
Step 102, according to motor steering judge vehicle whether car slipping.
By taking rail vehicle as an example, when normal vehicle operation, tractive force is provided by the motor of vehicle, will be led by gear-box
Gravitation is sent to wheel, drives vehicle operation.And during vehicle car slipping, vehicle is acted on by the partical gravity parallel with ramp,
Make vehicle slip-down, vehicle wheel rotation during downslide is transferred to motor by gear-box, and drive motor is rotated.Vehicle normally moves forward
During with vehicle car slipping, the steering of motor is different, and then in vehicle launch, by obtaining motor steering, judges whether vehicle slips
Car.
Step 103, if judging car slipping, car slipping grade is determined according to the vehicle first information.
Wherein, the vehicle first information can also include motor speed or Vehicle Speed.Ramp is steeper, and vehicle is by weight
The effect of power component is bigger, and the speed of vehicle slip-down is also faster, the speed that wheel is rotated by gear-box drive motor
It is faster, therefore speed or the rotating speed of motor by vehicle can determine the degree of vehicle slip-down, that is, car slipping etc.
Level.
Step 104, compensation tractive force corresponding with car slipping grade is provided according to car slipping grade for vehicle.
The present embodiment provides different compensation tractive force according to different car slipping grades for vehicle, it is to avoid the tractive force of compensation
Too small, vehicle continues to glide, or the tractive force of compensation is too big, the problem of vehicle transient acceleration is too big.Moreover, the present embodiment is carried
The control method for vehicle of confession, compensates corresponding tractive force so that the method that the present embodiment is provided according to vehicle slip-down degree for it
It can be used in different road bad borders, such as the road environment that the angle with multiple ramps and ramp is differed.
Specifically, being provided for vehicle after compensation tractive force, the tractive force of vehicle is the corresponding tractive force of vehicle level and benefit
Repay tractive force sum.
Step 105, collection obtains the information of vehicle second, and the second information includes the current driving parameters of vehicle；According to vehicle
Current driving parameters, judge whether to meet the condition for cancelling compensation tractive force, if meeting, and cancel compensation tractive force.
Specifically, driving parameters can be Vehicle Speed or motor speed, Vehicle Speed or motor are obtained
Rotating speed judges vehicle running state, after car speed reaches certain value, cancels compensation tractive force, makes vehicle in its level pair
The tractive force effect downward driving answered.
The present embodiment provide control method for vehicle, by obtain motor steering can automatic decision vehicle whether car slipping,
The car slipping grade of vehicle is determined further according to the vehicle first information, is that vehicle compensates the tractive force corresponding with car slipping grade, this reality
Appropriate compensation tractive force can be provided according to vehicle car slipping situation by applying the control method for vehicle of example offer, it is to avoid the traction of compensation
Power is too small, and vehicle continues to glide, or the tractive force of compensation is too big, the problem of vehicle transient acceleration is too big, also causes this implementation
The control method for vehicle that example is provided can be used in different road bad borders.In addition, the wagon control side that the present embodiment is provided
Method judges whether to meet the condition for cancelling compensation tractive force according to the second information of vehicle, if it is satisfied, then cancelling compensation traction
Power, makes vehicle in the corresponding tractive force downward driving of its level.State of the vehicle in the presence of compensation tractive force is obtained, that is,
The information of vehicle second, so as to judge whether that compensation tractive force can be cancelled, it is to avoid vehicle has been at the effect of compensation tractive force
Under, the problem of acceleration is excessive, additionally it is possible to be reduced to provide the energy resource consumption needed for compensation tractive force.
Fig. 2A is the flow chart of the control method for vehicle shown in another exemplary embodiment of the present invention, including：
Step 201, two detection probes, the letter detected according to the detection probe are installed in motor predetermined position
Number, determine the motor steering.
Wherein, detection probe is installed on the gear of motor, two detection probes are arranged on the diverse location of gear.
It is space, that is, Gear Root in the middle of two adjacent gear tops, when detection probe is passed through on gear top, detection is visited
Head output 1, when Gear Root passes through detection probe, detection probe output 0.
Specifically, detection probe is arranged on the part not rotated with gear.
The square wave figure that Fig. 2 B export for detection probe in the control method for vehicle shown in another exemplary embodiment of the present invention.
As shown in Figure 2 B, further, first detection probe is arranged on and be able to detect that in the middle of any one Gear Root
Position, second detection probe be arranged on the position for being able to detect that any one Gear Root and gear top intersection, no matter tooth
How is the direction of rotation of wheel, and first detection probe will export square wave 1；And second detection probe is according to the direction of rotation of gear
Difference, can export square wave 2 or 3, the square wave 1 exported by first detection probe, and the square wave 2 that second detection probe is exported
Or 3 phase difference, it becomes possible to obtain the steering of motor.
Step 202, judge whether motor steering and predefined steering are identical, if identical, judge non-car slipping；If no
Together, then car slipping is judged.
For example, first detection probe can be exported to square wave 1, second detection probe and exports the situation of square wave 2
Positive steering is predefined as, when detection probe exports square wave 1 and 2 respectively, it is believed that motor steering is identical with predefined steering, works as inspection
When probing head exports square wave 1 and 3 respectively, it is believed that motor steering is opposite with predefined steering.
Step 203, if it is determined that vehicle car slipping, then determine car slipping grade according to the vehicle first information.
Wherein, the vehicle first information includes Vehicle Speed or motor speed.
Ramp is steeper, and vehicle slip-down is also more serious, and vehicle slip-down velocity is faster, and the speed of drive motor rotation is also
It is faster, therefore, it is possible to determine the car slipping grade of vehicle by motor speed.
It is preferred that, the gear speed by detection Jing Guo detection probe obtains motor speed, determines car slipping grade, be easy to
Implement.
Specifically, motor speed can be carried out to stepping, one car slipping grade of each speed threshold correspondence, each car slipping grade
A Fb value is corresponded to again.For example, it is one grade that rotating speed, which is more than or equal to A to be less than B, correspondence car slipping the first estate (Fb1)；Rotating speed be more than etc.
It is two grades to be less than C in B, the correspondence grade of car slipping second (Fb2).And then car slipping grade is determined by motor speed.
Step 204, compensation tractive force corresponding with car slipping grade is provided according to car slipping grade for vehicle.
Further, a fixed corresponding compensation tractive force can be determined for each car slipping grade, can also led to
Coefficient is crossed to be adjusted the compensation tractive force that this is fixed.
It is preferred that, tractive force T2=K*Fb is compensated, wherein, T2 is compensation tractive force, and K is proportionality coefficient, and Fb is car slipping etc.
The corresponding Fb values of level.
Step 205, collection obtains the motor speed of vehicle, if the rotating speed of motor is more than higher limit, judges that satisfaction takes
Disappear and compensate the condition of tractive force；Otherwise, the condition for being unsatisfactory for cancelling compensation tractive force is judged；If meeting, cancel compensation tractive force.
Motor speed can represent the travel speed of vehicle, when motor speed is more than higher limit, it is believed that vehicle success exists
Start on ramp, and can normally travel, now cancel compensation tractive force, make vehicle under the effect of its level corresponding tractive force
Traveling, it is to avoid occur the excessive situation of vehicle acceleration.
Step 206, judge whether the rotating speed of motor is less than lower limit, if being less than, provide compensation tractive force again for vehicle；
Wherein, lower limit is less than higher limit.
In order to avoid after compensation tractive force is cancelled, the corresponding tractive force of vehicle level is less than the gravity acted on vehicle
Component, the problem of causing vehicle deceleration or even occur car slipping, when the rotating speed of motor is less than lower limit, provides benefit for vehicle again
Repay tractive force.
If higher limit is same value with lower limit, then when motor speed is more than this value, cancel compensation tractive force,
During less than this value, tractive force is compensated again, and in order to avoid compensation tractive force, both patterns are frequently cut with cancellation tractive force
Change, lower limit is set smaller than to the value of higher limit.
The control method for vehicle that the present embodiment is provided, it is true by two detection probes installed in motor gear diverse location
Determine motor speed, judge vehicle whether car slipping, and car slipping grade is determined according to vehicle slip-down velocity, provided and car slipping grade for it
Corresponding compensation tractive force, when vehicle can normally travel when, cancel compensation tractive force, in order to avoid cancel compensation lead
After gravitation, vehicle is too steep due to ramp, it is impossible to normal climbing, occurs the deceleration even situation of car slipping, when vehicular electric machine rotating speed is low
When lower limit, compensation tractive force is provided again for vehicle, it is ensured that vehicle driving safety.From vehicle is judged, whether car slipping is to cancellation
During compensating tractive force and again compensation tractive force, participated in without staff, it is ageing good, and the present embodiment offer
Method tractive force is compensated according to car slipping ratings match, it is adaptable to the complicated route of road environment.
Fig. 3 is the structure chart of the controller of vehicle shown in an exemplary embodiment of the invention.
As shown in figure 3, the control device that the present embodiment is provided, including：
Acquisition module 31, the vehicle first information is obtained for gathering, and the vehicle first information includes：Motor steering.In realization
The principle of function is stated with step 101.
Judge module 32, for according to motor steering judge vehicle whether car slipping.Realize the same step of principle of above-mentioned functions
102。
Determining module 33, if judging car slipping for judge module, car slipping grade is determined according to the vehicle first information.Realize
The principle of above-mentioned functions is with step 103.
Compensating module 34, for providing compensation tractive force corresponding with car slipping grade according to car slipping grade for vehicle.Realize
The principle of above-mentioned functions is with step 104.
Acquisition module 31 is additionally operable to collection and obtains the information of vehicle second, and the second information includes the current driving parameters of vehicle.
Judge module 32 is additionally operable to according to the current driving parameters of vehicle, judges whether to meet the bar for cancelling compensation tractive force
Part, if so that compensating module 34 cancels the current driving parameters of compensation tractive force vehicle and meets the condition for cancelling compensation tractive force.
Realize the principle of above-mentioned functions with step 105.
Wherein, acquisition module 31, judge module 32, determining module 33, compensating module 34 are sequentially connected, and judge module 32 is also
It is connected with compensating module 34.
The present embodiment provide controller of vehicle, by obtain motor steering can automatic decision vehicle whether car slipping,
The car slipping grade of vehicle is determined further according to the vehicle first information, is that vehicle compensates the tractive force corresponding with car slipping grade, this reality
Appropriate compensation tractive force can be provided according to vehicle car slipping situation by applying the control method for vehicle of example offer, it is to avoid the traction of compensation
Power is too small, and vehicle continues to glide, or the tractive force of compensation is too big, the problem of vehicle transient acceleration is too big, also causes this implementation
The controller of vehicle that example is provided can be used in different road bad borders.In addition, the wagon control dress that the present embodiment is provided
The second information according to vehicle is put, judges whether to meet the condition for cancelling compensation tractive force, if it is satisfied, then cancelling compensation traction
Power, makes vehicle in the corresponding tractive force downward driving of its level.State of the vehicle in the presence of compensation tractive force is obtained, that is,
The information of vehicle second, so as to judge whether that compensation tractive force can be cancelled, it is to avoid vehicle has been at the effect of compensation tractive force
Under, the problem of acceleration is excessive, additionally it is possible to be reduced to provide the energy resource consumption needed for compensation tractive force.
Fig. 4 is the structure chart of the controller of vehicle shown in another exemplary embodiment of the present invention.
On the basis of above-described embodiment, the controller of vehicle that the present embodiment is provided, acquisition module 31 also includes：Detection
Module 35.
Detection module 35, the signal that two detection probes for being installed according to motor predetermined position are detected, it is determined that
The motor steering.Realize the principle of above-mentioned functions with step 201.
Judge module 32 also includes car slipping judge module 36, and car slipping judge module 36 is used for：
If motor steering is identical with predefined steering, non-car slipping is judged；If motor steering and predefined steering phase
Instead, then car slipping is judged.Realize the principle of above-mentioned functions with step 202.
It is preferred that, the current driving parameters of vehicle that acquisition module 31 is gathered are the rotating speed of motor.
Judge module 32 also includes：Cancel compensation tractive force judge module 37, be used for：If the rotating speed of motor is more than the upper limit
Value, then judge to meet the condition for cancelling compensation tractive force, otherwise, judges the condition for being unsatisfactory for cancelling compensation tractive force.In realization
The principle of function is stated with step 205.
Judge module 32 also includes：Again compensation tractive force judge module 38, is used for：
Judge whether the rotating speed of motor is less than lower limit, if being less than, provide compensation tractive force again for vehicle；Wherein, under
Limit value is less than higher limit.Realize the principle of above-mentioned functions with step 206.
The controller of vehicle that the present embodiment is provided, it is true by two detection probes installed in motor gear diverse location
Determine motor speed, judge vehicle whether car slipping, and car slipping grade is determined according to vehicle slip-down velocity, provided and car slipping grade for it
Corresponding compensation tractive force, when vehicle can normally travel when, cancel compensation tractive force, in order to avoid cancel compensation lead
After gravitation, vehicle is too steep due to ramp, it is impossible to normal climbing, occurs the deceleration even situation of car slipping, when vehicular electric machine rotating speed is low
When lower limit, compensation tractive force is provided again for vehicle, it is ensured that vehicle driving safety.From vehicle is judged, whether car slipping is to cancellation
During compensating tractive force and again compensation tractive force, participated in without staff, it is ageing good, and the present embodiment offer
Method tractive force is compensated according to car slipping ratings match, it is adaptable to the complicated route of road environment.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, performs the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of control method for vehicle, it is characterised in that including：
Collection obtains the vehicle first information, and the vehicle first information includes：Motor steering；
According to the motor steering judge vehicle whether car slipping；
If judging car slipping, car slipping grade is determined according to the vehicle first information；
According to the car slipping grade compensation tractive force corresponding with the car slipping grade is provided for vehicle；
Collection obtains the information of vehicle second, and second information includes the current driving parameters of the vehicle；
According to the current driving parameters of the vehicle, judge whether to meet the condition for cancelling the compensation tractive force, if meeting, take
Disappear the compensation tractive force.
2. control method for vehicle according to claim 1, it is characterised in that the collection obtains the vehicle first information, bag
Include：
Two detection probes, the signal detected according to the detection probe, it is determined that described are installed in motor predetermined position
Motor steering.
3. control method for vehicle according to claim 1, it is characterised in that whether vehicle is judged according to the motor steering
Car slipping includes：
If the motor steering is identical with predefined steering, non-car slipping is judged；
If the motor steering and it is described it is predefined turn on the contrary, if judge car slipping.
4. vehicle starting method according to claim 1, it is characterised in that the current driving parameters of the vehicle are described
The rotating speed of motor；
Judge whether that meeting the condition for cancelling the compensation tractive force includes：
The rotating speed of the motor is more than higher limit, then judges to meet the condition for cancelling the compensation tractive force, otherwise, judges discontented
Foot cancels the condition of the compensation tractive force.
5. vehicle starting method according to claim 4, it is characterised in that after the compensation tractive force is cancelled, also
Including：
Judge the motor rotating speed be less than whether lower limit, if being less than, provide the compensation tractive force again for vehicle；
Wherein, the lower limit is less than the higher limit.
6. a kind of controller of vehicle, it is characterised in that including：
Acquisition module, the vehicle first information is obtained for gathering, and the vehicle first information includes：Motor steering；
Judge module, for according to the motor steering judge vehicle whether car slipping；
Determining module, if judging car slipping for the judge module, car slipping grade is determined according to the vehicle first information；
Compensating module, for providing compensation tractive force corresponding with the car slipping grade according to the car slipping grade for vehicle；
The acquisition module is additionally operable to collection and obtains the information of vehicle second, and second information includes the traveling vehicle currently
Parameter；
The judge module is additionally operable to according to the current driving parameters of the vehicle, is judged whether to meet and is cancelled the compensation traction
The condition of power, if so as to being taken described in the current driving parameters satisfaction of the compensating module cancellation compensation tractive force vehicle
Disappear the condition for compensating tractive force.
7. vehicle starting device according to claim 6, it is characterised in that the acquisition module also includes：Detection module；
The detection module, the signal that two detection probes for being installed according to motor predetermined position are detected, determines institute
State motor steering.
8. vehicle starting device according to claim 6, it is characterised in that the judge module also judges mould including car slipping
Block, the car slipping judge module is used for：
If the motor steering is identical with predefined steering, non-car slipping is judged；
If the motor steering and it is described it is predefined turn on the contrary, if judge car slipping.
9. vehicle starting device according to claim 6, it is characterised in that the vehicle of the acquisition module collection is worked as
Preceding driving parameters are the rotating speed of the motor；
The judge module includes：Cancel compensation tractive force judge module, be used for：The rotating speed of the motor is more than higher limit, then
Judge to meet the condition for cancelling the compensation tractive force, otherwise, judge the condition for being unsatisfactory for cancelling the compensation tractive force.
10. vehicle starting device according to claim 9, it is characterised in that the judge module also includes：Again compensate
Tractive force judge module, is used for：
Judge whether the rotating speed of the motor is less than lower limit, if being less than, provide the compensation tractive force again for vehicle；
Wherein, the lower limit is less than the higher limit.
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| CN201710318587.4A CN107176061A (en) | 2017-05-08 | 2017-05-08 | Control method for vehicle and device |
| PCT/CN2017/090730 WO2018205375A1 (en) | 2017-05-08 | 2017-06-29 | Vehicle control method and apparatus |
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| WO (1) | WO2018205375A1 (en) |
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| CN113734239A (en) * | 2020-05-28 | 2021-12-03 | 比亚迪汽车工业有限公司 | Rail vehicle and control method thereof |
| CN115071444A (en) * | 2022-07-14 | 2022-09-20 | 奇瑞新能源汽车股份有限公司 | Motor control-based uphill auxiliary control method and system |
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| CN110877613B (en) * | 2019-10-13 | 2022-01-07 | 格至控智能动力科技（上海）有限公司 | Electric automobile slope parking method based on rotor angle and observer |
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| WO2018205375A1 (en) | 2018-11-15 |
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Application publication date: 20170919 |