CN109969188A - A kind of electric vehicle uphill starting control method - Google Patents
A kind of electric vehicle uphill starting control method Download PDFInfo
- Publication number
- CN109969188A CN109969188A CN201910157867.0A CN201910157867A CN109969188A CN 109969188 A CN109969188 A CN 109969188A CN 201910157867 A CN201910157867 A CN 201910157867A CN 109969188 A CN109969188 A CN 109969188A
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- electric vehicle
- control method
- uphill starting
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000009193 crawling Effects 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000052 comparative effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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
- B60L15/2072—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 drive off
- B60L15/2081—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 drive off for drive off on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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)
- Hybrid Electric Vehicles (AREA)
Abstract
The present invention relates to vehicle technology fields, in particular to a kind of electric vehicle uphill starting control method, a kind of electric vehicle uphill starting control method, includes following steps: S1: working condition detects when starting to walk to electric vehicle, to judge whether electric vehicle is in state in ramp shaped；S2: it when electric vehicle is in state in ramp shaped, detects brake aperture and parking brake signal is 0, then carry out step S3, S3: detecting that the electric vehicle accelerator open degree is 0 and gear is D/R gear simultaneously, then carry out step S4；S4: detect the speed of the electric vehicle in 0~5km/h, then electric vehicle starts uphill starting mode, the present invention is started to walk using starting crawling policy control car ramp, torque exports when controlling hill start, it avoids staying slope using the locked rotor characteristic of motor, the reliability that motor uses is improved, while can solve the problem of causing vehicle start to slip by slope because of motor self character and sensor accuracy, improves the safety that vehicle uses.
Description
Technical field
The present invention relates to vehicle technology field, in particular to a kind of electric vehicle uphill starting control method.
Background technique
Electric vehicle eliminates engine and gearbox, and new solution and strategy are needed when uphill starting, electricity
The most common strategy in slope of motor-car is as follows, and vehicle-state is being just when entire car controller detects that motor has reversal trend, and at this time
Often, entire car controller, which then exports, prevents slipping by slope flag bit, and request stays slope, discloses one kind of Patent No. CN201410156280.5
Pure electric vehicle uphill starting control method, comprising the following steps: (1) judged according to the signal of the ramp sensor of pure electric vehicle pure
Whether electric vehicle is on ramp, and obtains the speed of vehicle, according to the speed of vehicle, the state of pure electric vehicle electronics parking brake,
The state of pure electric vehicle brake pedal judges whether vehicle is in parked state；(2) when vehicle is in parked state, according to pure
Electric vehicle electronics parking brake, brake pedal state change judge whether driver starts uphill starting mode；(3) work as vehicle launch
When uphill starting mode, pure electric vehicle calculates the advance needed according to signal, the information of vehicles of pure electric vehicle ramp sensor and turns round
Square, as target torque；When the actual torque of vehicle reaches target torque, pure electric vehicle electronics parking brake or brake pedal pine
It opens pure electric vehicle brake disc and carries out uphill starting.
Above scheme has the disadvantages that electric machine controller controls motor zero speed, is carried out using the locked rotor characteristic of motor
Control in slope.This control strategy is limited by motor response time and motor speed sensor precision, at the low rotational speed, revolution speed sensing
Device is difficult to accurately identify, therefore when implementing feedback control, and when motor response time or slower torque increase, vehicle will be sent out
Life slip by slope phenomenon, even if slip by slope at this time apart from very little.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of electric vehicle uphill starting control method.
To solve the above problems, the present invention the following technical schemes are provided:
A kind of electric vehicle uphill starting control method, includes following steps:
S1: to electric vehicle start to walk when working condition detect, by the speed of electric vehicle, brake aperture, accelerator open degree,
The information of gear and parking brake signal, to judge whether electric vehicle is in state in ramp shaped；
S2: it when electric vehicle is in state in ramp shaped, detects brake aperture and parking brake signal is 0, then carry out step S3；
S3: it detects that the electric vehicle accelerator open degree is 0 and gear is D/R gear simultaneously, then carries out step S4；
S4: detecting the speed of the electric vehicle in 0~5km/h, then electric vehicle starts uphill starting mode, at electric vehicle
In starting crawling state, motor works according to starting crawling mode.
Preferably, in the step S4, when electric vehicle starts uphill starting mode, when starting, the output torque of motor
Value is more than the sum of gradient resistance square value and running resistance.
Preferably, in the step S1, according to the signal of the Slope Transducer of electric vehicle, entire car controller judges electric vehicle
Whether on ramp.
Preferably, in the step S2, when brake aperture and parking brake signal are not 0, the motor of electric vehicle does not work, electricity
Mode in slope when motor-car is in long.
Preferably, gear is that D is kept off or R gear in the step S3, and when throttle signal is not zero, motor is opened according to there is throttle
The torque command mode of degree works.
Preferably, 1 times in the sum of gradient resistance square value and running resistance of the output torque value of the motor of the step S4
Between~1.2 times.
The utility model has the advantages that a kind of electric vehicle uphill starting control method of the invention, utilizes starting crawling policy control vehicle
Uphill starting, control hill start when torque export, avoid using motor locked rotor characteristic stay slope, improve motor use it is reliable
Property, while can solve the problem of causing vehicle start to slip by slope because of motor self character and sensor accuracy, improving vehicle makes
Safety.
Detailed description of the invention
Fig. 1 is control logic figure of the invention；
Fig. 2 is the control logic figure of the torque command mode for having accelerator open degree of motor of the present invention；
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment, specific embodiments of the present invention are described in further detail:
Include following steps referring to figs. 1 to a kind of electric vehicle uphill starting control method shown in Fig. 2:
S1: to electric vehicle start to walk when working condition detect, by the speed of electric vehicle, brake aperture, accelerator open degree,
The information of gear and parking brake signal, to judge whether electric vehicle is in state in ramp shaped；According to the Slope Transducer of electric vehicle
Signal, entire car controller judge whether electric vehicle is on ramp, while obtaining the speed of electric vehicle, brake aperture, throttle and opening
The information of degree, gear and parking brake signal is to determine whether starting uphill starting mode.
S2: when electric vehicle is in state in ramp shaped, detecting brake aperture and parking brake signal be 0, then carry out step S3,
When detecting any one brake aperture and parking brake signal is not 0, the motor of electric vehicle does not work.
S3: it detects that the electric vehicle accelerator open degree is 0 and gear is D/R gear simultaneously, then step S4 is carried out, if gear is
If N is kept off, electric vehicle can not move ahead.
S4: detecting the speed of the electric vehicle in 0~5km/h, then electric vehicle starts uphill starting mode, at electric vehicle
In starting crawling state, motor works according to starting crawling mode,
In step S4, when electric vehicle starts uphill starting mode, when starting, the output torque value of motor is in gradient resistance
It is more than the sum of square value and running resistance.
In step S1, according to the signal of the Slope Transducer of electric vehicle, entire car controller judges whether electric vehicle is in slope
On road.
In step S2, when brake aperture and parking brake signal are not 0, the motor of electric vehicle does not work, and electric vehicle is in length
When mode in slope.
Gear is that D is kept off or R gear in step S3, and when throttle signal is not zero, motor refers to according to there is the torque of accelerator open degree
It enables mode work, the starting highest stabilizing speed that goes up a slope is set according to inclination of ramp, demand is calculated according to accelerator open degree and change rate and is added
Fast torque calculates the shock extent under the acceleration torque, accelerates torque according to shock extent limitation amendment demand, until vehicle accelerates to
Go up a slope starting highest stabilizing speed.
The output torque value of the motor of step S4 is between 1 times~1.2 times of the sum of gradient resistance square value and running resistance.
Vehicle is started to walk on straight road crawling strategy is applied to uphill starting operating condition, guarantees to rise on any road surface
The case where step, vehicle can reach certain speed, be not in reversed speed.
The technical program needs to meet the following:
1, vehicle is without catastrophe failure
2, brake aperture is 0
3, accelerator open degree 0
4, gear is not N gear
5, parking brake signal is 0
6, speed 0-5km/h
7, vehicle is since parking
8, entire car controller output torque is greater than vehicle anti-slide torque when starting to walk；
Comparative example one: when brakeless signal, no throttle signal, gear is that D is kept off or R is kept off, when speed is greater than 5km/h, electricity
Machine does not work, and vehicle is in sliding mode.
Comparative example two: when brakeless signal, no throttle signal, gear is that D is kept off or R gear, speed are less than 5km/h, parking brake
When putting down, vehicle is in starting crawling mode, and motor works according to starting crawling mode.The output torque of motor is hindered greater than ramp
1.2 times of the sum of torque and running resistance, can still start uphill starting mode, but to generate vehicle slightly terrified for electric vehicle
Vehicle phenomenon.
Comparative example three: when brakeless signal, no throttle signal, gear is that D is kept off or R gear, speed are less than 5km/h, parking brake
When putting down, vehicle is in starting crawling mode, and motor works according to starting crawling mode.The output torque of motor is hindered less than ramp
The sum of torque and running resistance, but can not export excessive, generate the slight terrified vehicle phenomenon of electric vehicle.
The above described is only a preferred embodiment of the present invention, not making any limit to technical scope of the invention
System, therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention,
In the range of still falling within technical solution of the present invention.
Claims (6)
1. a kind of electric vehicle uphill starting control method, it is characterised in that: include following steps:
S1: working condition detects when starting to walk to electric vehicle, passes through the speed of electric vehicle, brake aperture, accelerator open degree, gear
And the information of parking brake signal, to judge whether electric vehicle is in state in ramp shaped；
S2: it when electric vehicle is in state in ramp shaped, detects brake aperture and parking brake signal is 0, then carry out step S3；
S3: it detects that the electric vehicle accelerator open degree is 0 and gear is D/R gear simultaneously, then carries out step S4；
S4: the speed of the electric vehicle is detected in 0~5km/h, then electric vehicle starts uphill starting mode, and electric vehicle is in
Crawling state is walked, motor works according to starting crawling mode.
2. a kind of electric vehicle uphill starting control method according to claim 1, it is characterised in that: in the step S4,
When electric vehicle starts uphill starting mode, when starting, the output torque value of motor gradient resistance square value and running resistance it
With it is above.
3. a kind of electric vehicle uphill starting control method according to claim 1, it is characterised in that: in the step S1,
According to the signal of the Slope Transducer of electric vehicle, entire car controller judges whether electric vehicle is on ramp.
4. a kind of electric vehicle uphill starting control method according to claim 1, it is characterised in that: in the step S2,
When brake aperture and parking brake signal are not 0, the motor of electric vehicle does not work, mode in slope when electric vehicle is in long.
5. a kind of electric vehicle uphill starting control method according to claim 1, it is characterised in that: kept off in the step S3
Position is D gear or R gear, and when throttle signal is not zero, motor works according to the torque command mode for having accelerator open degree.
6. a kind of electric vehicle uphill starting control method according to claim 2, it is characterised in that: the electricity of the step S4
The output torque value of machine is between 1 times~1.2 times of the sum of gradient resistance square value and running resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157867.0A CN109969188A (en) | 2019-03-02 | 2019-03-02 | A kind of electric vehicle uphill starting control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910157867.0A CN109969188A (en) | 2019-03-02 | 2019-03-02 | A kind of electric vehicle uphill starting control method |
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| CN201910157867.0A Pending CN109969188A (en) | 2019-03-02 | 2019-03-02 | A kind of electric vehicle uphill starting control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667587A (en) * | 2019-09-12 | 2020-01-10 | 苏州奥易克斯汽车电子有限公司 | Creep control method for electric automobile |
| CN110803031A (en) * | 2019-10-16 | 2020-02-18 | 武汉客车制造股份有限公司 | Speed-limiting control method for slope parking, creeping and creeping of electric automobile |
| CN111186309A (en) * | 2020-01-02 | 2020-05-22 | 广汽蔚来新能源汽车科技有限公司 | Electric automobile slope-sliding prevention control system and method, computer equipment and storage medium |
| CN111231695A (en) * | 2020-01-17 | 2020-06-05 | 浙江飞碟汽车制造有限公司 | Ramp auxiliary control method for driving motor system for pure electric truck |
| CN111231694A (en) * | 2020-01-13 | 2020-06-05 | 江西江铃集团新能源汽车有限公司 | Electric automobile idling control method and system |
| CN111993887A (en) * | 2020-08-27 | 2020-11-27 | 内蒙古莱拓汽车科技有限公司 | Safety guarantee system of trackless rubber-tyred vehicle |
| CN112757911A (en) * | 2021-01-22 | 2021-05-07 | 台州蓝德电子科技有限公司 | Anti-slip control system and method for electric vehicle hill start |
| CN114179806A (en) * | 2021-12-14 | 2022-03-15 | 武汉理工大学 | Control method and system for hill start of automatic driving vehicle |
| CN114435147A (en) * | 2022-03-04 | 2022-05-06 | 奇瑞新能源汽车股份有限公司 | Method and device for controlling hill start of automobile, vehicle and storage medium |
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| CN109080635A (en) * | 2018-07-17 | 2018-12-25 | 江西精骏电控技术有限公司 | A kind of electric car ramp starting control system and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667587A (en) * | 2019-09-12 | 2020-01-10 | 苏州奥易克斯汽车电子有限公司 | Creep control method for electric automobile |
| CN110803031A (en) * | 2019-10-16 | 2020-02-18 | 武汉客车制造股份有限公司 | Speed-limiting control method for slope parking, creeping and creeping of electric automobile |
| CN111186309A (en) * | 2020-01-02 | 2020-05-22 | 广汽蔚来新能源汽车科技有限公司 | Electric automobile slope-sliding prevention control system and method, computer equipment and storage medium |
| CN111231694A (en) * | 2020-01-13 | 2020-06-05 | 江西江铃集团新能源汽车有限公司 | Electric automobile idling control method and system |
| CN111231695A (en) * | 2020-01-17 | 2020-06-05 | 浙江飞碟汽车制造有限公司 | Ramp auxiliary control method for driving motor system for pure electric truck |
| CN111993887A (en) * | 2020-08-27 | 2020-11-27 | 内蒙古莱拓汽车科技有限公司 | Safety guarantee system of trackless rubber-tyred vehicle |
| CN112757911A (en) * | 2021-01-22 | 2021-05-07 | 台州蓝德电子科技有限公司 | Anti-slip control system and method for electric vehicle hill start |
| CN112757911B (en) * | 2021-01-22 | 2022-05-24 | 台州蓝德电子科技有限公司 | Anti-slip control system and method for electric vehicle hill start |
| CN114179806A (en) * | 2021-12-14 | 2022-03-15 | 武汉理工大学 | Control method and system for hill start of automatic driving vehicle |
| CN114179806B (en) * | 2021-12-14 | 2024-04-09 | 武汉理工大学 | Control method and system for hill start of automatic driving vehicle |
| CN114435147A (en) * | 2022-03-04 | 2022-05-06 | 奇瑞新能源汽车股份有限公司 | Method and device for controlling hill start of automobile, vehicle and storage medium |
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