CN111038275A - Control method and device for limiting overspeed of pure electric vehicle - Google Patents
Control method and device for limiting overspeed of pure electric vehicle Download PDFInfo
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- CN111038275A CN111038275A CN201811186073.9A CN201811186073A CN111038275A CN 111038275 A CN111038275 A CN 111038275A CN 201811186073 A CN201811186073 A CN 201811186073A CN 111038275 A CN111038275 A CN 111038275A
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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
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a control method and a device for limiting the overspeed of a pure electric vehicle, which firstly calculate the safe speed of the vehicle according to the rotating speed of a motor and vehicle parameters; then collecting the road speed limit value and the real-time speed of the vehicle; finally, comparing the safe vehicle speed of the vehicle with the road speed limit value, and when the road speed limit value is less than or equal to the safe vehicle speed of the vehicle, the real-time vehicle speed is greater than or equal to a first threshold value, and the accelerator opening is greater than 0, reducing the accelerator opening, and further reducing the accelerator opening along with the increase of the vehicle speed; wherein the first threshold value is smaller than the road speed limit value. The invention can control the throttle opening according to the collected road speed limit value and the safe vehicle speed of the vehicle, effectively limit the overspeed and avoid the problem of violation of regulations during the vehicle running.
Description
Technical Field
The invention belongs to the field of pure electric vehicle control, and particularly relates to a control method and a control device for limiting overspeed of a pure electric vehicle.
Background
In recent years, with the continuous increase of automobile holding capacity, the increasingly severe environmental pollution and energy crisis brought with the continuous increase of automobile holding capacity bring huge impact to the traditional automobile industry. Energy conservation and environmental protection of automobiles become important issues of concern in the field of automobiles, and therefore, development of new energy automobiles with high energy utilization rate and low emission is paid more and more attention.
The pure electric vehicle is used as a new energy vehicle, is driven by a motor, an engine is omitted, and meanwhile, the motor can be controlled to operate as a generator by the characteristics of the motor, and energy recovery is realized by the reverse dragging torque of the motor during deceleration or braking. Under the condition that the capacity of a vehicle power battery is limited, energy recovery can effectively improve the energy utilization rate, and meanwhile, the abrasion of a brake can be reduced.
Although the pure electric vehicle can utilize the motor to perform the slow braking to control the vehicle speed, the technology has the following problems: because the engine is not provided, the vehicle can not utilize the compression resistance, the internal friction force and the air intake and exhaust resistance generated by the compression stroke of the engine to form the braking action on the driving wheel like the traditional vehicle in the running process, namely the anti-drag torque can not meet the braking requirement of the whole vehicle when the motor runs at high speed, so that the problems of violation, running safety and the like caused by overspeed of the motor are caused.
Disclosure of Invention
The invention aims to provide a control method and a control device for limiting overspeed of a pure electric vehicle, which are used for solving the problems that the overspeed of the motor causes overspeed and violation of regulations in vehicle running due to the fact that the anti-drag torque of the pure electric vehicle cannot meet the braking requirement of the whole vehicle when the motor runs at high speed.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a control method for limiting overspeed of a pure electric vehicle, which comprises the following steps:
1) calculating the safe speed of the vehicle according to the rotating speed of the motor and the vehicle parameters;
2) collecting a road speed limit value and the real-time speed of a vehicle;
3) comparing the safe vehicle speed of the vehicle with the road speed limit value, and when the road speed limit value is less than or equal to the safe vehicle speed of the vehicle, the real-time vehicle speed is greater than or equal to a first threshold value, and the accelerator opening is greater than 0, controlling the accelerator opening to be reduced, and further reducing the accelerator opening along with the increase of the vehicle speed; wherein the first threshold value is smaller than the road speed limit value.
The invention has the beneficial effects that: the invention can control the throttle opening according to the collected road speed limit value and the safe vehicle speed of the vehicle, effectively limit the overspeed and avoid the problem of violation of regulations during the vehicle running.
Further, in order to drive more safely, when the real-time vehicle speed is greater than or equal to the road speed limit value in the step 3), the opening degree of the accelerator is reduced to 0.
Further, the means for controlling the reduction of the throttle opening degree for safely running includes:
the throttle opening degree is controlled to be 80% AccNorm when the real-time vehicle speed is V1 ═ V0+ △ V, the throttle opening degree is controlled to be 60% AccNorm when the real-time vehicle speed is V2 ═ V1+ △ V, the throttle opening degree is controlled to be 40% AccNorm when the real-time vehicle speed is V3 ═ V2+ △ V, the throttle opening degree is controlled to be 20% Accnorm when the real-time vehicle speed is V4 ═ V3+ △ V, the throttle opening degree is controlled to be 0 when the real-time vehicle speed is V5 ═ V4+ △ V and the real-time vehicle speed is larger than or equal to the road speed limit value, wherein V0 is the initial vehicle speed, the throttle opening degree is the required throttle opening degree corresponding to the initial V0, and △ V is the real-time vehicle speed change value.
Further, in order to realize the control of the real-time vehicle speed more safely, if the road speed limit value is greater than the safe vehicle speed of the vehicle and the real-time vehicle speed is greater than or equal to a third set value, the throttle opening is controlled to be reduced, the throttle opening is further reduced along with the increase of the vehicle speed, and when the real-time vehicle speed is greater than or equal to a second set value, the throttle opening is reduced to be 0; wherein the safe vehicle speed > the second set value > the third set value.
Further, in order to realize braking control more safely, when the real-time vehicle speed is greater than or equal to a first set value when the opening of the accelerator is reduced to 0, the braking torque of the motor at the current rotating speed is distributed to the driving motor for braking; continuously judging the magnitude of the real-time vehicle speed and the safe vehicle speed, if the real-time vehicle speed is greater than or equal to the safe vehicle speed, controlling the opening degree of a brake pedal to increase, and further increasing the opening degree of the brake pedal along with the increase of the vehicle speed; wherein the safe vehicle speed > the first set value.
Further, in order to ensure safe driving of the vehicle, the means for controlling the increase of the opening degree of the brake pedal is:
when the real-time vehicle speed is V0 ', the corresponding brake pedal opening is 0, when V1 is V0' + △ V ', the brake pedal opening is controlled to be 20% BrkNorm _ Set, when the real-time vehicle speed is V2' + V1 '+ △ V', the brake pedal opening is controlled to be 40% BrkNorm _ Set, when the real-time vehicle speed is V3 '═ V2' + △ V ', the brake pedal opening is controlled to be 60% Brkm _ Set, when the real-time vehicle speed is V4' ═ V3 '+ △ V', the brake pedal opening is controlled to be 80% BrkNorm _ Set, when the real-time vehicle speed is V5 '═ V4' + △ V 'and the real-time vehicle speed is greater than or equal to the safe vehicle speed, the brake pedal opening is controlled to be Brkm _ Set, wherein △ V' is the variation of the real-time vehicle speed.
The invention also provides a control device for limiting overspeed of an electric-only vehicle, which comprises a processor and a memory, wherein the processor is used for executing instructions stored in the memory to realize the following method:
1) calculating the safe speed of the vehicle according to the rotating speed of the motor and the vehicle parameters;
2) collecting a road speed limit value and the real-time speed of a vehicle;
3) comparing the safe vehicle speed of the vehicle with the road speed limit value, and when the road speed limit value is less than or equal to the safe vehicle speed of the vehicle, the real-time vehicle speed is greater than or equal to a first threshold value, and the accelerator opening is greater than 0, controlling the accelerator opening to be reduced, and further reducing the accelerator opening along with the increase of the vehicle speed; wherein the first threshold value is smaller than the road speed limit value.
The invention has the beneficial effects that: the control device can control the throttle opening according to the collected road speed limit value and the safe vehicle speed of the vehicle, effectively limit overspeed and avoid the problem of violation of regulations during vehicle running.
Further, in order to drive more safely, when the real-time vehicle speed is greater than or equal to the road speed limit value in the step 3), the opening degree of the accelerator is reduced to 0.
Further, the means for controlling the reduction of the throttle opening degree for safely running includes:
the throttle opening degree is controlled to be 80% AccNorm when the real-time vehicle speed is V1 ═ V0+ △ V, the throttle opening degree is controlled to be 60% AccNorm when the real-time vehicle speed is V2 ═ V1+ △ V, the throttle opening degree is controlled to be 40% AccNorm when the real-time vehicle speed is V3 ═ V2+ △ V, the throttle opening degree is controlled to be 20% Accnorm when the real-time vehicle speed is V4 ═ V3+ △ V, the throttle opening degree is controlled to be 0 when the real-time vehicle speed is V5 ═ V4+ △ V and the real-time vehicle speed is larger than or equal to the road speed limit value, wherein V0 is the initial vehicle speed, the throttle opening degree is the required throttle opening degree corresponding to the initial V0, and △ V is the real-time vehicle speed change value.
Further, in order to realize the control of the real-time vehicle speed more safely, if the road speed limit value is greater than the safe vehicle speed of the vehicle and the real-time vehicle speed is greater than or equal to a third set value, the throttle opening is controlled to be reduced, the throttle opening is further reduced along with the increase of the vehicle speed, and when the real-time vehicle speed is greater than or equal to a second set value, the throttle opening is reduced to be 0; wherein the safe vehicle speed > the second set value > the third set value.
Further, in order to realize braking control more safely, when the real-time vehicle speed is greater than or equal to a first set value when the opening of the accelerator is reduced to 0, the braking torque of the motor at the current rotating speed is distributed to the driving motor for braking; continuously judging the magnitude of the real-time vehicle speed and the safe vehicle speed, if the real-time vehicle speed is greater than or equal to the safe vehicle speed, controlling the opening degree of a brake pedal to increase, and further increasing the opening degree of the brake pedal along with the increase of the vehicle speed; wherein the safe vehicle speed > the first set value.
Further, in order to ensure safe driving of the vehicle, the means for controlling the increase of the opening degree of the brake pedal is:
when the real-time vehicle speed is V0 ', the corresponding brake pedal opening is 0, when V1 is V0' + △ V ', the brake pedal opening is controlled to be 20% BrkNorm _ Set, when the real-time vehicle speed is V2' + V1 '+ △ V', the brake pedal opening is controlled to be 40% BrkNorm _ Set, when the real-time vehicle speed is V3 '═ V2' + △ V ', the brake pedal opening is controlled to be 60% Brkm _ Set, when the real-time vehicle speed is V4' ═ V3 '+ △ V', the brake pedal opening is controlled to be 80% BrkNorm _ Set, when the real-time vehicle speed is V5 '═ V4' + △ V 'and the real-time vehicle speed is greater than or equal to the safe vehicle speed, the brake pedal opening is controlled to be Brkm _ Set, wherein △ V' is the variation of the real-time vehicle speed.
Drawings
FIG. 1 is a flow chart of an embodiment of a control method for limiting overspeed of a pure electric vehicle according to the present invention;
fig. 2 is a flowchart of an embodiment of the control method for limiting overspeed of the pure electric vehicle according to the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Method embodiment one
Fig. 1 is a flowchart of a control method for limiting overspeed of an electric-only vehicle according to the present invention, wherein the specific control method comprises the following steps:
1. according to the maximum allowable speed n of the vehicle motormaxAnd calculating the safe vehicle speed Vs of the vehicle to be 0.377 r n according to the vehicle parameters (the rolling radius r of the tire and the gear ratio i)max/i；
2. Collecting a road speed limit Vr and a real-time vehicle speed V0 in the normal running process of the vehicle;
3. and comparing the safe vehicle speed Vs and the road speed limit Vr of the vehicle, if the road speed limit Vr is less than or equal to the safe vehicle speed Vs of the vehicle, when the vehicle runs and the real-time vehicle speed V0 is greater than or equal to a first threshold value (Vr-1), if the driver still steps on an accelerator pedal at the moment, namely the accelerator opening is greater than 0, the forced accelerator opening is reduced according to an algorithm of a relation of the accelerator opening along with the change of the real-time vehicle speed in the table 1.
Specifically, V0 is set as an initial vehicle speed, AccNorm is a required accelerator opening corresponding to the initial vehicle speed V0, when a real-time vehicle speed is V1-V0 + △ V, the accelerator opening is controlled to be 80% AccNorm, when a real-time vehicle speed is V2-V1 + △ V, the accelerator opening is controlled to be 60% AccNorm, when a real-time vehicle speed is V3-V2 + △ V, the accelerator opening is controlled to be 40% Accm, when a real-time vehicle speed is V4-V3 + △ V, the accelerator opening is controlled to be 20% Accm, when a real-time vehicle speed is V5-V4 + △ V and V5 is not less than or equal to a road speed limit value Vr, the accelerator opening is controlled to be 0, wherein △ V is a vehicle speed change value, namely when the real-time vehicle speed is V0-V speed limit value or equal to the speed limit value Vr, the accelerator opening is reduced to 0, a driving torque is not reduced to a motor, and a whole vehicle controller is judged to be driven according to a driving torque.
TABLE 1
4. If the road speed limit Vr is greater than the safe vehicle speed Vs of the vehicle and the real-time vehicle speed V0' is greater than or equal to a third set value (Vs-3), and if the driver still steps on the accelerator pedal, namely the accelerator opening is greater than 0, the forced accelerator opening is reduced according to an algorithm of a relation of the accelerator opening along with the real-time vehicle speed change in the table 2.
The relationship between the accelerator opening and the vehicle speed in table 2 is basically the same as the change means in table 1, and is not described in detail here; the difference is that when the real-time vehicle speed V0' is greater than or equal to a second set value (Vs-2), the accelerator opening is reduced to 0, the driving torque of the motor is reduced to 0, the driving force of the vehicle is not provided any more, and the vehicle is decelerated by the driving resistance;
TABLE 2
It should be noted that Vr-1 in the present embodiment, where 1 represents a speed, the unit of which is the same as Vr (e.g., km/h), and Vr-1 represents a speed value 1 unit smaller than Vr, is provided in the present embodiment to set a first threshold value for enabling the vehicle to decelerate early during traveling so as not to exceed the road speed limit value. 2 and 3 in Vs-2 and Vs-3 are the same as 1 in Vr-1, namely Vs-2 represents a speed value which is 2 units smaller than Vs, and Vs-3 represents a speed value which is 3 units smaller than Vs, namely Vs > Vs-2> Vs-3, wherein the purpose of setting Vs-2 in the embodiment is to set a second set value which is used for enabling the vehicle to reduce the accelerator opening to 0 when the safe vehicle speed Vs is not reached in the driving process; the purpose of setting Vs-3 is to set a third setting value for enabling the vehicle to control in advance the throttle opening start to decrease during running without reaching a safe vehicle speed. Of course, the settings of the first threshold, the second set value and the third set value in the present embodiment are not limited to the specific settings in the above embodiments, and it is only necessary to satisfy the requirement that the reduction of the throttle opening degree can be controlled in advance during the running of the vehicle, and when the throttle opening degree is reduced to 0, the real-time vehicle speed can be limited within the road speed limit value, and the illegal speeding of the vehicle is avoided.
The road speed limit value collected in this embodiment may be obtained by collecting a picture of a road speed limit sign through a camera, or may be obtained by a GPS positioning system. And the real-time vehicle speed V0 is acquired by relevant sensors of the vehicle, such as a wheel speed sensor.
In the present embodiment, when the accelerator opening degree is decreased, the degree of the decrease is not limited to the series of values set in tables 1 and 2, and may be set according to the actual conditions of different vehicles, for example, 1, 70%, 40%, 10%, 0; meanwhile, the opening of the accelerator is set to correspond to the acquired real-time vehicle speed; the accelerator opening is essentially gradually reduced along with the increase of the real-time vehicle speed, and a step function or a linear function can be adopted to calculate the corresponding accelerator opening.
As a matter of course, in the present embodiment, the gradient of decrease of the accelerator opening degree is also variable, and the present invention does not require that the gradient of decrease of the accelerator opening degree is the same for each step.
The expression "equal to or greater than" in the present embodiment means substantially that a value is equal to or slightly greater than or close to a certain value. For example, the real-time vehicle speed V0 is equal to or greater than one of the first threshold values (Vr-1), which means that the first threshold value is reached or slightly greater than or close to; the real-time vehicle speed V0 being equal to or greater than the road limit value Vr means reaching or being slightly greater than or close to the road limit value Vr.
Method embodiment two
When the vehicle is on a long downhill slope, the vehicle may overspeed even under no power, in order to avoid the problem that the collected real-time vehicle speed continues to increase when the accelerator opening is reduced to 0, that is, the driving force is 0, the present embodiment further increases the control of the braking force on the basis of step 4 of the method embodiment, as shown in fig. 2, the specific process is as follows:
wherein, the specific contents of the steps 1 to 4 are detailed in the first embodiment of the method, and are not described herein again;
5. if the real-time vehicle speed V0' when the accelerator opening is 0 is greater than or equal to a first set value (Vs-1), then the current motor speed n is used for controlling the motor speed0Calculating the braking torque T9550P/n continuously provided by the motor0Distributing the braking torque to a driving motor, and using the motor to perform slow braking to limit the vehicle speed; distributing the braking torque provided by the motor at the current rotating speed to the driving motor for braking;
6. the method comprises the steps of continuously judging the magnitude of a real-time vehicle speed V0 ' and a safe vehicle speed Vs, if the real-time vehicle speed V0 ' is continuously increased to be larger than or equal to the safe vehicle speed Vs, increasing the forced brake pedal opening to a brake pedal opening BrkNorm _ Set according to an algorithm of a relation between the brake pedal opening and the real-time vehicle speed in Table 3, specifically, controlling the brake pedal opening to be 0 when the real-time vehicle speed is V0 ', controlling the brake pedal opening to be 40% BrkNorm _ Set when V1 ' + 0V ', controlling the brake pedal opening to be 20% BrkNorm _ Set when the real-time vehicle speed is V2 ' + 1 ' + △ V ', controlling the brake pedal opening to be 40% BrkNorm _ Set when the real-time vehicle speed is V3 ' + V2 ' + 2V ', controlling the brake pedal opening to be 60% Brkm _ Set when the real-time vehicle speed is V3 ' + V26 ' + V △ 9 ', controlling the brake pedal opening to be 80% BrkSem _ Set, and solving the brake pedal opening required by an overspeed V3538 ' + 19V ', wherein the brake pedal opening is an overspeed V19V ', and the brake pedal opening is an overspeed-V5 ' is a brake power distribution requirement in an overspeed-V5 ' embodiment.
TABLE 3
The first set value Vs-1 in the present embodiment is represented as a velocity value 1 unit smaller than Vs, and its measurement unit is the same as Vs (for example, km/h); the specific setting can be set according to the driving process of the vehicle, the specific value can be set to increase the braking opening in advance, the real-time vehicle speed can be limited within the safe vehicle speed when the braking opening is increased to the maximum, and the driving safety of the vehicle is guaranteed.
For the control of the brake opening degree, when the degree of increase of the system opening degree is performed, the degree of increase is not limited to the series of values set in table 3, and may be set according to actual conditions of different vehicles, for example, 0, 10%, 40%, 70%, 1; meanwhile, the setting of the braking opening degree corresponds to the acquired real-time vehicle speed; the braking opening degree is basically gradually increased along with the increase of the real-time vehicle speed, and a step function or a linear function can be adopted to calculate the corresponding braking opening degree.
As a matter of course, the gradient of the increase of the brake opening degree in the present embodiment is also variable, and the present invention does not require that the gradient of each increase of the brake opening degree is the same, and similarly, the magnitude of the real-time vehicle speed corresponding to the magnitude of the brake opening degree is also variable, that is, each gradient of the change of the real-time vehicle speed is not required to be △ V'.
According to the system and the method, the characteristic that the motor of the pure electric vehicle can recover energy and brake at the same time is utilized, the information of an accelerator and a brake pedal required by a driver is simulated according to the speed information, the intention of the driver is identified and judged by the vehicle controller, and the corresponding parts are controlled to respond. The invention controls the motor driving/braking torque and the air pressure braking force by identifying the road speed limit sign and the intention of the driver, thereby realizing the overspeed control.
Device embodiment
The invention also provides a control device for limiting the overspeed of the pure electric vehicle, which can be a vehicle control unit device in the pure electric vehicle; the processor and the memory are commercially available products, and the processor is used for executing instructions to realize the control method for limiting the overspeed of the pure electric vehicle.
Claims (7)
1. A control method for limiting overspeed of a pure electric vehicle is characterized by comprising the following steps:
1) calculating the safe speed of the vehicle according to the rotating speed of the motor and the vehicle parameters;
2) collecting a road speed limit value and the real-time speed of a vehicle;
3) comparing the safe vehicle speed of the vehicle with the road speed limit value, and when the road speed limit value is less than or equal to the safe vehicle speed of the vehicle, the real-time vehicle speed is greater than or equal to a first threshold value, and the accelerator opening is greater than 0, controlling the accelerator opening to be reduced, and further reducing the accelerator opening along with the increase of the vehicle speed; wherein the first threshold value is smaller than the road speed limit value.
2. The control method for limiting the overspeed of the electric-only vehicle according to claim 1, wherein in the step 3), when the real-time vehicle speed is greater than or equal to the road speed limit value, the throttle opening is reduced to 0.
3. The control method for limiting overspeed of an electric-only vehicle of claim 2, wherein the means for controlling the reduction of throttle opening degree includes:
the throttle opening degree is controlled to be 80% AccNorm when the real-time vehicle speed is V1 ═ V0+ △ V, the throttle opening degree is controlled to be 60% AccNorm when the real-time vehicle speed is V2 ═ V1+ △ V, the throttle opening degree is controlled to be 40% AccNorm when the real-time vehicle speed is V3 ═ V2+ △ V, the throttle opening degree is controlled to be 20% Accnorm when the real-time vehicle speed is V4 ═ V3+ △ V, the throttle opening degree is controlled to be 0 when the real-time vehicle speed is V5 ═ V4+ △ V and the real-time vehicle speed is larger than or equal to the road speed limit value, wherein V0 is the initial vehicle speed, the throttle opening degree is the required throttle opening degree corresponding to the initial V0, and △ V is the real-time vehicle speed change value.
4. The control method for limiting the overspeed of the pure electric vehicle as claimed in claim 1, wherein if the road speed limit is greater than the safe vehicle speed of the vehicle and the real-time vehicle speed is greater than or equal to a third set value, the throttle opening is controlled to be reduced, the throttle opening is further reduced with the increase of the vehicle speed, and the throttle opening is reduced to 0 when the real-time vehicle speed is greater than or equal to a second set value; wherein the safe vehicle speed > the second set value > the third set value.
5. The control method for limiting the overspeed of the pure electric vehicle according to claim 2 or 4, wherein when the real-time vehicle speed is greater than or equal to a first set value when the opening degree of the accelerator is reduced to 0, the braking torque of the motor at the current rotating speed is distributed to the driving motor for braking; continuously judging the magnitude of the real-time vehicle speed and the safe vehicle speed, if the real-time vehicle speed is greater than or equal to the safe vehicle speed, controlling the opening degree of a brake pedal to increase, and further increasing the opening degree of the brake pedal along with the increase of the vehicle speed; wherein the safe vehicle speed > the first set value.
6. The control method for limiting overspeed of an electric-only vehicle according to claim 5, wherein the means for controlling the increase in the opening degree of the brake pedal is:
when the real-time vehicle speed is V0 ', the corresponding brake pedal opening is 0, when V1 is V0' + △ V ', the brake pedal opening is controlled to be 20% BrkNorm _ Set, when the real-time vehicle speed is V2' + V1 '+ △ V', the brake pedal opening is controlled to be 40% BrkNorm _ Set, when the real-time vehicle speed is V3 '═ V2' + △ V ', the brake pedal opening is controlled to be 60% Brkm _ Set, when the real-time vehicle speed is V4' ═ V3 '+ △ V', the brake pedal opening is controlled to be 80% BrkNorm _ Set, when the real-time vehicle speed is V5 '═ V4' + △ V 'and the real-time vehicle speed is greater than or equal to the safe vehicle speed, the brake pedal opening is controlled to be Brkm _ Set, wherein △ V' is the variation of the real-time vehicle speed.
7. A control device for limiting overspeed of an electric-only vehicle, characterized by comprising a processor and a memory, wherein the processor is used for executing instructions stored in the memory to realize the control method for limiting overspeed of the electric-only vehicle according to any one of claims 1-6.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276687A (en) * | 2021-06-30 | 2021-08-20 | 奇瑞商用车（安徽）有限公司 | Active speed limit control method and system for pure electric vehicle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276687A (en) * | 2021-06-30 | 2021-08-20 | 奇瑞商用车（安徽）有限公司 | Active speed limit control method and system for pure electric vehicle |
| CN113276687B (en) * | 2021-06-30 | 2022-04-05 | 奇瑞商用车（安徽）有限公司 | Active speed limit control method and system for pure electric vehicle |
| CN113525077A (en) * | 2021-09-02 | 2021-10-22 | 深圳微子科技合伙企业(有限合伙) | Automobile accelerator output force control method and system |
| CN113978477A (en) * | 2021-09-24 | 2022-01-28 | 合众新能源汽车有限公司 | A method for correcting the wrong step of the accelerator pedal |
| CN113978477B (en) * | 2021-09-24 | 2024-04-05 | 合众新能源汽车股份有限公司 | Correction method for mistaken stepping of accelerator pedal |
| CN113978470A (en) * | 2021-12-13 | 2022-01-28 | 郑州轻工业大学 | On-line rapid estimation method for friction force between tire and road surface |
| CN113978470B (en) * | 2021-12-13 | 2024-01-12 | 郑州轻工业大学 | On-line quick estimation method for friction force between tire and road surface |
| CN117621821A (en) * | 2022-08-09 | 2024-03-01 | 比亚迪股份有限公司 | Vehicle speed limiting methods, devices, vehicles, storage media and electronic equipment |
| CN117621821B (en) * | 2022-08-09 | 2024-10-29 | 比亚迪股份有限公司 | Vehicle speed limiting method and device, vehicle, storage medium and electronic equipment |
| CN115489498A (en) * | 2022-09-01 | 2022-12-20 | 中联重科股份有限公司 | Control method and control device for engineering vehicle, processor and engineering vehicle |
| CN115489498B (en) * | 2022-09-01 | 2024-09-20 | 中联重科股份有限公司 | Control method and control device for engineering vehicle, processor and engineering vehicle |
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