CN111660825A - Method and system for controlling crawling vehicle speed - Google Patents
Method and system for controlling crawling vehicle speed Download PDFInfo
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- CN111660825A CN111660825A CN201911232164.6A CN201911232164A CN111660825A CN 111660825 A CN111660825 A CN 111660825A CN 201911232164 A CN201911232164 A CN 201911232164A CN 111660825 A CN111660825 A CN 111660825A
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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
- B60L15/2063—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 creeping
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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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- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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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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Abstract
The invention discloses a method and a system for controlling crawling vehicle speed, wherein the method for controlling the crawling vehicle speed comprises the following steps: when the vehicle enters a crawling state, acquiring the working condition information of the vehicle; wherein, the operating mode information includes: the running speed and the brake pedal opening degree B; selecting whether to execute a crawling mode according to the working condition information of the vehicle; the crawling mode comprises a fixed-speed crawling mode and a variable-speed crawling mode. The fixed-speed crawling mode provides a high crawling target vehicle speed, and the variable-speed crawling mode provides a low crawling target vehicle speed, and is specially used for solving the condition of congested road sections or driving in parking lots. Under the condition that roads allow, the creep target vehicle speed of the normal constant-speed creep mode is higher, so that the requirement of a driver for low-speed driving at ordinary times can be met, and when the vehicle enters a congested road section and a parking lot, the target vehicle speed required by the driver is lower, so that the variable-speed creep mode is set to provide a lower variable creep target vehicle speed, so that the problems can be solved.
Description
Technical Field
The invention relates to the technical field of automobile speed control, in particular to a method and a system for controlling creeping speed.
Background
Nowadays, new energy automobiles are increasingly popularized, people pay more attention to the technical problems of the new energy automobiles, and pure electric automobiles are naturally paid more attention to as the main parts of the new energy automobiles.
The crawling is a driving condition that a driver does not step on an accelerator pedal under the condition of relatively low speed of the electric automobile, and a vehicle power system outputs a certain torque to drive the automobile to move forward. The conventional electric automobile generally only has one creeping speed, but in the actual driving process of a driver, the only one creeping speed obviously cannot well meet the driving requirement of the driver, especially when the driver parks in a high peak time period in the morning and evening in a city with congested road conditions or in a parking lot.
Disclosure of Invention
The invention aims to solve the problem that the electric automobile in the prior art generally only has one crawling speed and cannot well meet the driving requirement of a driver.
In order to solve the technical problem, the embodiment of the invention discloses a method for controlling the speed of a crawling vehicle, which comprises the steps of obtaining the working condition information of the vehicle when the vehicle enters a crawling state; wherein, the operating mode information includes: the running speed and the brake pedal opening degree B; selecting whether to execute a crawling mode according to the working condition information of the vehicle; the crawling mode comprises a fixed-speed crawling mode and a variable-speed crawling mode.
By adopting the technical scheme, two crawling modes are provided: a fixed-speed creep mode and a variable-speed creep mode. The fixed-speed crawling mode provides a high crawling target vehicle speed, and the variable-speed crawling mode provides a low crawling target vehicle speed, and is specially used for solving the condition of congested road sections or driving in parking lots. Under the condition that roads allow, the creep target vehicle speed of the constant-speed creep mode is higher, the requirement of a driver for low-speed driving at ordinary times can be met, the driver needs to step on a brake frequently when entering a congested road section and a parking lot, and under the condition, the target vehicle speed required by the driver is lower, so that the variable-speed creep mode is set to provide a lower variable creep target vehicle speed, and the problems can be solved.
According to another specific embodiment of the present invention, the method for controlling a creep vehicle speed according to the embodiment of the present invention includes:
when the running speed is greater than the preset crawling target speed, the crawling mode is not executed;
and when the running speed is less than or equal to the preset crawling target speed, executing a crawling mode.
According to another embodiment of the present invention, the method for controlling a creep vehicle speed disclosed in the embodiment of the present invention, when the creep mode is executed:
when the opening B of the brake pedal is zero, executing a constant-speed crawling mode, wherein the crawling vehicle speed V is a preset fixed crawling vehicle speed V1;
the opening degree B of the brake pedal is larger than the threshold value B of the opening degree of the brake pedalmaxWhen not, do not carry out the creeping mode;
the opening B of the brake pedal is less than or equal to the threshold value B of the opening of the brake pedalmaxAnd executing a speed-changing crawling mode, wherein the crawling vehicle speed V is inversely proportional to the opening degree B of the brake pedal.
According to another embodiment of the invention, the creep vehicle speed V is calculated by performing a variable speed creep mode according to a method for controlling the creep vehicle speed V disclosed in the embodiment of the invention as follows:
V＝Vmax-(Vmax-Vmin)/Bmax*B，
wherein, VmaxMaximum creep vehicle speed, V, for variable speed creep modeminThe creep vehicle speed minimum value is a variable speed creep mode; and V ismaxLess than V1.
The invention also provides a control system of the crawling vehicle speed, which comprises a working condition information acquisition module and a whole vehicle control module which are in communication connection with each other; wherein
The working condition information acquisition module is used for acquiring the working condition information of the vehicle and sending the working condition information to the whole vehicle control module when the vehicle enters a crawling state;
the whole vehicle control module selects whether to execute a crawling mode according to the working condition information and the running speed of the vehicle;
wherein, the operating mode information includes: brake pedal opening degree B; creep modes include fixed speed creep modes and variable speed creep modes.
By adopting the technical scheme, the creep vehicle speed control system provided by the invention provides two creep modes: a fixed-speed creep mode and a variable-speed creep mode. The fixed-speed crawling mode provides a high crawling target vehicle speed, and the variable-speed crawling mode provides a low crawling target vehicle speed, and is specially used for solving the condition of congested road sections or driving in parking lots. Under the condition that roads allow, the creep target vehicle speed of the constant-speed creep mode is higher, the requirement of a driver for low-speed driving at ordinary times can be met, the driver needs to step on a brake frequently when entering a congested road section and a parking lot, and under the condition, the target vehicle speed required by the driver is lower, so that the variable-speed creep mode is set to provide a lower variable creep target vehicle speed, and the problems can be solved.
According to another specific embodiment of the present invention, the creep vehicle speed control system disclosed in the embodiment of the present invention further includes a first determining module, the first determining module is in communication connection with the entire vehicle control module, the first determining module determines a driving vehicle speed and sends a vehicle speed determination result to the entire vehicle control module, and the entire vehicle control module selects whether to execute a creep mode according to the vehicle speed determination result:
when the running speed is greater than the preset crawling target speed, the whole vehicle control module does not execute a crawling mode;
and when the running speed is less than or equal to the preset crawling target speed, the whole vehicle control module executes a crawling mode.
According to another specific embodiment of the present invention, the creep vehicle speed control system disclosed in the embodiment of the present invention further includes a brake pedal opening degree detection module and a second determination module, the brake pedal opening degree detection module and the second determination module are in communication connection with the vehicle control module, the brake pedal opening degree detection module detects a brake pedal opening degree B and sends the brake pedal opening degree B to the second determination module, the second determination module determines the brake pedal opening degree B and sends a brake pedal opening degree determination result to the vehicle control module, and the vehicle control module selects whether to execute a creep mode according to the brake pedal opening degree determination result:
when the opening B of the brake pedal is zero, the whole vehicle control module executes a constant-speed crawling mode, and the crawling speed V is a preset fixed crawling speed V1;
the opening degree B of the brake pedal is larger than the threshold value B of the opening degree of the brake pedalmaxWhen the vehicle runs, the whole vehicle control module does not execute a crawling mode;
the opening B of the brake pedal is less than or equal to the threshold value B of the opening of the brake pedalmaxAnd meanwhile, the whole vehicle control module executes a speed-changing crawling mode, and the crawling vehicle speed V is inversely proportional to the opening degree B of the brake pedal.
According to another specific embodiment of the invention, the creep vehicle speed control system disclosed in the embodiment of the invention further comprises a calculation module, wherein the calculation module is in communication connection with the brake pedal opening detection module, and receives the brake pedal opening B detected by the brake pedal opening detection module and calculates the creep vehicle speed V according to the brake pedal opening B.
According to another embodiment of the present invention, a creep vehicle speed V is calculated by:
V＝Vmax-(Vmax-Vmin)/Bmax*B，
wherein, VmaxMaximum creep vehicle speed, V, for variable speed creep modeminThe creep vehicle speed minimum value is a variable speed creep mode; and V ismaxLess than V1.
According to another specific embodiment of the invention, the creep vehicle speed control system disclosed by the embodiment of the invention further comprises a display module, wherein the display module is in communication connection with the calculation module and is used for displaying the creep vehicle speed calculated by the calculation module.
The invention has the beneficial effects that:
the invention provides a method for controlling a crawling vehicle speed, which comprises the steps of obtaining working condition information of a vehicle when the vehicle enters a crawling state; wherein, the operating mode information includes: the running speed and the brake pedal opening degree B; selecting whether to execute a crawling mode according to the working condition information of the vehicle; the crawling mode comprises a fixed-speed crawling mode and a variable-speed crawling mode. The fixed-speed crawling mode provides a high crawling target vehicle speed, and the variable-speed crawling mode provides a low crawling target vehicle speed, and is specially used for solving the condition of congested road sections or driving in parking lots. Under the condition that roads allow, the creep target vehicle speed of the constant-speed creep mode is higher, the requirement of a driver for low-speed driving at ordinary times can be met, the driver needs to step on a brake frequently when entering a congested road section and a parking lot, and under the condition, the target vehicle speed required by the driver is lower, so that the variable-speed creep mode is set to provide a lower variable creep target vehicle speed, and the problems can be solved.
Drawings
FIG. 1 is a flowchart of a method for controlling creep vehicle speed according to an embodiment 1 of the present invention;
fig. 2 is a schematic circuit structure diagram of a creep vehicle speed control system according to embodiment 2 of the present invention.
Description of reference numerals:
100. a working condition information acquisition module;
200. a vehicle control module;
300. a first judgment module;
400. a brake pedal opening degree detection module;
500. a second judgment module;
600. a calculation module;
700. and a display module.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
In order to solve the problem that the electric vehicle in the prior art generally only has one crawling speed and cannot well meet the driving requirement of a driver, as shown in fig. 1, the embodiment of the embodiment discloses a method for controlling the crawling speed, and when the vehicle enters a crawling state, the working condition information of the vehicle is acquired; wherein, the operating mode information includes: the running speed and the brake pedal opening degree B; selecting whether to execute a crawling mode according to the working condition information of the vehicle; the crawling mode comprises a fixed-speed crawling mode and a variable-speed crawling mode.
Specifically, the method for controlling the creep vehicle speed disclosed in the embodiment of the present invention provides two creep modes: a fixed-speed creep mode and a variable-speed creep mode. The fixed-speed crawling mode provides a high crawling target vehicle speed, and the variable-speed crawling mode provides a low crawling target vehicle speed, and is specially used for solving the condition of congested road sections or driving in parking lots. Under the condition that roads allow, the creep target vehicle speed of the constant-speed creep mode is higher, the requirement of a driver for low-speed driving at ordinary times can be met, the driver needs to step on a brake frequently when entering a congested road section and a parking lot, and under the condition, the target vehicle speed required by the driver is lower, so that the variable-speed creep mode is set to provide a lower variable creep target vehicle speed, and the problems can be solved.
More specifically, the running vehicle speed may be obtained by the vehicle control unit. In addition, the brake pedal opening degree B may be obtained by a brake pedal sensor. The acquisition of such information is a common approach and is not explained in any greater detail herein.
In addition, how to determine whether the vehicle enters the creep mode will also be explained below.
As shown in fig. 1, according to another specific embodiment of this embodiment, the method for controlling a creep vehicle speed disclosed in the embodiment of this embodiment, selecting whether to execute a creep mode according to the operating condition information of the vehicle includes: when the running speed is greater than the preset crawling target speed, the crawling mode is not executed; and when the running speed is less than or equal to the preset crawling target speed, executing a crawling mode.
Specifically, in the present embodiment, the preset creep target vehicle speed is set to 12 km/h, that is, when the running speed of the vehicle is greater than 12 km/h, it is considered that the vehicle does not enter the creep state, and thus the creep mode is not performed. When the traveling speed of the vehicle is less than or equal to 12 km/h, the vehicle is considered to enter a creep state, and thus the creep mode is started. The method of implementing the creep mode is described in detail below.
As shown in fig. 1, according to another specific embodiment of this embodiment, the method for controlling the creep vehicle speed disclosed in the embodiment of this embodiment, when the creep mode is executed:
when the brake pedal opening degree B obtained by the brake pedal sensor is zero, the vehicle executes a constant-speed crawling mode, and the fixed crawling vehicle speed V of the vehicle is a preset fixed crawling vehicle speed V1, in this embodiment, the preset fixed crawling vehicle speed V1 is 10 km/h, so that the crawling vehicle speed of the vehicle is 10 km/h in the constant-speed crawling mode.
The brake pedal opening degree B obtained by the brake pedal sensor is larger than the brake pedal opening degree threshold value BmaxAnd when the vehicle exits the crawling mode, namely the crawling mode is not executed, and the actual running speed of the vehicle is obtained through the vehicle control unit.
The brake pedal opening degree B obtained by the brake pedal sensor is less than or equal to the brake pedal opening degree threshold value BmaxAt this time, the vehicle performs a speed-change creep mode, in which a creep vehicle speed V of the vehicle is inversely proportional to the brake pedal opening B, and specifically, a calculation method of the creep vehicle speed V of the vehicle will be described in detail below.
As shown in fig. 1, according to another specific embodiment of the present embodiment, the creep vehicle speed control method disclosed in the embodiment of the present embodiment executes a variable speed creep mode in which a creep vehicle speed V of a vehicle is calculated as follows:
V＝Vmax-(Vmax-Vmin)/Bmax*B，
wherein, VmaxMaximum creep vehicle speed, V, for variable speed creep modeminThe creep vehicle speed minimum value is a variable speed creep mode; and V ismaxLess than V1.
And in the embodiment, the maximum creep vehicle speed V of the variable speed creep modemaxIs 6 km per hour. Creep vehicle speed minimum value V of variable speed creep modemin4 km per hour. Brake pedal opening degree threshold B capable of realizing crawlingmaxThe content was 20%.
Example 2
As shown in fig. 2, the present embodiment further provides a creep vehicle speed control system, which includes a working condition information obtaining module 100 and a vehicle control module 200, which are in communication connection with each other; the working condition information acquisition module 100 is used for acquiring the working condition information of the vehicle and sending the working condition information to the whole vehicle control module 200 when the vehicle enters a crawling state; the whole vehicle control module 200 selects whether to execute a crawling mode according to the working condition information and the running speed of the vehicle; wherein, the operating mode information includes: brake pedal opening degree B; creep modes include fixed speed creep modes and variable speed creep modes.
Specifically, the entire vehicle control module 200 obtains a driving speed. The operating condition information acquiring module 100 is used for the brake pedal opening degree B. The operating condition information acquiring module 100 may further include a brake pedal sensor for detecting and acquiring a brake pedal opening B.
In addition, it should be understood that the operating condition information acquiring module 100 may further include an information transmitting module, configured to send the brake pedal opening degree B to the vehicle control module 200. In this embodiment, the brake pedal sensor may be of the type: the FN2114 may be of other types, which are specifically set according to actual needs, and this embodiment is not particularly limited thereto. The model of the information transmission module can be as follows: the model ZW9-V1 may be other models, and is specifically set according to actual needs, and this embodiment is not specifically limited to this. More specifically, the vehicle control module 200 may be a vehicle control module VCU commonly used in existing vehicles, and therefore, is not described in detail herein.
In summary, the control system for the crawling vehicle speed provided by the embodiment provides two crawling modes: a fixed-speed creep mode and a variable-speed creep mode. The fixed-speed crawling mode provides a high crawling target vehicle speed, and the variable-speed crawling mode provides a low crawling target vehicle speed, and is specially used for solving the condition of congested road sections or driving in parking lots. Under the condition that roads allow, the creep target vehicle speed of the constant-speed creep mode is higher, the requirement of a driver for low-speed driving at ordinary times can be met, the driver needs to step on a brake frequently when entering a congested road section and a parking lot, and under the condition, the target vehicle speed required by the driver is lower, so that the variable-speed creep mode is set to provide a lower variable creep target vehicle speed, and the problems can be solved.
As shown in fig. 2, according to another specific implementation manner of this embodiment, the creep vehicle speed control system disclosed in the implementation manner of this embodiment further includes a first determining module 300, the first determining module 300 is in communication connection with the entire vehicle control module 200, the first determining module 300 determines a driving vehicle speed and sends a vehicle speed determination result to the entire vehicle control module 200, and the entire vehicle control module 200 selects whether to execute a creep mode according to the vehicle speed determination result: when the running speed is greater than the preset crawling target speed, the whole vehicle control module does not execute a crawling mode; and when the running speed is less than or equal to the preset crawling target speed, the whole vehicle control module executes a crawling mode.
Specifically, when the driving speed of the vehicle acquired by the vehicle control module 200 is greater than the preset crawling target vehicle speed, the vehicle control module 200 does not execute the crawling mode. In the present embodiment, the preset creep target vehicle speed is set to 12 km/h, that is, when the traveling speed of the vehicle is greater than 12 km/h, it is considered that the vehicle does not enter the creep state, and thus the creep mode is not performed. When the traveling speed of the vehicle is less than or equal to 12 km/h, the vehicle is considered to enter a creep state, and thus the creep mode is started. The method of implementing the creep mode is described in detail below.
More specifically, the model of the first determining module 300 may be: the LM324 may be of other models, which are specifically set according to actual needs, and this embodiment does not specifically limit this.
As shown in fig. 2, according to another specific implementation manner of this embodiment, the creep vehicle speed control system disclosed in the implementation manner of this embodiment further includes a brake pedal opening degree detection module 400 and a second determination module 500, the brake pedal opening degree detection module 400 and the second determination module 500 are in communication connection with the vehicle control module 200, the brake pedal opening degree detection module 400 detects a brake pedal opening degree B and sends the brake pedal opening degree B to the second determination module 500, the second determination module 500 determines the brake pedal opening degree B and sends a brake pedal opening degree determination result to the vehicle control module 200, and the vehicle control module 200 selects whether to execute the creep mode according to the brake pedal opening degree determination result.
Specifically, when the opening degree B of the brake pedal is zero, the entire vehicle control module 200 executes a constant-speed crawling mode, the crawling vehicle speed V is a preset fixed crawling vehicle speed V1, at this time, the vehicle executes the constant-speed crawling mode, and the fixed crawling vehicle speed V of the vehicle is a preset fixed crawling vehicle speed V1, in this embodiment, the preset fixed crawling vehicle speed V1 is 10 kilometers per hour, so that, in the constant-speed crawling mode, the crawling vehicle speed of the vehicle is 10 kilometers per hour.
The opening degree B of the brake pedal is larger than the threshold value B of the opening degree of the brake pedalmaxAt this time, the entire vehicle control module 200 does not perform the creep mode.
The opening B of the brake pedal is less than or equal to the threshold value B of the opening of the brake pedalmaxMeanwhile, the whole vehicle control module 200 executes a speed-changing crawling mode, and the crawling vehicle speed V is inversely proportional to the opening degree B of the brake pedal. Specifically, in the shift creep mode, a method of calculating a creep vehicle speed V of the vehicle will be described in detail below.
In the embodiment, a brake pedal opening degree threshold value B capable of realizing crawling is setmaxIs 20 percent, namely when the brake pedal opening degree B is larger than the brake pedal opening degree threshold value BmaxI.e., 20%, the entire vehicle control module 200 does not perform the creep mode.
Specifically, the brake pedal opening detection module 400 may refer to the model examples of the brake pedal sensor, which are not exemplified herein. In addition, the model of the second determination module 500 may be: the LM358 may be of other types, which is specifically set according to actual needs, and this embodiment does not specifically limit this.
As shown in fig. 2, according to another specific implementation manner of this embodiment, the control system for a crawling vehicle speed disclosed in the implementation manner of this embodiment further includes a calculating module 600, the calculating module 600 is connected in communication with the brake pedal opening detecting module 400, and the calculating module receives the brake pedal opening B detected by the brake pedal opening detecting module 400 and calculates a crawling vehicle speed V according to the brake pedal opening B and a preset fixed crawling vehicle speed. The calculation method of the crawling vehicle speed V comprises the following steps:
V＝Vmax-(Vmax-Vmin)/Bmax*B，
wherein, VmaxMaximum creep vehicle speed, V, for variable speed creep modeminThe creep vehicle speed minimum value is a variable speed creep mode; and V ismaxLess than V1.
In the present embodiment, creep vehicle speed maximum value V of the variable speed creep modemaxIs 6 km per hour. Creep vehicle speed minimum value V of variable speed creep modemin4 km per hour. Brake pedal opening degree threshold B capable of realizing crawlingmaxThe content was 20%.
As shown in fig. 2, according to another specific embodiment of this embodiment, the creep vehicle speed control system disclosed in the embodiment of this embodiment further includes a display module 700, and the display module 700 is connected to the calculation module 600 in a communication manner and is used for displaying the creep vehicle speed calculated by the calculation module 600. Specifically, the display module 700 may be a vehicle dashboard, or may be additionally provided with a display to display a crawling vehicle speed, and the specific type of the display may be: AOCQ2790PC may be of other types, specifically set according to actual needs, and this embodiment does not specifically limit this. The model of the computing module 600 may be: 2MBI300VH-170, which may be of other models, is specifically set according to actual needs, and this embodiment does not specifically limit this.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A control method of a crawling vehicle speed is characterized in that when a vehicle enters a crawling state, working condition information of the vehicle is acquired; wherein the operating condition information includes: the running speed and the brake pedal opening degree B;
selecting whether to execute a crawling mode according to the working condition information of the vehicle; wherein the creep modes include a fixed-speed creep mode and a variable-speed creep mode.
2. The method of controlling a creep vehicle speed according to claim 1, wherein selecting whether to perform a creep mode according to the operating condition information of the vehicle comprises:
when the running speed is greater than a preset crawling target speed, the crawling mode is not executed;
and when the running vehicle speed is less than or equal to the preset crawling target vehicle speed, executing the crawling mode.
3. The creep vehicle speed control method according to claim 2, wherein when the creep mode is executed:
when the opening B of the brake pedal is zero, the constant-speed crawling mode is executed, and the crawling vehicle speed V is a preset fixed crawling vehicle speed V1;
the opening degree B of the brake pedal is greater than the opening degree threshold value B of the brake pedalmaxWhen the creep mode is not executed;
the opening B of the brake pedal is less than or equal to the opening threshold value B of the brake pedalmaxAnd executing the speed-changing crawling mode, wherein the crawling vehicle speed V is inversely proportional to the opening degree B of the brake pedal.
4. The creep vehicle speed control method according to claim 3, wherein the variable speed creep mode is executed, and the creep vehicle speed V is calculated by:
V＝Vmax-(Vmax-Vmin)/Bmax*B，
wherein, VmaxA creep vehicle speed maximum, V, for said variable speed creep modeminThe creep vehicle speed is the minimum value of the creep vehicle speed of the variable speed creep mode; and V ismaxLess than V1.
5. A control system for a crawling vehicle speed is characterized by comprising a working condition information acquisition module and a whole vehicle control module which are in communication connection with each other; wherein
The working condition information acquisition module is used for acquiring the working condition information of the vehicle and sending the working condition information to the whole vehicle control module when the vehicle enters a crawling state;
the whole vehicle control module selects whether to execute a crawling mode according to the working condition information and the running speed of the vehicle;
wherein the operating condition information includes: brake pedal opening degree B; the creep modes include a fixed speed creep mode and a variable speed creep mode.
6. The crawling vehicle speed control system according to claim 5, further comprising a first judgment module, wherein the first judgment module is in communication connection with the whole vehicle control module, the first judgment module judges the traveling vehicle speed and sends the vehicle speed judgment result to the whole vehicle control module, and the whole vehicle control module selects whether to execute the crawling mode according to the vehicle speed judgment result:
when the running speed is greater than a preset crawling target speed, the whole vehicle control module does not execute the crawling mode;
and when the running speed is less than or equal to the preset crawling target speed, the whole vehicle control module executes the crawling mode.
7. The system for controlling the crawling vehicle speed according to claim 6, further comprising a brake pedal opening degree detection module and a second judgment module, wherein the brake pedal opening degree detection module and the second judgment module are in communication connection with the vehicle control module, the brake pedal opening degree detection module detects the brake pedal opening degree B and sends the brake pedal opening degree B to the second judgment module, the second judgment module judges the brake pedal opening degree B and sends a brake pedal opening degree judgment result to the vehicle control module, and the vehicle control module selects whether to execute the crawling mode according to the brake pedal opening degree judgment result:
when the opening B of the brake pedal is zero, the whole vehicle control module executes the constant-speed crawling mode, and the crawling speed V is a preset fixed crawling speed V1;
the opening degree B of the brake pedal is greater than the opening degree threshold value B of the brake pedalmaxIn time, the whole vehicle control module is notExecuting the crawling mode;
the opening B of the brake pedal is less than or equal to the opening threshold value B of the brake pedalmaxAnd the whole vehicle control module executes the speed-changing crawling mode, wherein the crawling vehicle speed V is in inverse proportion to the opening degree B of the brake pedal.
8. The crawling vehicle speed control system according to claim 7, further comprising a calculation module, wherein the calculation module is in communication connection with the brake pedal opening detection module, and the calculation module receives the brake pedal opening B detected by the brake pedal opening detection module and calculates the crawling vehicle speed V according to the brake pedal opening B.
9. The creep vehicle speed control system according to claim 8, wherein the creep vehicle speed V is calculated by:
V＝Vmax-(Vmax-Vmin)/Bmax*B，
wherein, VmaxA creep vehicle speed maximum, V, for said variable speed creep modeminThe creep vehicle speed is the minimum value of the creep vehicle speed of the variable speed creep mode; and V ismaxLess than V1.
10. The creep vehicle speed control system according to claim 9, further comprising a display module, communicatively connected to the calculation module, for displaying the creep vehicle speed calculated by the calculation module.
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Application publication date: 20200915 |