CN111688502A - Creep control method for electric vehicle - Google Patents
Creep control method for electric vehicle Download PDFInfo
- Publication number
- CN111688502A CN111688502A CN202010549404.1A CN202010549404A CN111688502A CN 111688502 A CN111688502 A CN 111688502A CN 202010549404 A CN202010549404 A CN 202010549404A CN 111688502 A CN111688502 A CN 111688502A
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- brake pedal
- creep
- electric vehicle
- control method
- change rate
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009193 crawling Effects 0.000 claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000005070 sampling Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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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- 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)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a creep control method of an electric vehicle, which specifically comprises the following steps: s1, detecting whether the electric vehicle meets the creep running enabling condition or not at present based on the received creep running signal; s2, if the detection result is positive, identifying the expected action of the driver based on the change rate of the brake pedal, and controlling the output of the creep torque based on the expected action, wherein the expected action comprises the following steps: fast braking, crawling deceleration, crawling acceleration, stopping and crawling at a fixed speed. The crawling driving torque is related to the stroke of a brake pedal, so that a driver can well control the vehicle speed in a half-braking state; through the change to the brake pedal rate of change, can accurate discernment driver's control intention, promote the driving experience.
Description
Technical Field
The invention belongs to the technical field of electric automobiles, and particularly relates to a creep control method of an electric vehicle.
Background
The automatic-gear vehicle type has a low-speed crawling function at present, a driver can crawl slowly by slowly releasing a brake in the vehicle starting process, the driver can start safely conveniently, the vehicle can be prevented from sliding down a slope in the slope starting process, the function can reduce the operation burden of the driver to a great extent, and particularly, a novice driver is friendly, so that the starting crawling function design is adopted on most electric vehicle types, and the consistency of the operation mode of the driver is kept.
The electric motor car still has very big difference with on the traditional diesel locomotive drive mode, and traditional car automatic transmission motorcycle type engine all has the idling function to be furnished with torque converter, the engine can realize the start of crawling by very smooth-going output power, and the vehicle can not shake, and can make the vehicle move with lower speed of a motor vehicle under half brake state, it is relatively friendly to the driver at stifled car or parking garage-entering process. At present, most electric vehicles have no travel signals when braking, only have switch signals, can realize crawling starting only when the brake is completely released, and the crawling torque disappears when the brake is stepped, so that the operation feeling of a semi-brake state cannot be well realized, and a driver is difficult to control the speed well in the process of traffic jam or parking and warehousing, thereby causing safety risks to a certain extent.
Disclosure of Invention
The invention provides a creep control method of an electric vehicle, which relates a creep driving torque with a brake pedal stroke, so that a driver can well control the vehicle speed under a half-braking state.
The invention is realized in such a way that the creep control method of the electric vehicle specifically comprises the following steps:
s1, detecting whether the electric vehicle meets the creep running enabling condition or not at present based on the received creep running signal;
s2, if the detection result is positive, identifying the expected action of the driver based on the change rate of the brake pedal, and controlling the output of the creep torque based on the expected action, wherein the expected action comprises the following steps: fast braking, crawling deceleration, crawling acceleration, stopping and crawling at a fixed speed.
Further, creep performance conditions are as follows:
when the speed of a vehicle is lower than a set speed value, the hand brake is completely released, the whole vehicle is in a Ready state, namely the Ready indicator lamp is effective, and the accelerator pedal is suspended.
Further, when the driver steps on the brake pedal, the change rate R of the brake pedal is positive, and the change rate R of the brake pedal is greater than or equal to a calibrated positive value, the determined expected action is rapid braking, and the creep torque output is 0;
when the driver steps on the brake pedal, the change rate R of the brake pedal is positive, the change rate R of the brake pedal is smaller than a calibrated positive value, the determined expected movement is used as creep deceleration, and the output of creep torque is determined based on the current opening degree of the brake pedal.
Further, when the driver releases the brake pedal, the change rate R of the brake pedal is negative, the brake pedal is not completely released, and the change rate R of the brake pedal is smaller than or equal to a calibrated negative value, the determined expected action is creep acceleration, and at the moment, the output of creep torque is determined based on the current opening degree of the brake pedal;
when a driver releases the brake pedal, the change rate R of the brake pedal is negative, the change rate R of the brake pedal is larger than a calibration negative value, the determined expected action is creep acceleration, at the moment, the opening degree of the brake pedal is judged to be unchanged, and the creep torque output at the last moment is kept.
Further, if the opening degree of the brake pedal is greater than 0, the current vehicle speed is 0 and the preset time is kept, the expected action is determined as parking, and the creep torque output after the preset time is 0.
Further, when the pedal is completely released, the expected action is determined to be constant-speed crawling, and at the moment, the output torque is controlled in an incremental PID mode to enable the vehicle to run at the target crawling speed
Further, the creep torque Trq calculation method based on the opening degree of the brake pedal is specifically as follows:
trq ═ [ (brake pedal calibration opening-current brake pedal opening)/brake pedal calibration opening ]. max output torque.
Further, the calculation formula of the brake pedal change rate R is specifically as follows:
and R is (the current brake pedal opening degree-the brake pedal opening degree at the previous sampling moment)/the sampling time.
The creep control method of the electric vehicle has the following beneficial technical effects:
1) the crawling driving torque is related to the stroke of a brake pedal, so that a driver can well control the vehicle speed in a half-braking state; 2) through the change to the brake pedal rate of change, can accurate discernment driver's control intention, promote the driving experience.
Drawings
Fig. 1 is a flowchart of an electric vehicle creep control method according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 1 is a flowchart of a creep control method for an electric vehicle according to an embodiment of the present invention, where the method specifically includes the following steps:
s1, detecting whether the electric vehicle meets the creep running enabling condition or not at present based on the received creep running signal;
in the embodiment of the invention, the creep performance conditions are specifically as follows:
when the speed of a vehicle is lower than a set speed value, the hand brake is completely released, the whole vehicle is in a Ready state, namely the Ready indicator lamp is effective, and the accelerator pedal is suspended.
And S2, if the detection result is yes, recognizing the expected action of the driver based on the change rate of the brake pedal, controlling the output of the crawling torque based on the expected action, and if the detection result is no, exiting the crawling program.
The desired actions include: fast braking, crawling deceleration, crawling acceleration, stopping and crawling at a fixed speed;
in the embodiment of the invention, when a driver steps on a brake pedal, the change rate R of the brake pedal is positive, and the change rate R of the brake pedal is more than or equal to a calibration positive value, the determined expected action is rapid braking, and in order to rapidly reduce the vehicle speed, the creep torque output is 0;
in the embodiment of the invention, when a driver steps on a brake pedal, the change rate R of the brake pedal is positive, and the change rate R of the brake pedal is smaller than a calibrated positive value, the determined expected action is creep deceleration, and at the moment, the output of creep torque is determined based on the current opening degree of the brake pedal;
in the embodiment of the invention, when a driver releases a brake pedal, the change rate R of the brake pedal is negative, the brake pedal is not completely released, and the change rate R of the brake pedal is less than or equal to a calibrated negative value, the determined expected action is crawling acceleration, and at the moment, the crawling torque output is determined based on the current opening degree of the brake pedal;
in the embodiment of the invention, when the driver releases the brake pedal, the change rate R of the brake pedal is negative, and the change rate R of the brake pedal is greater than a calibrated negative value, the determined expected action is creep acceleration, and at the moment, the opening degree of the brake pedal is not changed, and the creep torque at the previous moment is kept.
When the opening degree of a brake pedal is larger than 0, the speed is judged to be expected to be reduced, the current vehicle speed is 0 and is kept for a set time, the judged expected action is the stop, and at the moment, in order to prevent the temperature of the motor from rising caused by the long-time locked-rotor of the motor and reduce the energy consumption, the creep torque output after the set time is 0;
when the pedal is completely released, the expected action is determined to be constant-speed crawling, and at the moment, the output torque is controlled in an incremental PID mode, so that the vehicle runs at the target crawling speed.
In the embodiment of the invention, the calculation method of the creep torque Trq based on the opening degree of the brake pedal specifically comprises the following steps:
trq ═ [ (brake pedal calibration opening-current brake pedal opening)/brake pedal calibration opening ]. max output torque.
In the embodiment of the invention, the calculation formula of the brake pedal change rate R is as follows:
and R is (the current brake pedal opening degree-the brake pedal opening degree at the previous sampling moment)/the sampling time.
The creep control method of the electric vehicle has the following beneficial technical effects:
1) the crawling driving torque is related to the stroke of a brake pedal, so that a driver can well control the vehicle speed in a half-braking state; 2) through the change to the brake pedal rate of change, can accurate discernment driver's control intention, promote the driving experience.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (8)
1. The creep control method of the electric vehicle is characterized by comprising the following steps:
s1, detecting whether the electric vehicle meets the creep running enabling condition or not at present based on the received creep running signal;
s2, if the detection result is positive, identifying the expected action of the driver based on the change rate of the brake pedal, and controlling the output of the creep torque based on the expected action, wherein the expected action comprises the following steps: fast braking, crawling deceleration, crawling acceleration, stopping and crawling at a fixed speed.
2. The creep control method of an electric vehicle according to claim 1, wherein the creep enabling conditions are as follows:
when the speed of a vehicle is lower than a set speed value, the hand brake is completely released, the whole vehicle is in a Ready state, namely the Ready indicator lamp is effective, and the accelerator pedal is suspended.
3. The creep control method of an electric vehicle according to claim 1, wherein when a driver depresses a brake pedal, the rate of change R of the brake pedal is positive, and the rate of change R of the brake pedal is greater than or equal to a calibrated positive value, the identified desired action is rapid braking, and the creep torque output is 0;
when the driver steps on the brake pedal, the change rate R of the brake pedal is positive, the change rate R of the brake pedal is smaller than a calibrated positive value, the determined expected movement is used as creep deceleration, and the output of creep torque is determined based on the current opening degree of the brake pedal.
4. The creep control method of an electric vehicle according to claim 1, wherein when the driver releases the brake pedal, the brake pedal change rate R is negative, the brake pedal is not fully released and the brake pedal change rate R is less than or equal to a calibrated negative value, the recognized desired action is creep acceleration, at which time the output of creep torque is determined based on the current brake pedal opening;
when a driver releases the brake pedal, the change rate R of the brake pedal is negative, the change rate R of the brake pedal is larger than a calibration negative value, the determined expected action is creep acceleration, at the moment, the opening degree of the brake pedal is judged to be unchanged, and the creep torque output at the last moment is kept.
5. The creep control method of an electric vehicle according to claim 1, wherein the opening degree of the brake pedal is greater than 0, and the current vehicle speed is 0 and maintained for a set time period, the recognized desired action is parking, and the creep torque output after the set time period is 0.
6. The creep control method for electric vehicle according to claim 1, wherein the desired action is determined as creep at a constant speed when the pedal is fully released, and the output torque is controlled in an incremental PID manner to allow the vehicle to run at the target creep speed.
7. The creep control method of an electric vehicle according to claim 3 or 4, wherein the creep torque Trq based on the opening degree of the brake pedal is calculated as follows:
trq ═ [ (brake pedal calibration opening-current brake pedal opening)/brake pedal calibration opening ]. max output torque.
8. The creep control method of an electric vehicle according to claim 1, wherein the calculation formula of the brake pedal change rate R is specifically as follows:
and R is (the current brake pedal opening degree-the brake pedal opening degree at the previous sampling moment)/the sampling time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010549404.1A CN111688502A (en) | 2020-06-16 | 2020-06-16 | Creep control method for electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010549404.1A CN111688502A (en) | 2020-06-16 | 2020-06-16 | Creep control method for electric vehicle |
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| Publication Number | Publication Date |
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| CN111688502A true CN111688502A (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010549404.1A Pending CN111688502A (en) | 2020-06-16 | 2020-06-16 | Creep control method for electric vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874525A (en) * | 2021-01-28 | 2021-06-01 | 奇瑞新能源汽车股份有限公司 | Crawling method and device for electric automobile and vehicle |
| CN113320533A (en) * | 2021-08-02 | 2021-08-31 | 南通睿动新能源科技有限公司 | Crawling vehicle speed control system and control method thereof |
| CN114633636A (en) * | 2022-03-25 | 2022-06-17 | 珠海格力电器股份有限公司 | Electric vehicle control method and device, storage medium and vehicle control unit |
| CN115092147A (en) * | 2022-06-29 | 2022-09-23 | 北汽福田汽车股份有限公司 | Control method, device, storage medium, electronic device and vehicle for vehicle creep |
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| JP2013123308A (en) * | 2011-12-09 | 2013-06-20 | Toyota Motor Corp | Vehicle |
| JP2013215063A (en) * | 2012-04-04 | 2013-10-17 | Ntn Corp | Creep control device of electric vehicle |
| CN104670044A (en) * | 2015-01-29 | 2015-06-03 | 北京新能源汽车股份有限公司 | Low-speed crawling control method and system |
| CN108128210A (en) * | 2016-12-01 | 2018-06-08 | 上海汽车集团股份有限公司 | Crawling torque output control method and device, automobile |
| CN110154780A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method |
| CN110962622A (en) * | 2018-09-29 | 2020-04-07 | 郑州宇通客车股份有限公司 | Control method and system for driving motor of electric vehicle in creeping mode |
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2020
- 2020-06-16 CN CN202010549404.1A patent/CN111688502A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2013123308A (en) * | 2011-12-09 | 2013-06-20 | Toyota Motor Corp | Vehicle |
| JP2013215063A (en) * | 2012-04-04 | 2013-10-17 | Ntn Corp | Creep control device of electric vehicle |
| CN104670044A (en) * | 2015-01-29 | 2015-06-03 | 北京新能源汽车股份有限公司 | Low-speed crawling control method and system |
| CN108128210A (en) * | 2016-12-01 | 2018-06-08 | 上海汽车集团股份有限公司 | Crawling torque output control method and device, automobile |
| CN110962622A (en) * | 2018-09-29 | 2020-04-07 | 郑州宇通客车股份有限公司 | Control method and system for driving motor of electric vehicle in creeping mode |
| CN110154780A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874525A (en) * | 2021-01-28 | 2021-06-01 | 奇瑞新能源汽车股份有限公司 | Crawling method and device for electric automobile and vehicle |
| CN113320533A (en) * | 2021-08-02 | 2021-08-31 | 南通睿动新能源科技有限公司 | Crawling vehicle speed control system and control method thereof |
| CN114633636A (en) * | 2022-03-25 | 2022-06-17 | 珠海格力电器股份有限公司 | Electric vehicle control method and device, storage medium and vehicle control unit |
| CN115092147A (en) * | 2022-06-29 | 2022-09-23 | 北汽福田汽车股份有限公司 | Control method, device, storage medium, electronic device and vehicle for vehicle creep |
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Application publication date: 20200922 |
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| RJ01 | Rejection of invention patent application after publication |