CN113147427A - Control method for preventing electric automobile from sliding down slope, vehicle control unit and electric automobile - Google Patents
Control method for preventing electric automobile from sliding down slope, vehicle control unit and electric automobile Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000009194 climbing Effects 0.000 claims description 20
- 230000007935 neutral effect Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 7
- 239000002699 waste material Substances 0.000 abstract description 7
- 230000002265 prevention Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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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 relates to a control method for preventing an electric automobile from sliding down a slope, a vehicle controller and the electric automobile, wherein the method comprises the following steps: when the electric automobile is detected to climb and start, the vehicle control unit acquires gradient information of a road surface through a gradient sensor; comparing the collected gradient information of the road surface with a first preset gradient; when the collected gradient information of the road surface is smaller than a first preset gradient, normally controlling the vehicle to creep at a low speed; when the collected gradient information of the road surface is larger than a first preset gradient, the motor is controlled to output higher torque to control the vehicle to creep at a low speed according to the preset torque correction coefficients corresponding to different gradients. The electric automobile can be started stably by providing corresponding torque for the automobile accurately, slope slipping is avoided, and resource waste is avoided.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a control method for preventing an electric automobile from sliding down a slope, a storage medium and the electric automobile.
Background
The electric vehicle (BEV) is a vehicle which takes a vehicle-mounted power supply as power and drives wheels by a motor, and meets various requirements of road traffic and safety regulations. Because the influence on the environment is smaller than that of the traditional automobile, the prospect is widely seen.
When the electric automobile runs on an uphill, the automobile tends to slide down due to the action of gravity, and particularly when the electric automobile stops or starts on a slope, safety accidents are caused due to the fact that the electric automobile frequently slides down the slope. The invention with the application number of CN201811460352.X discloses a ramp hill-holding and starting control method for an electric automobile, which comprises the following steps:
the slope is parked: 1.1, the MCU controls the driving motor to automatically enter a hill-holding state according to gear information, a torque instruction and the rotating speed of the driving motor sent by the VCU; 1.2, receiving and judging the duration of the MCU (microprogrammed control Unit) stay slope state and the motor temperature over-temperature early warning information by the EPB controller; when the MCU stays on the slope for 10s, the EPB controller controls the EPB motor to act; when the MCU enters a slope-staying state and reports the motor temperature over-temperature early warning, the EPB controller controls the EPB motor to act; 1.3, after receiving the action completion state of the EPB controller, the MCU gradually unloads the torque of the driving motor;
the hill-slip prevention during hill starting comprises the following steps: 2.1, the VCU sends a torque instruction to the MCU when judging that the driving operation is climbing; 2.2, the MCU executes torque output according to the VCU instruction; and 2.3, controlling the EPB motor to unlock when the execution torque is larger than the tightening torque recorded in the EPB controller.
The above-mentioned techniques have the following disadvantages:
when the vehicle climbs a slope for starting, corresponding torque cannot be accurately provided so that the vehicle can be stably started, and resource waste is possibly caused.
Disclosure of Invention
Therefore, it is necessary to provide a control method for preventing the electric vehicle from sliding down a slope, a storage medium and the electric vehicle, so as to solve the problem that when the vehicle is started while climbing a slope, corresponding torque cannot be accurately provided to enable the vehicle to be stably started, which may cause resource waste.
In order to achieve the above object, the inventor provides a control method for preventing an electric automobile from sliding down a slope, comprising the following steps:
when the electric automobile is detected to climb and start, the vehicle control unit acquires gradient information of a road surface through a gradient sensor;
comparing the collected gradient information of the road surface with a first preset gradient;
when the collected gradient information of the road surface is smaller than a first preset gradient, normally controlling the vehicle to creep at a low speed;
when the collected gradient information of the road surface is larger than a first preset gradient, the motor is controlled to output higher torque to control the vehicle to creep at a low speed according to the preset torque correction coefficients corresponding to different gradients.
Further optimization, the method also comprises the following steps:
when the electric automobile is detected to climb the slope, the vehicle control unit detects the rotating speed direction of the motor and judges whether the rotating speed direction of the motor is consistent with the driving direction of the vehicle intention;
if the torque is inconsistent with the driving direction of the vehicle, PI regulation control is introduced, and a motor controller MCU is requested to control the motor to output larger torque so as to control the vehicle to drive according to the driving direction of the vehicle.
Further optimization, the method also comprises the following steps:
when the running process of the electric automobile is detected, the vehicle control unit acquires the gradient information of the road surface through a gradient sensor;
when the collected gradient information of the road surface is larger than a second preset gradient, gear information, brake information and gradient information of the vehicle are collected in real time;
judging whether the vehicle is in a climbing working condition or not according to the collected gear information, brake information and gradient information of the vehicle;
if the vehicle is in the climbing working condition, determining the current state of the vehicle in real time;
when the current speed of the vehicle is 0, the opening degree of an accelerator is 0 and the brake is stepped on, the vehicle control unit requests the EPB to control the motor to act and automatically pulls up the hand brake to park.
Further optimization, the step of 'automatically pulling up the hand brake for parking' comprises the following steps:
and after the vehicle control unit identifies the accelerator opening degree signal and detects that the gear information of the current vehicle is not neutral, unlocking the vehicle motor through the EPB.
Further optimizing, the step of unlocking the vehicle motor through the EPB after the vehicle control unit recognizes the accelerator opening degree signal and detects that the gear information of the current vehicle is not neutral specifically includes the following steps:
after the vehicle control unit identifies an accelerator opening signal through the EPB and detects that the gear information of the current vehicle is not a neutral gear, judging whether the current accelerator opening of the vehicle is larger than a preset opening value or not;
and if the opening degree value is larger than the preset opening degree value, unlocking the vehicle motor through the EPB.
Still provide another technical scheme: the vehicle control unit comprises a storage medium, wherein a computer program is stored in the storage medium, and when the vehicle control unit runs the computer program, the vehicle control unit executes the control method for preventing the electric vehicle from sliding down the slope.
Still provide another technical scheme: an electric automobile comprises the vehicle control unit.
Compared with the prior art, according to the technical scheme, when the electric automobile is detected to climb and start, the vehicle control unit acquires the gradient information of the road surface through the gradient sensor; and comparing the collected gradient information with a first preset gradient, outputting corresponding torque according to the opening and closing degree of an accelerator to control the vehicle to creep at a low speed when the collected gradient information is smaller than the first preset gradient, and correspondingly correcting the output torque corresponding to the opening degree of the accelerator according to preset torque correction coefficients corresponding to different gradients when the collected gradient information is larger than the first preset gradient, so that the vehicle controlled by outputting higher torque can creep at a low speed, corresponding torque can be accurately provided for the vehicle, the electric vehicle can be started stably, the slope slipping behavior is avoided, and the waste of resources is avoided.
Drawings
Fig. 1 is a schematic flow chart of a control method for preventing an electric vehicle from sliding down a slope according to an embodiment.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, the embodiment provides a control method for preventing an electric vehicle from sliding down a slope, including the following steps:
step S110: when the electric automobile is detected to climb and start, the vehicle control unit acquires gradient information of a road surface through a gradient sensor; after the electric automobile receives the ignition information, the gradient information detected by the gradient sensor is larger than 0, and the throttle opening signal is detected, the electric automobile is judged to be ready for climbing and starting, and the vehicle control unit VCU receives the gradient information collected by the gradient sensor arranged in the EPB through the bus.
Step S120: comparing the collected gradient information of the road surface with a first preset gradient;
when the collected gradient information of the road surface is less than the first preset gradient, executing step S130: normally controlling the vehicle to creep at a low speed; when the collected road surface gradient information is judged to be smaller than the first preset gradient, the vehicle starts according to the torque corresponding to the opening degree of the accelerator, the vehicle is not prone to slipping, and then the corresponding torque is output according to the opening degree of the accelerator to control the vehicle to creep at a low speed. Wherein, the low-speed creep vehicle speed is usually set to be 7KM/h, and the corresponding low-speed creep vehicle speed can also be set according to actual requirements.
When the collected gradient information of the road surface is greater than the first preset gradient, executing step S140: and controlling the motor to output higher torque to control the vehicle to creep at a low speed according to the preset torque correction coefficients corresponding to different gradients. According to the automobile dynamics, under different slopes, the driving force required by the whole automobile to maintain the backward slip is different, and different correction coefficients are introduced according to different slopes to control the output of different driving forces when the slopes are different.
When the electric automobile is detected to climb and start, the vehicle control unit acquires the gradient information of the road surface through the gradient sensor; and comparing the acquired gradient information with a first preset gradient, outputting corresponding torque according to the opening and closing degree of an accelerator to control the vehicle to run at low speed in a creeping manner when the acquired gradient information is smaller than the first preset gradient, and correspondingly correcting the output torque corresponding to the opening degree of the accelerator according to preset torque correction coefficients corresponding to different gradients when the acquired gradient information is larger than the first preset gradient, so that the vehicle controlled to run at low speed in a creeping manner by outputting higher torque can accurately provide corresponding torque for the vehicle, the electric vehicle can be started stably, the slope slipping behavior is avoided, the resource waste is avoided, meanwhile, slope slipping prevention control is performed through the gradient, and the control is more precise and reliable.
In this embodiment, in order to avoid the vehicle from sliding down a slope during climbing a slope, the method further includes the following steps:
when the electric automobile is detected to climb the slope, the vehicle control unit detects the rotating speed direction of the motor and judges whether the rotating speed direction of the motor is consistent with the driving direction of the vehicle intention;
if the torque is inconsistent with the driving direction of the vehicle, PI regulation control is introduced, and a motor controller MCU is requested to control the motor to output larger torque so as to control the vehicle to drive according to the driving direction of the vehicle.
When the slope information of the road surface is detected to be larger than zero and the vehicle speed is larger than zero, the electric vehicle is in a climbing state, the whole vehicle controller detects the motor rotating speed direction of the electric vehicle in real time and judges whether the motor rotating speed direction is consistent with the vehicle intention driving direction or not, when the motor rotating speed direction is inconsistent with the vehicle intention driving direction, PI regulation control is introduced, the motor controller MCU is requested to control the motor to output larger torque to control the vehicle to drive according to the vehicle intention driving direction, the phenomenon that the electric vehicle slips down on the slope in the climbing driving process is avoided, meanwhile, the whole vehicle controller monitors the motor output torque value all the time, and the torque output by the motor is safe and controllable. When the rotating speed direction of the motor is positive, the vehicle is moving forwards, and when the rotating speed direction is negative, the vehicle is moving backwards; when the rotating speed direction of the motor is positive and the gear of the vehicle is a forward gear, or the rotating speed direction is negative and the gear of the vehicle is a reverse gear, the rotating speed direction of the motor is consistent with the intended driving direction of the vehicle; when the rotational speed direction of the motor is positive and the shift position of the vehicle is a reverse shift position, or when the rotational speed direction is negative and the shift position of the vehicle is a forward shift position, it indicates that the rotational speed direction of the motor does not coincide with the intended driving direction of the vehicle.
In the embodiment, in order to avoid the phenomenon that the electric automobile is easy to slide when being parked under the condition of large gradient, the method further comprises the following steps:
when the running process of the electric automobile is detected, the vehicle control unit acquires the gradient information of the road surface through a gradient sensor;
when the collected gradient information of the road surface is larger than a second preset gradient, gear information, brake information and gradient information of the vehicle are collected in real time;
judging whether the vehicle is in a climbing working condition or not according to the collected gear information, brake information and gradient information of the vehicle;
if the vehicle is in the climbing working condition, determining the current state of the vehicle in real time;
when the current speed of the vehicle is 0, the opening degree of an accelerator is 0 and the brake is stepped on, the vehicle control unit requests the EPB to control the motor to act and automatically pulls up the hand brake to park.
When the running of the electric automobile is detected, the motion state of the automobile is monitored in real time, the vehicle controller collects gradient information of a road surface through a gradient sensor, when the gradient is larger than a second preset value, wherein the second preset value is larger than a first preset value, the automobile is indicated to run on a large gradient, gear information, brake information and gradient information of the automobile are collected in real time, whether the automobile is in a climbing working condition or not is judged, if the collected gradient information is positive, the automobile head of the automobile is indicated to be in an ascending slope, when the gear is shifted to a forward gear, the automobile is indicated to be in the climbing working condition, and if the collected gradient information is positive, and when the gear is shifted to a backward gear, the automobile is indicated to be in a non-climbing working condition; when the collected gradient information is negative, the vehicle head of the vehicle is in a downhill state, when the gear is shifted to a backward gear, the vehicle is in a climbing working condition, and if the collected gradient information is negative, and the gear is shifted to a forward gear, the vehicle is in a non-climbing working condition, when the vehicle is in the climbing working condition, the current state of the vehicle is judged in real time, when the current vehicle speed of the vehicle is 0, the accelerator opening is 0, and the brake is stepped on, the vehicle controller requests the EPB to control the motor to act, automatically pulls up the hand brake to park the vehicle, completes the automatic parking of the vehicle, and a driver can release the brake, so that the parking power consumption under a large gradient is saved, and the economy of the whole vehicle is improved. And when the driver starts to drive next time, the step of 'automatically pulling up the hand brake for parking' further comprises the following steps:
and after the vehicle control unit identifies the accelerator opening degree signal and detects that the gear information of the current vehicle is not neutral, unlocking the vehicle motor through the EPB.
After the vehicle control unit identifies an accelerator opening degree signal through an accelerator sensor and detects that gear information of a current vehicle is not neutral, the vehicle control unit indicates that the vehicle is to be started, and then performs automatic unlocking to enable the vehicle to start, wherein the step of unlocking a vehicle motor through an EPB (electric power brake) after the vehicle control unit identifies the accelerator opening degree signal and detects that the gear information of the current vehicle is not neutral specifically comprises the following steps:
after the vehicle control unit identifies the accelerator opening degree signal and detects that the gear information of the current vehicle is not a neutral gear, judging whether the current accelerator opening degree of the vehicle is larger than a preset opening degree value;
and if the opening degree value is larger than the preset opening degree value, unlocking the vehicle motor through the EPB.
When the opening degree of the accelerator is larger than the preset opening degree value, the motor of the vehicle is unlocked, and the phenomenon that the vehicle slips down due to insufficient power when starting can be further avoided.
In another embodiment, the vehicle control unit includes a storage medium, in which a computer program is stored, and when the vehicle control unit runs the computer program, the vehicle control unit executes the method for controlling the electric vehicle to slide away.
When the electric automobile is detected to climb and start, the vehicle control unit acquires the gradient information of the road surface through the gradient sensor; and comparing the acquired gradient information with a first preset gradient, outputting corresponding torque according to the opening and closing degree of an accelerator to control the vehicle to run at low speed in a creeping manner when the acquired gradient information is smaller than the first preset gradient, and correspondingly correcting the output torque corresponding to the opening degree of the accelerator according to preset torque correction coefficients corresponding to different gradients when the acquired gradient information is larger than the first preset gradient, so that the vehicle controlled to run at low speed in a creeping manner by outputting higher torque can accurately provide corresponding torque for the vehicle, the electric vehicle can be started stably, the slope slipping behavior is avoided, the resource waste is avoided, meanwhile, slope slipping prevention control is performed through the gradient, and the control is more precise and reliable.
In another embodiment, the electric vehicle comprises the vehicle control unit.
When the electric automobile is detected to climb and start, the vehicle control unit acquires the gradient information of the road surface through the gradient sensor; and comparing the acquired gradient information with a first preset gradient, outputting corresponding torque according to the opening and closing degree of an accelerator to control the vehicle to run at low speed in a creeping manner when the acquired gradient information is smaller than the first preset gradient, and correspondingly correcting the output torque corresponding to the opening degree of the accelerator according to preset torque correction coefficients corresponding to different gradients when the acquired gradient information is larger than the first preset gradient, so that the vehicle controlled to run at low speed in a creeping manner by outputting higher torque can accurately provide corresponding torque for the vehicle, the electric vehicle can be started stably, the slope slipping behavior is avoided, the resource waste is avoided, meanwhile, slope slipping prevention control is performed through the gradient, and the control is more precise and reliable.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
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| CN202110590285.9A CN113147427A (en) | 2021-05-28 | 2021-05-28 | Control method for preventing electric automobile from sliding down slope, vehicle control unit and electric automobile |
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| CN202110590285.9A CN113147427A (en) | 2021-05-28 | 2021-05-28 | Control method for preventing electric automobile from sliding down slope, vehicle control unit and electric automobile |
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| CN114179806A (en) * | 2021-12-14 | 2022-03-15 | 武汉理工大学 | Control method and system for hill start of automatic driving vehicle |
| CN114789663A (en) * | 2022-06-01 | 2022-07-26 | 徐州徐工矿业机械有限公司 | A method of VCU creep torque control combined with EPB parking to achieve slope maintenance |
| CN115071445A (en) * | 2022-08-03 | 2022-09-20 | 奇瑞新能源汽车股份有限公司 | New energy vehicle crawling control method and system |
| US20240253472A1 (en) * | 2023-01-31 | 2024-08-01 | Honda Motor Co., Ltd. | Electric vehicle and a method for controlling a drivetrain of electric vehicle |
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Cited By (5)
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Application publication date: 20210723 |