CN113246748A - Electric automobile slope-sliding prevention control method and system and vehicle - Google Patents
Electric automobile slope-sliding prevention control method and system and vehicle Download PDFInfo
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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
- 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
- B60L2240/421—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
- B60L2240/423—Torque
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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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses an electric automobile slope slipping prevention control method, a system and a vehicle, wherein the method comprises the following steps: judging whether the current vehicle state meets the activation condition of the anti-slope-sliding function; and if so, activating the slope slipping prevention function, calculating the final slope slipping prevention torque, and distributing the torque to the motor for execution. On the basis of not increasing hardware cost, the invention reduces the operation action of the accelerator pedal of the driver, thereby reducing the fatigue of the driver, reducing the safety risk in the driving process and playing a role in assisting hill start.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an electric automobile slope slipping prevention control method and system and a vehicle.
Background
The problems of energy crisis, environmental pollution, greenhouse effect and the like are increasingly serious, so that new energy automobiles, particularly pure electric automobiles, become a necessary trend for the revolution of the automobile industry. The pure electric vehicle has the advantages of energy conservation, environmental protection, economy, high NVH quality, simple structure, strong dynamic property and the like, and is widely concerned by scientific research institutions and enterprises.
At present, on some entry-level low-cost pure electric vehicles, a chassis electric control system only supports an ABS function, is not provided with components such as an ESC (electronic stability control) and the like, and does not have a hill-start assisting function. If the vehicle encounters a hill starting working condition or a non-flat road traffic jam, the vehicle is easy to slide backwards; in order to avoid car following and car sliding or car sliding during starting, a driver needs to constantly keep the accelerator operation and frequently adjust the accelerator opening, so that the fatigue of the driver can be caused, and safety risks are generated.
Disclosure of Invention
The invention aims to provide an electric automobile anti-slope-slipping control method, an electric automobile anti-slope-slipping control system and an electric automobile, which can reduce the operation action of an accelerator pedal of a driver on the basis of not increasing the hardware cost, thereby relieving the fatigue of the driver, reducing the safety risk in the driving process and playing a role in hill start assistance.
In order to achieve the aim, the invention provides an electric automobile slope slipping prevention control method, which comprises the following steps:
(S1) determining whether the current vehicle state satisfies an anti-creep function activation condition; if yes, activating the slope slipping prevention function, and turning to the execution step (S2); otherwise, ending the flow;
(S2) calculating a final anti-creep torque, and allocating the final anti-creep torque to the motor for execution;
(S3) judging whether the current vehicle state meets the condition for quitting the anti-slope-slipping function, if so, quitting the anti-slope-slipping function, and turning to the execution step (S4); otherwise, go to execute step (S2);
(S4) judging whether the current vehicle state meets the condition for activating the anti-slope-sliding function again, if so, turning to the execution step (S2); otherwise, the flow ends.
Further, the step of calculating the final anti-slope-slipping torque specifically comprises the following steps:
if the current motor rotating speed is greater than or equal to 0, performing first-order filtering processing on the current motor until the rotating speed reaches n 2;
inquiring a relation table of the initial slope slipping prevention torque and the first rotating speed n2 according to the first rotating speed n2 to obtain an initial slope slipping prevention torque Tq 1;
performing PI control according to a rotating speed difference n3 between the rotating speed n2 and the target rotating speed to obtain PI regulating torque Tq 2; wherein the target rotating speed is 0 rpm;
adding the initial slope sliding prevention torque Tq1 and the PI regulation torque Tq2 to obtain a slope sliding prevention basic torque Tq 3;
and performing first-order filtering processing and change rate processing on the anti-slope-slipping target torque Tq3 to obtain the final anti-slope-slipping torque Tq 4.
Further, the judging whether the current vehicle state meets the exit condition of the anti-slope-slipping function specifically includes:
judging whether the current vehicle state meets any one of the following conditions:
the first condition is as follows: the hand brake is in a pull-up state;
and a second condition: triggering the chassis electric control function;
and (3) carrying out a third condition: a fault occurrence affecting torque execution;
and a fourth condition: judging that the driver has a gear shifting action, and if the driver switches between the driving gears in the same direction, ignoring the gear shifting action;
and a fifth condition: the activation time of the slope slipping prevention function exceeds a time threshold, and the time threshold is obtained according to a current motor locked-rotor torque inquiry time threshold and a motor locked-rotor torque relation table;
and a sixth condition: whether the absolute value of the second rotating speed n1 exceeds a preset rotating speed maximum value or not is judged, wherein the preset rotating speed maximum value is obtained through conversion according to a preset vehicle speed threshold value;
the second speed n1 is calculated as follows:
if the current motor rotating speed is greater than or equal to a second preset rotating speed threshold value N1, performing first-order filtering processing on the original motor rotating speed to obtain a second rotating speed N1; the second preset rotating speed threshold value N1 is determined according to the motor rotating speed control precision.
Further, the step of judging whether the current vehicle state meets the condition for activating the anti-slope-sliding function specifically includes:
judging whether the current vehicle state simultaneously meets the following conditions:
the first condition is as follows: the vehicle currently enters a drivable mode;
and a second condition: the vehicle gear is a driving gear;
and (3) carrying out a third condition: the fluctuation of the motor speed after the driving gear is engaged is less than a preset motor speed threshold and must exceed a preset time threshold;
and a fourth condition: the absolute value of the second rotation speed n1 is within a preset rotation speed range [ preset rotation speed minimum value, preset rotation speed maximum value ], wherein the preset rotation speed minimum value is determined according to the rotation speed signal precision of the motor.
The invention also provides an electric automobile slope slipping prevention control system, which comprises:
the vehicle control unit is used for judging whether the current vehicle meets the condition of exiting the anti-slope-slipping function or the condition of activating the anti-slope-slipping function and calculating the final anti-slope-slipping torque;
the motor controller is used for receiving the final slope slipping prevention torque and controlling the motor to execute the final slope slipping prevention torque;
the electric automobile slope slipping prevention control system can execute the steps of the electric automobile slope slipping prevention control method.
The invention also provides a vehicle comprising the electric automobile slope slipping prevention control system.
Compared with the prior art, the invention has the following advantages:
according to the anti-slope-sliding control method, the anti-slope-sliding control system and the anti-slope-sliding control vehicle for the electric vehicle, the anti-slope-sliding function and the anti-slope-sliding performance of the pure electric vehicle are optimized on the basis of not increasing hardware cost and software development cost except a vehicle controller, the method can reduce the operation action of the accelerator pedal of a driver, so that the fatigue of the driver is relieved, the safety risk in the driving process is reduced, excessive accelerator pedal operation can be reduced when the driver runs on a non-flat road, the driver can safely pass through a curve in daily driving, and meanwhile, the effect of assisting slope starting can be achieved.
Drawings
FIG. 1 is a flow chart of an anti-slide control method for an electric vehicle according to the present invention;
FIG. 2 is a schematic structural diagram of an electric vehicle anti-slope-slipping control system of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the embodiment discloses an electric vehicle anti-slope-slipping control method, which includes the steps of:
(S1) determining whether the current vehicle state satisfies an anti-creep function activation condition; if yes, activating the slope slipping prevention function, and turning to the execution step (S2); otherwise, ending the flow;
(S2) calculating a final anti-creep torque, and allocating the final anti-creep torque to the motor for execution;
(S3) judging whether the current vehicle state meets the condition for quitting the anti-slope-slipping function, if so, quitting the anti-slope-slipping function, and turning to the execution step (S4); otherwise, go to execute step (S2);
(S4) judging whether the current vehicle state meets the condition for activating the anti-slope-sliding function again, if so, turning to the execution step (S2); otherwise, the flow ends.
In this embodiment, the determining whether the current vehicle state meets the exit condition of the anti-slope-slipping function specifically includes:
judging whether the current vehicle state meets any one of the following conditions:
the first condition is as follows: the hand brake is in a pull-up state.
And a second condition: triggering the chassis electric control function; for example: the ABS is triggered.
And (3) carrying out a third condition: a fault occurrence affecting torque execution; for example: and the motor controller reports the motor over-temperature fault.
And a fourth condition: and judging that the driver has a gear shifting action, and neglecting if the driver switches between the driving gears in the same direction.
And a fifth condition: and the activation time of the slope slipping prevention function exceeds a time threshold, and the time threshold is obtained according to a current motor locked-rotor torque inquiry time threshold and a motor locked-rotor torque relation table. The relation table of the time threshold and the motor locked-rotor torque is obtained through calibration; the larger the motor locked-rotor torque is, the smaller the corresponding time threshold value is, the time threshold value is generally recommended not to exceed 5 seconds, and the motor locked-rotor test result is calibrated by reference.
And a sixth condition: and whether the absolute value of the second rotating speed n1 exceeds a preset rotating speed maximum value is determined, wherein the preset rotating speed maximum value is obtained through conversion according to a preset vehicle speed threshold value. The maximum preset rotating speed values obtained by conversion of different vehicle types may be different. Optionally, the preset vehicle speed threshold is 1km/h, and the absolute value of the second rotation speed n1 exceeds the preset maximum rotation speed value, which indicates that the current vehicle speed exceeds 1 km/h. The preset vehicle speed threshold value is determined according to the principle that the vehicle starts to run in the direction consistent with the driving gear, the vehicle speed threshold value is 1km/h, and conversion is carried out according to the speed ratio and the tire radius of different vehicle types when conversion is carried out to the rotating speed threshold value.
The second speed n1 is calculated as follows:
if the current motor rotating speed is greater than or equal to a second preset rotating speed threshold value N1, performing first-order filtering processing on the original motor rotating speed to obtain a second rotating speed N1; the second preset rotating speed threshold value N1 is determined according to the motor rotating speed control precision. The first predetermined threshold speed is typically set to not exceed 10 rpm.
The formula of the first-order filtering process is Y (n) = ax (n) +(1-a) Y (n-1), where Y (n) is the current filtering output value, Y (n-1) is the last filtering output value, and a is the filtering coefficient.
In this embodiment, the determining whether the current vehicle state meets the condition for activating the anti-slope-slipping function specifically includes:
judging whether the current vehicle state simultaneously meets the following conditions:
the first condition is as follows: the vehicle is currently entering a drivable mode. The running mode is a state of the whole vehicle control system in which the whole vehicle is electrified at high and low voltage and the power assembly can output power according to the operation of a driver.
And a second condition: the vehicle gear is a driving gear. Considering the use scene of the function, the vehicle gear is a driving gear; it cannot be in park or neutral.
And (3) carrying out a third condition: the fluctuation of the motor speed after the driving gear is engaged is less than a preset motor speed threshold value and must exceed a preset time threshold value. The method aims to judge whether the vehicle is in a dynamic transition state to a static state, namely whether the vehicle is in a stable state, and prevent the slope sliding prevention function from being triggered by mistake due to the rotating speed shake caused by the inertia of the vehicle when the vehicle is stopped; optionally, the preset motor speed threshold is 50rpm, and the preset time threshold is 0.3 s; in some embodiments, the preset motor speed threshold and the preset time threshold may also take other values according to practical situations, and are not limited herein.
And a fourth condition: the absolute value of the second rotation speed n1 is within a preset rotation speed range [ preset rotation speed minimum value, preset rotation speed maximum value ], wherein the preset rotation speed minimum value is determined according to the rotation speed signal precision of the motor. For example, the following steps are carried out: the preset rotation speed range [ the preset rotation speed minimum value and the preset rotation speed maximum value ] is [1rpm, 450rpm ], and if the speed is in the forward gear, the range is generally between 1rpm and 450 rpm; if in reverse, the range is typically between-1 rpm and-450 rpm.
In this embodiment, the step of calculating the final anti-creep torque includes the following specific steps:
if the current motor rotating speed is greater than or equal to 0, performing first-order filtering processing on the current motor until the rotating speed reaches n 2;
and inquiring a relation table of the initial slope slip prevention torque and the first rotating speed n2 according to the first rotating speed n2 to obtain an initial slope slip prevention torque Tq 1. The table is a parameter table which can be calibrated, and real vehicle calibration is required to be confirmed; the larger n2 is, the larger torque Tq1 obtained by table lookup is, the smaller n2 is, and the smaller torque Tq1 obtained by table lookup is; .
And performing PI control according to a rotating speed difference n3 between the rotating speed n2 and a target rotating speed to obtain PI adjusting torque Tq2, wherein the target rotating speed is 0 rpm. P, I is a calibratable parameter, and the actual vehicle calibration is carried out according to the rotating speed difference n 3; the target rotating speed can only be 0, and because the anti-slope-slipping control is performed by taking the rotating speed of the motor as 0 as a target to perform closed-loop control, the rotating speed has slight deviation and influences the control effect.
Adding the initial slope sliding prevention torque Tq1 and the PI regulation torque Tq2 to obtain a slope sliding prevention basic torque Tq 3;
and performing first-order filtering processing and change rate processing on the anti-slope-slipping target torque Tq3 to obtain the final anti-slope-slipping torque Tq 4. The magnitude of the final anti-creep torque Tq4 should be limited, and the upper and lower limits should not exceed the mechanical capacity of the motor itself.
In order to ensure that torque impact on a power assembly and the whole vehicle cannot be caused by slope slipping prevention torque change when the function is activated and quitted, first-order filtering processing and change rate processing are carried out on slope slipping prevention target torque Tq3 to obtain slope slipping prevention torque Tq4 which is finally distributed to a motor to execute; and the first-order filter coefficient and the change rate parameter are determined by real vehicle calibration. The rate of change process specifies the magnitude of the increase or decrease in torque within 1 second.
Referring to fig. 2, the present embodiment discloses an electric vehicle anti-slope-slipping control system, including:
the vehicle control unit is used for judging whether the current vehicle meets the condition of exiting the anti-slope-slipping function or the condition of activating the anti-slope-slipping function and calculating the final anti-slope-slipping torque;
the motor controller is used for receiving the final slope slipping prevention torque and controlling the motor to execute the final slope slipping prevention torque;
the electric automobile slope slipping prevention control system can execute the steps of the electric automobile slope slipping prevention control method.
The embodiment discloses a vehicle, which comprises the electric automobile anti-slope-sliding control system.
According to the anti-slope-sliding control method, the anti-slope-sliding control system and the anti-slope-sliding control vehicle for the electric vehicle, the anti-slope-sliding function and the anti-slope-sliding performance of the pure electric vehicle are optimized on the basis of not increasing hardware cost and software development cost except a vehicle controller, the method can reduce the operation action of the accelerator pedal of a driver, so that the fatigue of the driver is relieved, the safety risk in the driving process is reduced, excessive accelerator pedal operation can be reduced when the driver runs on a non-flat road, the driver can safely pass through a curve in daily driving, and meanwhile, the effect of assisting slope starting can be achieved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. An electric automobile anti-slope-sliding control method is characterized by comprising the following steps:
(S1) determining whether the current vehicle state satisfies an anti-creep function activation condition; if yes, activating the slope slipping prevention function, and turning to the execution step (S2); otherwise, ending the flow;
(S2) calculating a final anti-creep torque, and allocating the final anti-creep torque to the motor for execution;
(S3) judging whether the current vehicle state meets the condition for quitting the anti-slope-slipping function, if so, quitting the anti-slope-slipping function, and turning to the execution step (S4); otherwise, go to execute step (S2);
(S4) judging whether the current vehicle state meets the condition for activating the anti-slope-sliding function again, if so, turning to the execution step (S2); otherwise, the flow ends.
2. The method for controlling the electric vehicle to slide away from the slope as claimed in claim 1, wherein the step of calculating the final torque for preventing the electric vehicle from sliding away from the slope comprises the following steps:
if the current motor rotating speed is greater than or equal to 0, performing first-order filtering processing on the current motor rotating speed to obtain a first rotating speed n 2;
inquiring a relation table of the initial slope slipping prevention torque and the first rotating speed n2 according to the first rotating speed n2 to obtain an initial slope slipping prevention torque Tq 1;
performing PI control according to a rotating speed difference n3 between the first rotating speed n2 and the target rotating speed to obtain PI regulating torque Tq 2; wherein the target rotating speed is 0 rpm;
adding the initial slope sliding prevention torque Tq1 and the PI regulation torque Tq2 to obtain a slope sliding prevention basic torque Tq 3;
and performing first-order filtering processing and change rate processing on the anti-slope-slipping target torque Tq3 to obtain the final anti-slope-slipping torque Tq 4.
3. The method for controlling electric vehicle to slide away from a slope according to claim 1 or 2, wherein the step of judging whether the current vehicle state meets the condition for exiting the function of sliding away from a slope includes:
judging whether the current vehicle state meets any one of the following conditions:
the first condition is as follows: the hand brake is in a pull-up state;
and a second condition: triggering the chassis electric control function;
and (3) carrying out a third condition: a fault occurrence affecting torque execution;
and a fourth condition: judging that the driver has a gear shifting action, and if the driver switches between the driving gears in the same direction, ignoring the gear shifting action;
and a fifth condition: the activation time of the slope slipping prevention function exceeds a time threshold, and the time threshold is obtained according to a current motor locked-rotor torque inquiry time threshold and a motor locked-rotor torque relation table;
and a sixth condition: whether the absolute value of the second rotating speed n1 exceeds a preset rotating speed maximum value or not is judged, wherein the preset rotating speed maximum value is obtained through conversion according to a preset vehicle speed threshold value;
the second speed n1 is calculated as follows:
if the current motor rotating speed is greater than or equal to a second preset rotating speed threshold value N1, performing first-order filtering processing on the original motor rotating speed to obtain a second rotating speed N1; the second preset rotating speed threshold value N1 is determined according to the motor rotating speed control precision.
4. The method for controlling the electric vehicle to slide away from the slope as claimed in claim 3, wherein the step of judging whether the current vehicle state meets the condition for activating the slope sliding prevention function is specifically as follows:
judging whether the current vehicle state simultaneously meets the following conditions:
the first condition is as follows: the vehicle currently enters a drivable mode;
and a second condition: the vehicle gear is a driving gear;
and (3) carrying out a third condition: the fluctuation of the motor speed after the driving gear is engaged is less than a preset motor speed threshold and must exceed a preset time threshold;
and a fourth condition: the absolute value of the second rotation speed n1 is within a preset rotation speed range [ preset rotation speed minimum value, preset rotation speed maximum value ], wherein the preset rotation speed minimum value is determined according to the rotation speed signal precision of the motor.
5. The utility model provides an electric automobile prevents swift current slope control system which characterized in that includes:
the vehicle control unit is used for judging whether the current vehicle meets the condition of exiting the anti-slope-slipping function or the condition of activating the anti-slope-slipping function and calculating the final anti-slope-slipping torque;
the motor controller is used for receiving the final slope slipping prevention torque and controlling the motor to execute the final slope slipping prevention torque;
the electric vehicle landslide prevention control system can execute the steps of the electric vehicle landslide prevention control method according to any one of claims 1 to 4.
6. A vehicle characterized by comprising the electric vehicle landslide prevention control system according to claim 5.
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Cited By (4)
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| CN114435147A (en) * | 2022-03-04 | 2022-05-06 | 奇瑞新能源汽车股份有限公司 | Method and device for controlling hill start of automobile, vehicle and storage medium |
| CN115257397A (en) * | 2022-06-17 | 2022-11-01 | 潍柴动力股份有限公司 | Vehicle control method and device, processor and vehicle |
| CN116160869A (en) * | 2023-03-03 | 2023-05-26 | 合肥阳光电动力科技有限公司 | Method and system for anti-slope control of a vehicle |
| WO2024221728A1 (en) | 2023-04-25 | 2024-10-31 | 深蓝汽车科技有限公司 | Assisted control method and system for preventing rollback of electric vehicle, and vehicle |
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