CN104417538B - Electric car and the driving of control electric car, the system and its control method of braking - Google Patents
Electric car and the driving of control electric car, the system and its control method of braking Download PDFInfo
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- CN104417538B CN104417538B CN201310374720.XA CN201310374720A CN104417538B CN 104417538 B CN104417538 B CN 104417538B CN 201310374720 A CN201310374720 A CN 201310374720A CN 104417538 B CN104417538 B CN 104417538B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 206010039203 Road traffic accident Diseases 0.000 abstract description 5
- 230000001172 regenerating effect Effects 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
A kind of electric car and the driving of control electric car, the system and its control method of braking, wherein system includes the first collecting unit of one tread depths signal of collection, gather the second collecting unit of motor speed, and control unit, control unit judges whether that output control signal controls vehicle traction according to tread depths signal, braking, or not output control signal；And the driving power value to vehicle, and the brake force according to tread depths signal of change vehicle are determined according to tread depths signal and motor speed.This avoid footfeed and brake pedal to be provided separately, driver does not pay attention to slightly occurring to step on by mistake, the drawbacks of bringing severe traffic accidents, present system is only by setting a single pedal to realize driving and the control for brake of vehicle, so that driver is simple to operate；And in braking procedure, control unit output control signal is to motor so that controlled motor output reactive torque so that energy regenerating is to battery, it is achieved thereby that energy reclaims to greatest extent.
Description
Technical field
The invention belongs to field of vehicle control, and in particular to a kind of electric car and the driving of control electric car, the system of braking
And its control method.
Background technology
At present, the footfeed of vehicle and brake pedal are typically all to be provided separately and manipulated by the same pin of driver,
It is to accelerate when stepping on footfeed, is to slow down when lifting footfeed；And it is deceleration and braking when stepping on brake pedal.Due to
The operation of two pedals is in opposite direction when making vehicle deceleration, so driver will make exactly at any time steps on sentencing for which pedal
It is disconnected, it the spirit of driver is had been at high-strung state, when running into emergency or scattered thought, it is easy to
Generation is stepped on and stepped on late by mistake, leads to traffic accident.
Existing vehicle is additionally, since when touching on the brake pedal brake, it is most of to rely on mechanical braking, and this machinery is made
It is dynamic that most of energy can be caused to be lost in the form of heat in the friction of brake block, so as to which energy greatly be lost.
The content of the invention
The purpose of the present invention is intended at least solve above-mentioned technological deficiency to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of system for controlling electric car driving, braking.
Second object of the present invention is to propose a kind of electric car.
Third object of the present invention is to propose a kind of control method for controlling electric car driving, braking.
To reach above-mentioned purpose, the control electric car that one aspect of the present invention embodiment proposes drives, the system of braking includes：
First collecting unit, for gathering a tread depths signal；
Second collecting unit, for gathering motor speed；With
Control unit, the tread depths signal that described control unit gathers according to the first collecting unit judge whether output control
Signal processed gives motor control vehicle traction, and output control signal is braked to motor control vehicle, or not output control signal；And
The motor speed that the tread depths signal and the second collecting unit gathered according to the first collecting unit gathers determines the drive of vehicle
Dynamic performance number, and the brake force of the tread depths signal of change vehicle gathered according to the first collecting unit.
The control electric car driving proposed according to embodiments of the present invention, the system braked, avoid prior art oiling and step on
Plate and brake pedal are provided separately, and driver needs significant attention determines when which pedal stepped on, and do not pay attention to slightly occurring
Step on by mistake, the drawbacks of bringing severe traffic accidents, the system of the embodiment of the present invention is only by setting a single pedal to realize car
Driving and control for brake so that driver is simple to operate, slow down when lifting, brake, driven when stepping on, accelerated；And
And in braking procedure, control unit output control signal is to motor so as to controlled motor output reactive torque so that energy can be with
Reclaim to battery, it is achieved thereby that energy reclaims to greatest extent.
Driven to reach above-mentioned purpose, the electric car that another aspect of the present invention embodiment proposes, including above-mentioned control electric car
Dynamic, braking system.
To reach above-mentioned purpose, the control electric car driving proposed of another aspect of the invention embodiment, the controlling party braked
Method, comprise the following steps：
Gather tread depths signal and motor speed：
Judge whether that output control signal gives motor control vehicle traction according to tread depths signal, output control signal is given
Motor control vehicle is braked, or not output control signal；
Wherein, when controlling vehicle traction, the driving power of vehicle is determined according to tread depths signal and motor speed
Value；When controlling vehicle braking, according to the brake force of tread depths signal of change vehicle.
The control method proposed according to embodiments of the present invention, avoids prior art footfeed and brake pedal is separately set
Put, driver needs significant attention determines when which pedal stepped on, and does not pay attention to slightly occurring to step on by mistake, brings serious traffic
The drawbacks of accident, the control method of the embodiment of the present invention is according only to judging that the tread depths signal that a single pedal is stepped on can be real
The driving of existing vehicle and control for brake, so that driver is simple to operate, slows down when lifting, brake, drive, add when stepping on
Speed；Moreover, in braking procedure, control unit output control signal is to motor so as to controlled motor output reactive torque so that energy
Amount can be reclaimed to battery, it is achieved thereby that energy reclaims to greatest extent.
Brief description of the drawings
Fig. 1 is the structured flowchart for the system for controlling electric car to drive, braking that one aspect of the present invention embodiment proposes.
Fig. 2 is pedal travel piecewise graph in the embodiment of the present invention.
Fig. 3 is the method flow diagram for the control method for controlling electric car to drive, braking that another aspect of the present invention proposes.
Embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
In order to which those skilled in the art more fully understand and realize technical scheme, come with reference to the accompanying drawings to it
It is specifically addressed.
Fig. 1 is the structured flowchart for the system for controlling electric car to drive, braking that one aspect of the present invention embodiment proposes, is referred to
Fig. 1, the driving of control electric car, the system of braking include：
First collecting unit 1, for gathering a tread depths signal；
Second collecting unit 2, for gathering motor speed；With
Control unit 3, the tread depths signal that described control unit 3 gathers according to the first collecting unit 1 judge whether defeated
Go out control signal and give motor control vehicle traction, output control signal is braked to motor control vehicle, or output control is not believed
Number；And the motor speed that the tread depths signal gathered according to the first collecting unit 1 and the second collecting unit 2 gather determines car
Driving power value, and according to the first collecting unit 1 gather tread depths signal of change vehicle brake force.
In a particular embodiment of the present invention, above-mentioned control unit 3 can receive the tread depths of the first collecting unit 1 collection
Signal, and pedal current time position is judged according to the first trip segment, the second trip segment and third trip section parameter area to prestore
In which trip segment, when pedal is located at the first trip segment, then output control signal gives motor control vehicle traction；When pedal is located at
Second trip segment, then not output control signal；When pedal is located at third trip section, then output control signal gives motor control vehicle
Braking.
Fig. 2 is a kind of specific schematic diagram of pedal travel of embodiment of the present invention segmentation, as shown in Fig. 2 the A section phases in Fig. 2
When the first trip segment in above-described embodiment, B sections are equivalent to the second trip segment in above-described embodiment, and C sections are equivalent to above-mentioned
Third trip section in embodiment, so that driver only need by a pedal by controlling the depth stepped on just
Controllable vehicle traction, braking or sliding state, for example, driver is when driving, when can then drive vehicle in the pedal A areas that step on
Dynamic, the effect in A areas is as traditional gas pedal control, and it is exactly large throttle to be stepped on deeply from B areas toward A areas, and shallow step on is exactly small throttle,
What the tread depths signal and the second collecting unit 2 that i.e. the driving power value of vehicle gathers according to the first collecting unit 1 gathered
Motor speed synthesis determines.When pedal is in B areas, neither drive also not braking, now vehicle is in sliding state.Pedal from
B areas toward C areas pine be exactly control for brake, release it is more, brake force will be bigger, i.e., brake force is adopted according to the first collecting unit 1
The tread depths signal of change of collection obtains, and after pedal is totally released, is just braked with brake force to greatest extent.It can manage
Solution, above-mentioned A sections, the specific division of B sections and C sections can not be done have herein by designer according to the specific setting of needs is driven
Body introduction, certainly, as a kind of specific embodiment of the present invention, C sections section 0-10%, B sections 10%-15%, A section can be set
15%-100%, herein percentage refer to the percentage of tread depths signal.
In a particular embodiment of the present invention, can be in the following manner when above-mentioned control unit 3 controls vehicle traction
Determine the driving power value of vehicle：
Control unit 3 can receive the first collecting unit 1 collection tread depths signal and the second collecting unit 2 collection
Motor speed, and by search prestore tread depths, motor speed, power curve table determine corresponding to vehicle driving power
Value, the tread depths signal, motor speed, power curve table are to be obtained by designer beforehand through test of many times, that is, are existed
A certain tread depths signal, the suitable corresponding driving power value that should be exported under the conditions of a certain motor speed, and its is pre-
Exist in control unit 3, to search.
In a particular embodiment of the present invention, above-mentioned first collecting unit 1 can be pedal sensor, the second collecting unit 2
Can be rotary transformer, and above-mentioned control unit 3 can be electric machine controller.It should be noted that, this is only a kind of specific herein
Embodiment, the first collecting unit 1 of the invention, the second collecting unit 2 and control unit 3 are not limited to the specific device of the above, and it is also
It can be other devices that can arbitrarily perform its function, not enumerate herein.
The control electric car driving proposed according to embodiments of the present invention, the system braked, avoid prior art oiling and step on
Plate and brake pedal are provided separately, and driver needs significant attention determines when which pedal stepped on, and do not pay attention to slightly occurring
Step on by mistake, the drawbacks of bringing severe traffic accidents, the system of the embodiment of the present invention is only by setting a single pedal to realize car
Driving and control for brake so that driver is simple to operate, slow down when lifting, brake, driven when stepping on, accelerated；And
And in braking procedure, the output control signal of control unit 3 is to motor so that controlled motor output reactive torque so that energy can
To reclaim to battery, it is achieved thereby that energy reclaims to greatest extent.
Preferably, in vehicle traction and braking procedure, in order to ensure the stability of vehicle, described control unit 3 is also used
In：
The vehicle slip when vehicle is in driving condition, then be gradually reduced the driving power of vehicle, work as car in the process
When stopping skidding, then recover the initial driving power of vehicle；
The vehicle slip when vehicle is in on-position, then be gradually reduced the brake force of vehicle, work as vehicle in the process
When stopping skidding, then recover the initial brake force of vehicle.
It is understood that recovering the initial driving power of vehicle refers to return to corresponding drive when vehicle does not skid
Dynamic performance number, for example, when vehicle does not skid, now driving power value is P1, and when vehicle slip, it should by driving power
It is gradually reduced since P1, and when vehicle stops skidding, then the driving power that should recover vehicle is initial P1.
It is understood that recovering the initial brake force of vehicle refers to return to corresponding braking when vehicle does not skid
Power, for example, when vehicle does not skid, now braking be F1, and when vehicle slip, it should by driving power since F1 it is gradual
Reduce, and when vehicle stops skidding, then the brake force that should recover vehicle is initial F1.
It should be noted that, whether vehicle, which skids, to be judged by control unit 3 according to parametric synthesis such as vehicle wheel speeds herein,
This is not introduced.
The embodiment of the present invention additionally provides a kind of electric car, the electric car include above-mentioned control electric car driving, braking
System.
Fig. 3 is the another aspect of the present invention control electric car driving proposed, the method flow diagram for the control method braked, and is joined
Fig. 3 is read, the driving of control electric car, the control method of braking, is comprised the following steps：
Step 31：Gather tread depths signal and motor speed：
In the step, tread depths signal can be gathered by pedal sensor, and motor speed can be adopted by rotary transformer
Collection, certainly, this is only a kind of specific embodiment, and tread depths signal and motor speed can also be gathered by other devices,
Do not do and introduce one by one herein.
Step 32：Judge whether that output control signal gives motor control vehicle traction, output control according to tread depths signal
Signal processed is braked to motor control vehicle, or not output control signal；When controlling vehicle traction, step 33 is performed, works as control
During vehicle braking processed, step 34 is performed；
In the step, judge whether output control signal to motor control vehicle traction, braking according to tread depths signal
Or output control signal not may particularly include following steps：
Tread depths signal is received, and according to the first trip segment, the second trip segment and third trip section parameter model to prestore
Enclose and judge which trip segment current pedal is located at；
When pedal is located at the first trip segment, then output control signal gives motor control vehicle traction；
When pedal is located at the second trip segment, then not output control signal；
When pedal is located at third trip section, then output control signal is braked to motor control vehicle.
Step 33：The driving power value of vehicle is determined according to tread depths signal and motor speed；
In the step, the driving power value of vehicle can be determined especially by following steps：
Receive collection tread depths signal and motor speed, and by search prestore tread depths, motor speed,
The driving power value of vehicle corresponding to the determination of power curve table.The tread depths signal, motor speed, power curve table be by
Designer obtains beforehand through test of many times, i.e., should be exported under the conditions of a certain tread depths signal, a certain motor speed
Suitable corresponding performance number, and prestored in a control unit, to search.
Step 34：According to the brake force of tread depths signal of change vehicle.
The control electric car driving proposed according to embodiments of the present invention, the control method braked, avoid prior art and add
Oily pedal and brake pedal are provided separately, and driver needs significant attention determines when which pedal stepped on, and does not pay attention to slightly
Generation is stepped on by mistake, the drawbacks of bringing severe traffic accidents, and the system of the embodiment of the present invention is only by setting a single pedal can be real
The driving of existing vehicle and control for brake, so that driver is simple to operate, slows down when lifting, brake, drive, add when stepping on
Speed；Moreover, in braking procedure, control unit output control signal is to motor so as to controlled motor output reactive torque so that energy
Amount can be reclaimed to battery, it is achieved thereby that energy reclaims to greatest extent.
Preferably, in vehicle traction and braking procedure, in order to ensure the stability of vehicle, the control method also includes
Following steps：
The vehicle slip when vehicle is in driving condition, then be gradually reduced the driving power of vehicle, work as car in the process
When stopping skidding, then recover the initial driving power of vehicle；For example, when vehicle does not skid, now driving power value is P1,
And when vehicle slip, it should driving power is gradually reduced since P1, and when vehicle stops skidding, then it should recover vehicle
Driving power be initial P1；
The vehicle slip when vehicle is in on-position, then be gradually reduced the brake force of vehicle, work as vehicle in the process
When stopping skidding, then recover the initial brake force of vehicle.For example, when vehicle does not skid, now braking is F1, and when vehicle is beaten
When sliding, it should driving power is gradually reduced since F1, and when vehicle stops skidding, then the brake force that should recover vehicle is
Initial F1.
It should be noted that, whether vehicle, which skids, to be judged by control unit according to parametric synthesis such as vehicle wheel speeds herein,
This is not introduced.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of control electric car driving, the system of braking, it is characterised in that including：
First collecting unit, for gathering a tread depths signal；
Second collecting unit, for gathering motor speed；With
Control unit, the tread depths signal that described control unit gathers according to the first collecting unit judge whether that output control is believed
Motor control vehicle traction number is given, output control signal gives the braking of motor control vehicle, or not output control signal；And according to
The tread depths signal of first collecting unit collection and the motor speed of the second collecting unit collection determine the driving work(of vehicle
Rate value, and the brake force of the tread depths signal of change vehicle gathered according to the first collecting unit.
2. control electric car driving according to claim 1, the system of braking, it is characterised in that described control unit connects
The tread depths signal of the first collecting unit collection is received, and according to the first trip segment, the second trip segment and third trip to prestore
Section parameter area judges which trip segment pedal current time is located at, when pedal is located at the first trip segment, then output control signal
Give motor control vehicle traction；When pedal is located at the second trip segment, then not output control signal；When pedal is located at third trip
Section, then output control signal gives motor control vehicle to brake.
3. control electric car driving according to claim 1, the system of braking, it is characterised in that described control unit connects
The tread depths signal of the first collecting unit collection and the motor speed of the second collecting unit collection are received, and is prestored by searching
Tread depths signal, motor speed, power curve table determine corresponding to vehicle driving power value.
4. control electric car driving according to claim 1, the system of braking, it is characterised in that described control unit is also
For：
The vehicle slip when vehicle is in driving condition, then the driving power of vehicle is gradually reduced, in the process when vehicle stops
When only skidding, then recover the initial driving power of vehicle；
The vehicle slip when vehicle is in on-position, then the brake force of vehicle is gradually reduced, in the process when vehicle stops
During skidding, then recover the initial brake force of vehicle.
5. the control electric car driving according to any one of Claims 1-4, the system of braking, it is characterised in that described the
One collecting unit is pedal sensor, and the second collecting unit is rotary transformer, and described control unit is electric machine controller.
A kind of 6. electric car, it is characterised in that including described in claim any one of 1-5 control electric car driving, braking
System.
7. a kind of control electric car driving, the control method of braking, it is characterised in that comprises the following steps：
Gather tread depths signal and motor speed：
Judge whether that output control signal gives motor control vehicle traction according to tread depths signal, output control signal is to motor
Control vehicle braking, or not output control signal；
Wherein, when controlling vehicle traction, the driving power value of vehicle is determined according to tread depths signal and motor speed；When
When controlling vehicle braking, according to the brake force of tread depths signal of change vehicle.
8. control electric car driving according to claim 7, the control method of braking, it is characterised in that deep according to pedal
Degree signal judge whether output control signal to motor control vehicle traction, braking or not output control signal specifically include it is following
Step：
Tread depths signal is received, and is sentenced according to the first trip segment, the second trip segment and third trip section parameter area to prestore
Which trip segment disconnected pedal current time is located at；
When pedal is located at the first trip segment, then output control signal gives motor control vehicle traction；
When pedal is located at the second trip segment, then not output control signal；
When pedal is located at third trip section, then output control signal is braked to motor control vehicle.
9. control electric car driving according to claim 7, the control method of braking, it is characterised in that when control vehicle
How to determine that the driving power value of vehicle specifically includes following steps during driving：
Receive collection tread depths signal and motor speed, and by search prestore tread depths signal, motor speed,
The driving power value of vehicle corresponding to the determination of power curve table.
10. the control electric car driving according to any one of claim 7 to 9, the control method of braking, it is characterised in that
The control method is further comprising the steps of；
The vehicle slip when vehicle is in driving condition, then the driving power of vehicle is gradually reduced, in the process when vehicle stops
When only skidding, then recover the initial driving power of vehicle；
The vehicle slip when vehicle is in on-position, then the brake force of vehicle is gradually reduced, in the process when vehicle stops
During skidding, then recover the initial brake force of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310374720.XA CN104417538B (en) | 2013-08-26 | 2013-08-26 | Electric car and the driving of control electric car, the system and its control method of braking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310374720.XA CN104417538B (en) | 2013-08-26 | 2013-08-26 | Electric car and the driving of control electric car, the system and its control method of braking |
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| CN104417538A CN104417538A (en) | 2015-03-18 |
| CN104417538B true CN104417538B (en) | 2018-03-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104417537B (en) * | 2013-08-26 | 2018-03-13 | 长沙市比亚迪汽车有限公司 | Control electric car driving, system, electric car and its control method of braking |
| CN106184193B (en) * | 2015-04-29 | 2018-12-21 | 比亚迪股份有限公司 | The control method and control system and vehicle of vehicle driving |
| CN105034818A (en) * | 2015-07-13 | 2015-11-11 | 北京现代汽车有限公司 | Electromobile energy recovery method and device |
| CN105235682B (en) * | 2015-09-17 | 2018-09-25 | 无锡卡瑞森赛车零部件制造有限公司 | The single pedal intelligent speed control method of automobile |
| CN105059137B (en) * | 2015-09-22 | 2017-05-03 | 中冶南方（武汉）自动化有限公司 | Short-distance vehicle following control method of electric vehicle |
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| CN106427665B (en) * | 2016-10-25 | 2018-04-06 | 乐视汽车（北京）有限公司 | A kind of control method, device and the electronic equipment of the compound pedal of electric automobile |
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