CN104554199A - Single-pedal speed control system of electric vehicle - Google Patents
Single-pedal speed control system of electric vehicle Download PDFInfo
- Publication number
- CN104554199A CN104554199A CN201310503723.9A CN201310503723A CN104554199A CN 104554199 A CN104554199 A CN 104554199A CN 201310503723 A CN201310503723 A CN 201310503723A CN 104554199 A CN104554199 A CN 104554199A
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- pedal
- speed
- control system
- vehicle
- speed control
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention provides a single-pedal speed control system of an electric vehicle. The single-pedal speed control system comprises a speed control pedal, a pedal position sensor, a speed controller, a brake valve and a return spring. The single-pedal speed control system has the advantages that starting, accelerating, decelerating and braking of the electric vehicle can be controlled by the speed control system according to the position of the pedal and current states of a motor, braking releasing, motor power-on, motor accelerating and motor power-off procedures are sequentially carried out when the pedal is released, motor rotation speed reducing, motor power-off and braking procedures are sequentially carried out when the pedal is treaded, and accordingly different deceleration requirements can be met; starting, motor rotation speed regulating and state switching can be automatically completed by the aid of the controller according to operation on the pedal, and accordingly the driving convenience and safety can be improved; problems of high operational complexity and easiness in causing misoperation due to the fact that an existing acceleration pedal and an existing brake pedal are separately arranged can be solved by the aid of the single-pedal speed control system.
Description
Technical field
The invention belongs to elec. vehicle technical field, particularly a kind of startup using pedal to control elec. vehicle, acceleration, at the uniform velocity travel, slow down and the control system of the operation such as braking.
Technical background
The speeds control of current power vehicle adopts the drive manner of similar orthodox car mostly, controls elec. vehicle speed by the device such as acceleration pedal and brake pedal.Mainly there is following two problems in the elec. vehicle of this set two pedal:
The first, operation complexity is high.Drive this elec. vehicle to need to be familiar with acceleration pedal and brake pedal, the driving learning this elec. vehicle needs a longer process, is unfavorable for grasping driving technique fast simultaneously.
The second, easily cause maloperation.Because the function of acceleration pedal and brake pedal is completely contradicted, sometimes step on wrong pedal and may cause catastrophic consequence.Such as, when needs emergency brake, chaufeur because will speed up pedal works as brake pedal in a hurry by mistake, may cause traffic accident.
There is several single pedal control program brake and Das Gaspedal are synthesized together at present, as patent 200510029424.1,201210017650.8,02114368.4,97192004.4.Patent 200510029424.1 adopts the mode of pure machinery, and pedal transfers Throttle Opening Control to backward, and pedal transfers forward brake to and controls, this kind of method operation complexity is higher, and when carrying out Throttle Opening Control, adopt the mode of heel operation, long-time operation can make chaufeur foot fatigue.Patent 201210017650.8 adopts the mode of pure machinery equally, and initial condition is brake, steps on to a certain degree enter throttle operation when pedal.Program Problems existing is that chaufeur cannot carry out emergency brake, on the contrary, when unclamping pedal and braking by strengthening pedal force, due to effect of inertia, foot can increase the weight of the dynamics of trampling by nature, now can enter acceleration mode on the contrary, reduce the safety of driving.Patent 02114368.4 have employed the mode of tying up pin, is control throttle in foot's lift, and it is control brake that foot tramples, and operation is comparatively complicated, and is in the sense of fatigue that lift state adds chaufeur for a long time, reduces the safety of driving.Patent 97192004.4 adopts the mode of pure machinery equally, needs multiple step configuration to complete, add the complexity of operation during operation.
Summary of the invention
The object of the invention is to reduce and drive the complexity of elec. vehicle, reduce by the traffic accident of stepping on wrong pedal and causing, improve the safety that vehicle travels.
The single pedal speed control system of elec. vehicle provided by the invention, comprises speeds control pedal, pedal position sensor, speed controller, brake activation valve and retracing spring.Pedal position sensor is arranged on pedal shaft; Speed controller calculates the positional value x of pedal, the locomotion speed value a of pedal according to the pedal position sensor data gathered, and goes out speed of a motor vehicle v according to car speed sensor calculated signals.
The pedal position x value that pedal is under initial condition is maxim 1, pedal position x value when pedal is floored is minimum value 0, take e as boundary line delimitation by order from big to small by the value of x be two intervals: x=(e ~ 1) between speed regulatory region, with the interval x=of braking (0 ~ e), wherein e ∈ (0 ~ 1).
In the present system, definition is when pedal moves from top to bottom, and pedal speed is negative, and when move from bottom to top by speed for pedal, pedal speed is just.When pedal is floored, remove rapidly and trample pin, pedal be reset springs return initial position time speed a=w.
After vehicle powers on, vehicle power motor is in off-position, if pedal is in initial position, i.e. x=1, then power motor keeps off-position, stationary vehicle.
When needing to start vehicle, first must enter into pedal braking district, then unclamps pedal gradually, and as x>e, speed controller starts vehicle power motor-driven vehicle and advances.Power motor rotating speed changes according to the change of x.
As speeds control pedal position x=1, speed controller will cut off vehicle power motor power, to prevent from meeting accident.
As speeds control pedal reset speed a=w, speed controller will not respond pedal operation, and this logic is used as to stop.
As x<e, speeds control pedal is applied directly on brake activation valve, carries out brake operating, and speed controller cuts off vehicle power motor power simultaneously, effectively ensure that traffic safety.
The invention has the beneficial effects as follows: the throttle replacing conventional truck to control with a speeds control pedal and brake pedal, speed controller completes startup automatically according to the operation be applied on pedal, motor speed regulates and braking, reduce the complexity of driving elec. vehicle, stop the possibility of maloperation, be convenient to grasp driving technique fast.
Accompanying drawing explanation
Fig. 1 is single pedal speed control system structural representation
Fig. 2 is that pedal stroke divides schematic diagram.
Fig. 3 is the control logic figure of this single pedal speed control system
Detailed description of the invention
In Fig. 11 is speed controller, adopts singlechip technology to control vehicle power motor.In Fig. 12 is speeds control pedals, and chaufeur expresses speeds control intention by this pedal.In Fig. 13 represents pedal position sensors, is mounted on speeds control pedal shaft, is used for the position of detection speed control pedal.In Fig. 14 is brake activation valves, is connected by hydraulic tubing with brake disc.In Fig. 15 is retracing springs, and speeds control pedal is pulled to initial position.In Fig. 1 11 is twisted-pair feeders that speed controller connects pedal position sensor.
In Fig. 26 is speed regulatory regions, and speeds control pedal does not contact with brake activation valve when speed regulatory region, and now speeds control pedal is used for controlling the rotating speed of electrical vehicular power motor.In Fig. 27 is braking districts, and speeds control pedal contacts with brake activation valve when braking district, applies brake-pressure to brake activation valve.In Fig. 28 is the initial point of pedal position, now x=1.In Fig. 29 is the nadir of pedal position, now x=0.In Fig. 2 10 is the speed regulatory region of pedal position and the train spacing point in braking district, now x=e.
Fig. 3 describes the process logic of speed controller work.After speed control system powers on, first speed controller carries out self-inspection, then judges whether pedal position x is less than e.If x is greater than e, speed controller will wait for that user jams on pedal operation always, until x is less than e.When x is less than e time, speed controller continues to wait for that user unclamps pedal gradually.Be more than or equal to e when user unclamps pedal gradually to x, and during x<1, speed controller will power on for power motor.Then, speed controller regulates power motor rotating speed, until x value is less than e or x=1 according to the value of x.If x value is less than e, then represent that user wishes to start brake, now speed controller will cut off motor power.If pedal position x=1, then represent that the pin of user leaves pedal, now speed controller will cut off motor power.Then, speed controller continues the new operation of wait user.
In driving procedure, it is interval that chaufeur does not need to know which the current positional value of pedal drops on, and do not need the velocity amplitude knowing pedal yet, only need to carry out six kinds and operate:
1, vehicle is started
After system electrification, unclamp gradually to speed regulatory region (x>=e)-startup elec. vehicle behind braking district that speeds control pedal is stepped on.
2, the speed of a motor vehicle is increased
After vehicle start-up, release speed control pedal gradually, improve the position of pedal, speed controller will increase the speed of a motor vehicle according to pedal position.
3, the speed of a motor vehicle is reduced
In vehicle travel process, step on speeds control pedal gradually, reduce the position of pedal, speed controller will reduce the speed of a motor vehicle according to pedal position.
4, car brakeing
In vehicle travel process, step on speeds control pedal, make pedal position enter braking district, now speeds control pedal will promote brake activation valve, brake vehicle.The dynamics of push down on the pedal is larger, and braking force is larger.
5, stop
In vehicle travel process, step on speeds control pedal, make pedal position enter braking district, after vehicle comes to a complete stop, then pin is removed pedal rapidly, now the pedal spring that is reset retracts initial position fast, speed controller no longer carries out power on operation to motor, and vehicle keeps dead ship condition.
6, abnormal operation
In vehicle travel process, chaufeur breaks away pedal, and now pedal resets by retracing spring, and speed controller will cut off power motor power supply.
Speed controller carries out speed of a motor vehicle adjustment and braking etc. automatically according to the speed of pedal position, pedal travel, reduces the complexity of operation, enhances the safety of driving.
Claims (9)
1. a single pedal speed control system for elec. vehicle, comprises speeds control pedal, pedal position sensor, speed controller, brake activation valve and retracing spring; It is characterized in that: only with a pedal realize elec. vehicle startup, acceleration, at the uniform velocity travel, slow down and braking procedure.
2. the single pedal speed control system of elec. vehicle according to claim 1, is characterized in that: pedal stroke is divided into two regions, and superposed region is speed regulatory region, is positioned at the region of bottom for braking district.When pedal is positioned at braking district, pedal force directly acts on brake activation valve by connecting rod by pedal, and when pedal is positioned at speed regulatory region, pedal is separated with brake activation valve.
3. the single pedal speed control system of elec. vehicle according to claim 1, it is characterized in that: initial pedal position is positioned at the top of speed regulatory region, when pressing pedal when tramping with one's feet, pedal moves to braking district gradually, when being totally released pedal, pedal returns to initial position.
4. the single pedal speed control system of elec. vehicle according to claim 1, it is characterized in that: pedal position sensor is arranged on pedal shaft, speed controller calculates pedal position value according to the information of pedal position sensor collection.
5. the single pedal speed control system of elec. vehicle according to claim 1, it is characterized in that: after car key is opened, step on pedal braking district, unclamp pedal gradually, when pedal position starts admission velocity regulatory region, speed controller can power on to power motor, and this operation is used for starter motor.
6. the single pedal speed control system of elec. vehicle according to claim 1, it is characterized in that: if after pedal position enters braking district from speed regulatory region, pedal directly acts on brake activation valve, vehicle is braked, now speed controller cuts off power motor power supply, stops Power output.
7. the single pedal speed control system of elec. vehicle according to claim 1, it is characterized in that: when vehicle power motor rotation, pedal position is between speed regulatory region, and jamming on pedal will reduce Vehicle Speed, and unclamping pedal gradually will improve Vehicle Speed.
8. the single pedal speed control system of elec. vehicle according to claim 1, it is characterized in that: when vehicle power motor rotation, if pedal position returns to initial position, speed controller will cut off motor power, to improve system safety, prevent traffic accident.
9. the single pedal speed control system of elec. vehicle according to claim 1, is characterized in that: when vehicle power motor is in power-down state, even if pedal position is between speed regulatory region, speed controller does not carry out speeds control to power motor.If need to allow vehicle power motor come into operation, first speeds control pedal must be treaded in braking district, then unclamp admission velocity regulatory region gradually, speed controller can start vehicle power motor, to improve the safety of control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310503723.9A CN104554199A (en) | 2013-10-22 | 2013-10-22 | Single-pedal speed control system of electric vehicle |
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| CN201310503723.9A CN104554199A (en) | 2013-10-22 | 2013-10-22 | Single-pedal speed control system of electric vehicle |
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| CN104554199A true CN104554199A (en) | 2015-04-29 |
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| CN201310503723.9A Pending CN104554199A (en) | 2013-10-22 | 2013-10-22 | Single-pedal speed control system of electric vehicle |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924918A (en) * | 2015-05-18 | 2015-09-23 | 北京新能源汽车股份有限公司 | Single-pedal control system and method for pure electric vehicle |
| CN105235682A (en) * | 2015-09-17 | 2016-01-13 | 苏州易动智能科技有限公司 | Vehicle single pedal intelligent speed control method |
| CN105946573A (en) * | 2016-06-18 | 2016-09-21 | 李星辉 | Controller integrating brake and electronic accelerator together |
| CN106183805A (en) * | 2016-06-28 | 2016-12-07 | 陈金芳 | A kind of gas control method without gas pedal |
| CN106427665A (en) * | 2016-10-25 | 2017-02-22 | 法乐第(北京)网络科技有限公司 | Control method and device for electric vehicle composite pedal and electronic equipment |
| CN106627173A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Intelligent control method of four-wheel electric vehicle |
| CN106627134A (en) * | 2016-10-23 | 2017-05-10 | 李星辉 | Device and method of integrating brake into accelerator pedal |
| CN106627577A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Automatic cruise control method for electric vehicle |
| CN106740749A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The whole-control system of electric motor car, the brake management system of electric motor car and its method |
| CN107415910A (en) * | 2017-06-28 | 2017-12-01 | 无锡英捷汽车科技有限公司 | A kind of braking of electric motor vehicle, accelerate overlapping pedal assembly |
| CN108313061A (en) * | 2018-03-29 | 2018-07-24 | 北京新能源汽车股份有限公司 | A kind of control method of vehicle, device and automobile |
| WO2018141077A1 (en) * | 2017-02-03 | 2018-08-09 | 肖湘茂 | Integrated accelerator-brake pedal device having anti-collision and anti-lock functions |
| CN109334686A (en) * | 2018-11-19 | 2019-02-15 | 佛山科学技术学院 | A kind of watchful device of traffic trip |
| CN111055823A (en) * | 2019-12-10 | 2020-04-24 | 南宁职业技术学院 | Brake and accelerator integrated device and control method thereof |
| DE112016000560B4 (en) * | 2015-01-30 | 2021-04-01 | Advics Co., Ltd. | Vehicle control device |
| CN113156910A (en) * | 2020-01-07 | 2021-07-23 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit and new energy vehicle |
| TWI739253B (en) * | 2019-12-25 | 2021-09-11 | 國立高雄科技大學 | Transporting means power control system |
| CN113459804A (en) * | 2021-07-28 | 2021-10-01 | 湖南道依茨动力有限公司 | Acceleration braking control method and device, vehicle and electronic equipment |
| CN113511072A (en) * | 2021-08-26 | 2021-10-19 | 广州瑞博汽车电子有限公司 | New energy automobile engine speed limiting device |
| CN113874237A (en) * | 2019-05-20 | 2021-12-31 | 采埃孚商用车***汉诺威有限公司 | Speed regulation system for a vehicle and method for regulating a driving speed |
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Cited By (27)
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|---|---|---|---|---|
| DE112016000560B4 (en) * | 2015-01-30 | 2021-04-01 | Advics Co., Ltd. | Vehicle control device |
| CN104924918B (en) * | 2015-05-18 | 2018-09-07 | 北京新能源汽车股份有限公司 | A kind of the single pedal control system and its method of pure electric automobile |
| CN104924918A (en) * | 2015-05-18 | 2015-09-23 | 北京新能源汽车股份有限公司 | Single-pedal control system and method for pure electric vehicle |
| CN105235682A (en) * | 2015-09-17 | 2016-01-13 | 苏州易动智能科技有限公司 | Vehicle single pedal intelligent speed control method |
| CN105946573A (en) * | 2016-06-18 | 2016-09-21 | 李星辉 | Controller integrating brake and electronic accelerator together |
| CN106183805A (en) * | 2016-06-28 | 2016-12-07 | 陈金芳 | A kind of gas control method without gas pedal |
| CN106627134A (en) * | 2016-10-23 | 2017-05-10 | 李星辉 | Device and method of integrating brake into accelerator pedal |
| 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 |
| CN106427665A (en) * | 2016-10-25 | 2017-02-22 | 法乐第(北京)网络科技有限公司 | Control method and device for electric vehicle composite pedal and electronic equipment |
| CN106627577A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Automatic cruise control method for electric vehicle |
| CN106740749A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The whole-control system of electric motor car, the brake management system of electric motor car and its method |
| CN106627173A (en) * | 2016-12-22 | 2017-05-10 | 江苏萝卜交通科技有限公司 | Intelligent control method of four-wheel electric vehicle |
| CN106627173B (en) * | 2016-12-22 | 2019-05-24 | 江苏萝卜交通科技有限公司 | The intelligent control method of four-wheel electric motor car |
| WO2018141077A1 (en) * | 2017-02-03 | 2018-08-09 | 肖湘茂 | Integrated accelerator-brake pedal device having anti-collision and anti-lock functions |
| CN107415910A (en) * | 2017-06-28 | 2017-12-01 | 无锡英捷汽车科技有限公司 | A kind of braking of electric motor vehicle, accelerate overlapping pedal assembly |
| CN108313061A (en) * | 2018-03-29 | 2018-07-24 | 北京新能源汽车股份有限公司 | A kind of control method of vehicle, device and automobile |
| CN109334686A (en) * | 2018-11-19 | 2019-02-15 | 佛山科学技术学院 | A kind of watchful device of traffic trip |
| CN113874237A (en) * | 2019-05-20 | 2021-12-31 | 采埃孚商用车***汉诺威有限公司 | Speed regulation system for a vehicle and method for regulating a driving speed |
| US11891062B2 (en) | 2019-05-20 | 2024-02-06 | Zf Cv Systems Europe Bv | Velocity adjustment system for a vehicle, and method for adjusting a driving velocity |
| CN111055823B (en) * | 2019-12-10 | 2022-02-01 | 南宁职业技术学院 | Brake and accelerator integrated device and control method thereof |
| CN111055823A (en) * | 2019-12-10 | 2020-04-24 | 南宁职业技术学院 | Brake and accelerator integrated device and control method thereof |
| TWI739253B (en) * | 2019-12-25 | 2021-09-11 | 國立高雄科技大學 | Transporting means power control system |
| CN113156910A (en) * | 2020-01-07 | 2021-07-23 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit and new energy vehicle |
| CN113156910B (en) * | 2020-01-07 | 2022-03-08 | 长城汽车股份有限公司 | Parking control method and device, vehicle control unit and new energy vehicle |
| CN113459804A (en) * | 2021-07-28 | 2021-10-01 | 湖南道依茨动力有限公司 | Acceleration braking control method and device, vehicle and electronic equipment |
| CN113511072A (en) * | 2021-08-26 | 2021-10-19 | 广州瑞博汽车电子有限公司 | New energy automobile engine speed limiting device |
| CN113511072B (en) * | 2021-08-26 | 2022-02-08 | 广州瑞博汽车电子有限公司 | New energy automobile engine speed limiting device |
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Addressee: Yang Guoqing Document name: Notification of Publication of the Application for Invention |
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Application publication date: 20150429 |