CN108819797A - The anti-method and device slipped by slope of control car ramp starting - Google Patents
The anti-method and device slipped by slope of control car ramp starting Download PDFInfo
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- CN108819797A CN108819797A CN201810735984.6A CN201810735984A CN108819797A CN 108819797 A CN108819797 A CN 108819797A CN 201810735984 A CN201810735984 A CN 201810735984A CN 108819797 A CN108819797 A CN 108819797A
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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
- B60L15/28—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
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
-
- 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
- B60L2240/48—Drive Train control parameters related to transmissions
- B60L2240/486—Operating parameters
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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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of anti-method and devices slipped by slope of control car ramp starting.Its method includes：Whether detection vehicle is in uphill starting state；Vehicle is persistently locked, and acquires current hill gradient to determine gradient resistance and acquisition throttle depth to determine that operator demand takes turns end torque；Judge that operator demand takes turns whether end torque is greater than or equal to gradient resistance；If so, unlock vehicle, and motor target torque corresponding with gradient resistance is exported, so that vehicle does not slip by slope.Utilize the present invention, first locking vehicle not in uphill starting slips by slope it backward, after the operator demand caused by driver's accelerator pedal takes turns end torque and is greater than or equal to gradient resistance, that is when the power of support vehicles motor output slips by slope vehicle driving up traveling not, just unlock vehicle, and it exports motor target torque corresponding with gradient resistance and accomplishes thoroughly to solve the problems, such as that uphill starting slips by slope so that vehicle does not slip by slope.
Description
Technical field
The present invention relates to automobile technical fields, and in particular to a kind of to control the anti-method slipped by slope of car ramp starting and dress
It sets.
Background technique
With social science and technology, expanding economy, vehicle is increasingly heavier in the importance of daily life, and it is raw to have become family
The important vehicles in work.User requires the convenience and comfort of vehicle operating also higher and higher.Vehicle rises in ramp
When step operation, go to step on the gas immediately to operate after needing driver's take-off the brake, otherwise vehicle will slip after appearance.This not only shadow
Ring vehicle comfort, in some instances it may even be possible to cause safety accident.To the high operation requirements of driver when operation, vehicle operating is influenced just
Benefit.
Now in the art, conventional fuel oil car is mainly handled by accelerating association rate, the rapid output power of clutch
This problem, but degree is slipped after at most also can only slowing down vehicle, it can not thoroughly solve, and clutch can also cause vehicle in conjunction with too fast
Shake, cause new problem.And pure electric automobile is mainly added by accelerating motor output torque when solving this problem
Rate is carried to be handled, Motor torque response rapidly, compared to conventional fuel oil car, can more preferably handle this problem, but this
Kind processing method can only also accomplish to slip after more preferably slowing down, and can not thoroughly solve the problems, such as to slip by slope.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the anti-method and device slipped by slope of control car ramp starting of problem.
According to an aspect of the invention, there is provided a kind of anti-method slipped by slope of control car ramp starting, including：
Whether detection vehicle is in uphill starting state；
Vehicle is persistently locked, and acquires current hill gradient to determine that gradient resistance and acquisition throttle depth drive to determine
Member's demand wheel end torque；
Judge that operator demand takes turns whether end torque is greater than or equal to gradient resistance；
If so, unlock vehicle, and motor target torque corresponding with gradient resistance is exported, so that vehicle does not slip by slope.
According to another aspect of the present invention, a kind of anti-device slipped by slope of control car ramp starting is provided, including：
State detection module, is adapted to detect for whether vehicle is in uphill starting state；
Acquisition module is locked, suitable for persistently locking vehicle, and acquires current hill gradient to determine gradient resistance and acquisition
Throttle depth is to determine that operator demand takes turns end torque；
Judgment module, suitable for judging that operator demand takes turns whether end torque is greater than or equal to gradient resistance；
Output module is unlocked, if being suitable for judgment module judges that operator demand takes turns end torque and is greater than or equal to gradient resistance,
Vehicle is unlocked, and exports motor target torque corresponding with gradient resistance, so that vehicle does not slip by slope.
According to another aspect of the invention, a kind of electric car is provided, it is anti-including above-mentioned control car ramp starting
Slip by slope device.
According to another aspect of the invention, a kind of electronic equipment is provided, including：Processor, memory, communication interface and
Communication bus, the processor, the memory and the communication interface complete mutual communication by the communication bus；
For the memory for storing an at least executable instruction, it is above-mentioned that the executable instruction executes the processor
The anti-corresponding operation of method slipped by slope of control car ramp starting.
In accordance with a further aspect of the present invention, provide a kind of computer storage medium, be stored in the storage medium to
A few executable instruction, the executable instruction execute processor such as the anti-method pair slipped by slope of above-mentioned control car ramp starting
The operation answered.
Whether the anti-method and device slipped by slope of control car ramp starting according to the present invention, detection vehicle rise in ramp
Step state；Vehicle is persistently locked, and acquires current hill gradient to determine that gradient resistance and acquisition throttle depth drive to determine
Member's demand wheel end torque；Judge that operator demand takes turns whether end torque is greater than or equal to gradient resistance；If so, unlock vehicle, and
Motor target torque corresponding with gradient resistance is exported, so that vehicle does not slip by slope.Using the present invention, first locked in uphill starting
Vehicle slips by slope it backward, and the operator demand caused by driver's accelerator pedal takes turns end torque and is greater than or equal to ramp
After resistance, i.e. when the power of support vehicles motor output slips by slope vehicle driving up traveling not, just unlock vehicle, and output and ramp
The corresponding motor target torque of resistance accomplishes thoroughly to solve the problems, such as that uphill starting slips by slope so that vehicle does not slip by slope, and not only
As the prior art is only capable of playing the effect slowed down to car ramp starting.Meanwhile for the driver, easy to operate, greatly
Improve the convenience and comfort of vehicle operating, and what the present invention used is vehicle existing hardware equipment, without increasing
New vehicle hardware equipment, does not increase vehicle manufacture cost.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows the flow chart of the anti-method slipped by slope of control car ramp starting of one embodiment of the invention；
Fig. 2 shows in vehicle hardware device incidence relation schematic diagrames；
Fig. 3 shows the flow chart of the anti-method slipped by slope of control car ramp starting of another embodiment of the present invention；
Fig. 4 shows the functional block diagram of the anti-device slipped by slope of control car ramp starting of one embodiment of the invention；
Fig. 5 shows the structural schematic diagram of a kind of electronic equipment according to an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Fig. 1 shows the flow chart of the anti-method slipped by slope of control car ramp starting of one embodiment of the invention.Such as Fig. 1
Shown, this approach includes the following steps：
Whether step S101, detection vehicle are in uphill starting state.
Specifically, such as can be by detecting whether vehicle is in parking and upward slope state, to detect whether vehicle is in slope
Start to walk state in road.For general vehicle when being in uphill starting, speed is lower.Speed can pass through the existing hardware device of vehicle
It is detected.It can use vehicle speed sensor detection vehicle using each vehicle hardware equipment as shown in Figure 2, such as entire car controller
Speed, when speed is less than 1km/h, it is believed that vehicle is in parked state.Further, entire car controller can be passed according to the gradient
Sensor and the currently practical gear of vehicle come judge current vehicle whether be in upward slope state (gradient is greater than 0, and is in drive shift,
Or the gradient, less than 0, and in reversing gear, vehicle is in upward slope state).Using above-mentioned each hardware device, can detecte out at vehicle
In parking and upward slope state, i.e. vehicle is in uphill starting state, executes step S102.
Step S102 persistently locks vehicle, and acquires current hill gradient to determine gradient resistance and acquisition throttle depth
To determine that operator demand takes turns end torque.
Current vehicle is judged on ramp and when preparing starting, and to prevent vehicle anti-slide, electronic parking system is first persistently locked
Determine vehicle, stopping at vehicle on ramp will not slip by slope backward, leave driver's time enough for and carry out accelerator pedal.It recycles
Slope Transducer acquires current hill gradient, according to current hill gradient current vehicle is calculated suffered by grade resistance.
In driver's accelerator pedal, driving can be calculated according to throttle depth in the throttle depth that acquisition gas pedal is stepped on
Member's demand wheel end torque.That is the corresponding torque of throttle depth.
Step S103 judges that operator demand takes turns whether end torque is greater than or equal to gradient resistance.
Judge that operator demand obtained above takes turns whether end torque is greater than or equal to gradient resistance, if gradient resistance is 50
Torque, it is 40 torques that operator demand, which takes turns end torque, and operator demand takes turns end torque and is less than gradient resistance, is then not processed, by
Driver continues pedal of stepping on the throttle, until operator demand, which takes turns end torque, is greater than or equal to gradient resistance.If gradient resistance is
50 torques, it is 50 torques that operator demand, which takes turns end torque, i.e., operator demand takes turns end torque equal to gradient resistance, executes step
S104。
It is noted that obtained operator demand takes turns end torque and hinders less than ramp when the throttle depth that driver steps on is small
When power, since electronic parking systems stay locks vehicle, vehicle can't slip by slope problem.
Further, when electronic parking systems stay locks vehicle, it can also first export to electric machine controller and be hindered with ramp
The corresponding motor target torque of power, electric machine controller are answered torque according to the motor target torque control motor output phase received, are protected
Barrier vehicle will not slip by slope.
Step S104 unlocks vehicle, and exports motor target torque corresponding with gradient resistance, so that vehicle does not slip by slope.
Judge that operator demand takes turns end torque and is greater than or equal to gradient resistance, at this point it is possible to determine the power of motor output
Vehicle driving up traveling is able to satisfy without slipping by slope.Vehicle is unlocked using electronic parking system, and is held during unlock
Continue to electric machine controller and export motor target torque corresponding with gradient resistance, electric machine controller is turned round according to the motor target received
Square control motor output phase answers torque, so that vehicle does not slip by slope.If gradient resistance is 50 torques, in electronic parking system solution car locking
Unlocking process in, continue the motor target torque that 50 torques are exported to electric machine controller, electric machine controller is according to receiving
Motor target torque controls motor and exports 50 torques, has ensured that vehicle will not slip by slope.It should be noted that turned round from 0 herein
Square output rises to 50 torques gradually, but directly exports 50 torques, avoids any possibility slipped by slope.The prior art is exporting
When motor target torque, it can be exported since 0 torque to the corresponding torque of throttle depth according to throttle depth, vehicle is caused to have
The phenomenon that slipping by slope, and the present invention directly exports motor target torque corresponding with gradient resistance fundamentally avoids and slips by slope
Possibility.
Whether the anti-method slipped by slope of control car ramp starting according to the present invention, detection vehicle are in uphill starting shape
State；Vehicle is persistently locked, and acquires current hill gradient to determine gradient resistance and acquisition throttle depth to determine that driver needs
Seek wheel end torque；Judge that operator demand takes turns whether end torque is greater than or equal to gradient resistance；If so, unlock vehicle, and export
Motor target torque corresponding with gradient resistance, so that vehicle does not slip by slope.Using the present invention, vehicle is first locked in uphill starting
Slip by slope it backward, the operator demand caused by driver's accelerator pedal takes turns end torque and is greater than or equal to gradient resistance
Afterwards, i.e. when the power of support vehicles motor output slips by slope vehicle driving up traveling not, vehicle, and output and gradient resistance are just unlocked
Motor target torque accomplishes thoroughly to solve the problems, such as that uphill starting slips by slope so that vehicle does not slip by slope accordingly, and not only as existing
There is technology to be only capable of playing the effect slowed down to car ramp starting.Meanwhile for the driver, easy to operate, greatly mention
Rise the convenience and comfort of vehicle operating, and what the present invention used is vehicle existing hardware equipment, it is new without increasing
Vehicle hardware equipment does not increase vehicle manufacture cost.
Fig. 3 shows the flow chart of the anti-method slipped by slope of control car ramp starting of one specific embodiment of the present invention.
As shown in figure 3, this approach includes the following steps：
Whether step S301, detection vehicle are in uphill starting state.
Step S302 persistently locks vehicle, and acquires current hill gradient to determine gradient resistance and acquisition throttle depth
To determine that operator demand takes turns end torque.
Step S303 judges that operator demand takes turns whether end torque is greater than or equal to gradient resistance.
Step S304 unlocks vehicle, and exports motor target torque corresponding with gradient resistance, so that vehicle does not slip by slope.
Above step referring to Fig.1 in embodiment step S101-S104 description, details are not described herein.
Step S305 changes output motor target torque, makes after receiving electronic parking system unlock vehicle and completing signal
It is adjusted to motor target torque corresponding with operator demand's wheel end torque.
After the completion of electronic parking system unlocks vehicle, entire car controller can receive the completion of electronic parking system sending
Information.And in electronic parking system unlock vehicle processes, driver can also persistently step on the throttle pedal, and driver at this time needs
Ask wheel end torque that may be much larger than gradient resistance.Originally the motor target torque corresponding with gradient resistance exported is not
It suitable for vehicle driving, needs to change the value of output motor target torque, makes it by original motor corresponding with gradient resistance
The value of target torque is adjusted to motor target torque corresponding with operator demand's wheel end torque, to allow the normal row of vehicle
It sails.
The anti-method slipped by slope of control car ramp starting according to the present invention, first locking vehicle in uphill starting does not make it
It slips by slope backward, after the operator demand caused by driver's accelerator pedal takes turns end torque and is greater than or equal to gradient resistance,
Vehicle is unlocked, and exports motor target torque corresponding with gradient resistance, so that vehicle does not slip by slope, accomplishes that thoroughly solving ramp rises
The problem of step slips by slope.Meanwhile motor target torque corresponding with gradient resistance is persistently exported in unlocking process, guarantee unlocked
Vehicle does not slip by slope in journey.After the completion of unlock, change output motor target torque, adjusts it to operator demand and take turns end torsion
The corresponding motor target torque of square, makes normal vehicle operation.For the driver, easy to operate, it is greatly improved vehicle
The convenience and comfort of operation.And what the present invention used is vehicle existing hardware equipment, without increasing new vehicle hardware
Equipment does not increase vehicle manufacture cost.
Fig. 4 shows the functional block diagram of the anti-device slipped by slope of control car ramp starting according to an embodiment of the present invention.Such as
Shown in Fig. 4, which includes：
State detection module 410, is adapted to detect for whether vehicle is in uphill starting state.
Acquisition module 420 is locked, suitable for persistently locking vehicle, and acquires current hill gradient to determine gradient resistance and adopt
Collection throttle depth is to determine that operator demand takes turns end torque.
Judgment module 430, suitable for judging that the operator demand takes turns whether end torque is greater than or equal to the gradient resistance.
Output module 440 is unlocked, if being suitable for the judgment module judges that operator demand takes turns end torque and is greater than or equal to institute
Gradient resistance is stated, vehicle is unlocked, and export motor target torque corresponding with the gradient resistance, so that vehicle does not slip by slope.
Optionally, state detection module 410 is further adapted for：Whether detection vehicle is in parking and upward slope state.
Optionally, locking acquisition module 420 is further adapted for：Vehicle is locked using electronic parking systems stay；Utilize slope
It spends sensor and acquires current hill gradient, grade resistance suffered by current vehicle is calculated；Acquisition gas pedal is stepped on
Throttle depth is calculated operator demand and takes turns end torque.
Unlock output module 440 is further adapted for：Vehicle is unlocked using electronic parking system, and is continued in unlocking process
Motor target torque corresponding with gradient resistance is exported to electric machine controller, electric machine controller is according to the motor target torque received
Control motor output phase answers torque, so that vehicle does not slip by slope.
Optionally, device further includes：Export recovery module 450.
Recovery module 450 is exported, is suitable for after receiving electronic parking system unlock vehicle and completing signal, changes output motor
Target torque adjusts it to motor target torque corresponding with operator demand's wheel end torque.
Wherein, the concrete operating principle of above-mentioned modules can refer to the description of corresponding steps in embodiment of the method, herein
It repeats no more.
The invention also includes a kind of electric cars comprising the control car ramp starting of Fig. 4 embodiment is anti-to be slipped by slope
Each module in device, the electric car can thoroughly solve the problems, such as that vehicle is slipped by slope in uphill starting, and vehicle behaviour is greatly improved
The convenience and comfort of work.
As shown in figure 5, the electronic equipment may include：Processor (processor) 502, communication interface
(Communications Interface) 504, memory (memory) 506 and communication bus 508.
Wherein：
Processor 502, communication interface 504 and memory 506 complete mutual communication by communication bus 508.
Communication interface 504, for being communicated with the network element of other equipment such as client or other servers etc..
Processor 502 can specifically execute the collision processing method embodiment of above-mentioned robot for executing program 510
In correlation step.
Specifically, program 510 may include program code, which includes computer operation instruction.
Processor 502 may be central processor CPU or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that electronic equipment includes can be same type of processor, such as one or more CPU；It can also
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 506, for storing program 510.Memory 506 may include high speed RAM memory, it is also possible to further include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 510 specifically can be used for so that processor 502 executes the control vehicle slope in above-mentioned any means embodiment
The anti-method slipped by slope of road starting.It is anti-slip to may refer to above-mentioned control car ramp starting for the specific implementation of each step in program 510
Corresponding description in corresponding steps and unit in the embodiment on slope, this will not be repeated here.Those skilled in the art can be clear
Recognize to Chu, for convenience and simplicity of description, the equipment of foregoing description and the specific work process of module, can refer to aforementioned
Corresponding process description in embodiment of the method, details are not described herein.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention：It is i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, such as right
As claim reflects, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows tool
Thus claims of body embodiment are expressly incorporated in the specific embodiment, wherein each claim conduct itself
Separate embodiments of the invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are realized in merchandise news Intelligent configuration device according to an embodiment of the present invention
Some or all components some or all functions.The present invention is also implemented as executing side as described herein
Some or all device or device programs (for example, computer program and computer program product) of method.It is such
It realizes that program of the invention can store on a computer-readable medium, or can have the shape of one or more signal
Formula.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other shape
Formula provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (11)
1. a kind of anti-method slipped by slope of control car ramp starting, which is characterized in that including：
Whether detection vehicle is in uphill starting state；
Vehicle is persistently locked, and acquires current hill gradient to determine gradient resistance and acquisition throttle depth to determine that driver needs
Seek wheel end torque；
Judge that the operator demand takes turns whether end torque is greater than or equal to the gradient resistance；
If so, unlock vehicle, and motor target torque corresponding with the gradient resistance is exported, so that vehicle does not slip by slope.
2. according to the method described in claim 1, wherein, whether the detection vehicle, which is in uphill starting state, is further wrapped
It includes：
Whether detection vehicle is in parking and upward slope state.
3. it is described persistently to lock vehicle according to the method described in claim 1, wherein, and current hill gradient is acquired with determination
Gradient resistance and acquisition throttle depth with determine operator demand take turns end torque further comprise：
Vehicle is locked using electronic parking systems stay；
Current hill gradient is acquired using Slope Transducer, grade resistance suffered by current vehicle is calculated；
The throttle depth that acquisition gas pedal is stepped on is calculated operator demand and takes turns end torque；
The unlock vehicle, and motor target torque corresponding with the gradient resistance is exported, so that vehicle does not slip by slope further
Including：
Vehicle is unlocked using electronic parking system, and lasting corresponding to gradient resistance to electric machine controller output in unlocking process
Motor target torque, electric machine controller according to receive motor target torque control motor output phase answer torque so that vehicle
It does not slip by slope.
4. method according to claim 1 to 3, wherein the method also includes：
Receive electronic parking system unlock vehicle complete signal after, change output motor target torque, make its adjust to drive
The corresponding motor target torque of the person's of sailing demand wheel end torque.
5. a kind of anti-device slipped by slope of control car ramp starting, which is characterized in that including：
State detection module, is adapted to detect for whether vehicle is in uphill starting state；
Acquisition module is locked, suitable for persistently locking vehicle, and acquires current hill gradient to determine gradient resistance and acquisition throttle
Depth is to determine that operator demand takes turns end torque；
Judgment module, suitable for judging that the operator demand takes turns whether end torque is greater than or equal to the gradient resistance；
Output module is unlocked, if being suitable for the judgment module judges that operator demand takes turns end torque and hinders more than or equal to the ramp
Power unlocks vehicle, and exports motor target torque corresponding with the gradient resistance, so that vehicle does not slip by slope.
6. device according to claim 5, wherein the state detection module is further adapted for：
Whether detection vehicle is in parking and upward slope state.
7. device according to claim 5, wherein the locking acquisition module is further adapted for：
Vehicle is locked using electronic parking systems stay；Current hill gradient is acquired using Slope Transducer, is calculated current
Grade resistance suffered by vehicle；The throttle depth that acquisition gas pedal is stepped on is calculated operator demand and takes turns end torque；
The unlock output module is further adapted for：
Vehicle is unlocked using electronic parking system, and lasting corresponding to gradient resistance to electric machine controller output in unlocking process
Motor target torque, electric machine controller according to receive motor target torque control motor output phase answer torque so that vehicle
It does not slip by slope.
8. according to the device any in claim 5-7, wherein described device further includes：
Recovery module is exported, is suitable for after receiving electronic parking system unlock vehicle and completing signal, is changed output motor target and turn round
Square adjusts it to motor target torque corresponding with operator demand's wheel end torque.
9. a kind of electric car, which is characterized in that anti-including the starting of control car ramp described in any one of claim 5-8
Slip by slope device.
10. a kind of electronic equipment, including：Processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory executes the processor as right is wanted for storing an at least executable instruction, the executable instruction
Ask the anti-corresponding operation of method slipped by slope of control car ramp starting described in any one of 1-4.
11. a kind of computer storage medium, an at least executable instruction, the executable instruction are stored in the storage medium
Execute processor such as the anti-corresponding behaviour of method slipped by slope of control car ramp starting of any of claims 1-4
Make.
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| CN201810735984.6A CN108819797A (en) | 2018-07-06 | 2018-07-06 | The anti-method and device slipped by slope of control car ramp starting |
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| CN201810735984.6A CN108819797A (en) | 2018-07-06 | 2018-07-06 | The anti-method and device slipped by slope of control car ramp starting |
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| CN110015301A (en) * | 2019-04-28 | 2019-07-16 | 四川阿尔特新能源汽车有限公司 | A kind of uphill starting control method, device, hybrid vehicle and storage medium |
| CN110435659A (en) * | 2019-08-20 | 2019-11-12 | 奇瑞汽车股份有限公司 | Control method, device and the storage medium of vehicle starting |
| CN111907339A (en) * | 2020-07-08 | 2020-11-10 | 宝能(广州)汽车研究院有限公司 | Vehicle slope starting control method and device and vehicle |
| CN112622639A (en) * | 2020-12-30 | 2021-04-09 | 武汉格罗夫氢能汽车有限公司 | Automobile longitudinal driving direction safety control system and method |
| CN113386718A (en) * | 2020-03-11 | 2021-09-14 | 中车时代电动汽车股份有限公司 | Automatic parking system and method for pure electric vehicle |
| CN113829898A (en) * | 2021-11-15 | 2021-12-24 | 合众新能源汽车有限公司 | Vehicle control method and vehicle |
| 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 |
| CN114194191A (en) * | 2021-11-30 | 2022-03-18 | 河南嘉晨智能控制股份有限公司 | Method for improving storage vehicle ramp slope-parking vehicle-sliding condition |
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