CN110329084B - Control method of electric automobile slope anti-slip auxiliary system - Google Patents
Control method of electric automobile slope anti-slip auxiliary system Download PDFInfo
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- CN110329084B CN110329084B CN201910672863.6A CN201910672863A CN110329084B CN 110329084 B CN110329084 B CN 110329084B CN 201910672863 A CN201910672863 A CN 201910672863A CN 110329084 B CN110329084 B CN 110329084B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- 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 control method of an electric automobile slope road anti-slip auxiliary system, which comprises the following steps: the motor controller detects the gear of the gear shifter, whether the vehicle is shifted or not and the rotating speed signal of the motor; if the vehicle is not subjected to gear switching and the current gear is the D gear, the motor controller assigns the D gear to the virtual gear in the slope road anti-slip control system; the motor controller judges whether the rotating speed of the motor is within a first rotating speed threshold range and whether the braking depth is smaller than a first depth threshold, and the rotating direction of the motor corresponding to the first rotating speed threshold is opposite to the direction of the vehicle; if yes, the motor controller starts a D-gear first slope anti-slip function, the vehicle enters a slope anti-slip mode, the motor enters a rotating speed control mode, in the rotating speed control mode, the target rotating speed of the motor is 0rpm, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque, and therefore the vehicle is enabled to be static. The invention can realize the low-cost slope anti-slip function.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a control method of an electric automobile slope anti-slip auxiliary system.
Background
With the rapid development of the automobile industry and the continuous improvement of living conditions of people, automobiles become one of indispensable transportation tools for people to go out. The automobile keeping amount is increased year by year, and more people own private cars. At present, with the continuous improvement of environmental protection consciousness of people, new energy automobiles, especially electric automobiles are rapidly developed.
Slope anti-slide is one of the important functions of automobiles, most of slope anti-slide systems of traditional fuel vehicles are based on chassis control systems such as ESPs (electronic stability program) and EPBs (electronic brake blocks), when the vehicles are braked to stop, the ESPs control and maintain the hydraulic pressure in a hydraulic brake system so as to keep the vehicles static, and the EPBs push brake pads through a parking motor and a speed reducer on the brakes so as to keep the vehicles static. If the two modes are used in the electric automobile, the problems of high cost, complex control logic and numerous parts exist.
Disclosure of Invention
Therefore, the invention aims to provide a control method of a slope anti-slip auxiliary system of an electric automobile so as to realize a slope anti-slip function with low cost.
A control method of an electric automobile slope anti-skid auxiliary system comprises a motor controller and a motor, and comprises the following steps:
the motor controller detects the gear of the gear shifter, whether the gear of the vehicle is switched and the rotating speed signal of the motor;
if the vehicle is not subjected to gear switching and the current gear is the D gear, the motor controller assigns the D gear to a virtual gear in the slope road anti-slip control system, and the virtual gear is an actual execution gear of the motor controller;
the motor controller judges whether the rotating speed of the motor is within a first rotating speed threshold range and whether the braking depth is smaller than a first depth threshold, and the rotating direction of the motor corresponding to the first rotating speed threshold is opposite to the direction of the vehicle;
and if the rotating speed of the motor is within the first rotating speed threshold range and the braking depth is smaller than the first depth threshold, starting a D-gear first slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static.
According to the control method of the slope anti-slip auxiliary system of the electric automobile, provided by the invention, the slope anti-slip can be realized through the cooperation of the motor controller and the motor on the premise of not increasing the cost, the motor controller is used for monitoring signals such as the rotating speed, the gear position, the brake depth and the like of the motor in real time to judge whether the vehicle needs to enter the slope anti-slip function or not, the rotating speed of the motor is controlled in time to prevent the vehicle from slipping towards the direction opposite to the expected running direction of the current gear position, the vehicle is kept static, the driving safety is ensured, and enough time is provided for a driver to finish the vehicle starting operation. In addition, the invention does not need to be provided by other hardware such as a brake handle, a pressure supply valve and the like, reduces the cost of parts of the whole automobile, and has strong operability and easy realization.
In addition, according to the control method of the electric vehicle slope anti-skid auxiliary system of the present invention, the following additional technical features may be provided:
further, the method further comprises:
in the anti-slip mode of the vehicle on the slope, the motor controller collects a gear signal, an accelerator pedal signal and a brake depth signal in real time;
the motor controller judges whether the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold or the current gear is switched to a non-D gear;
if the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold value or the current gear is switched to a non-D gear, the slope anti-slip function is withdrawn, the motor is switched to a torque control mode, and the steps that the motor controller detects the gear of a gear shifter, whether the gear of a vehicle is switched and a rotating speed signal of the motor are returned;
if the torque of the accelerator pedal is not larger than the current slope anti-slip torque, the braking depth is not larger than the first depth threshold value, and the current gear is not switched to the non-D gear, the slope anti-slip function is quitted after starting accumulated preset time, then the motor is switched to a torque control mode, and after the slope anti-slip function is quitted, if the rotating speed of the motor is larger than or equal to 0rpm again, the steps that the motor controller detects the gear of the gear shifter, whether the vehicle is subjected to gear switching and the rotating speed signal of the motor are returned.
Further, the method further comprises:
after the slope anti-slip function is exited, if the rotating speed of the motor is within a second rotating speed threshold range and the braking depth is within a second depth threshold range, the motor controller starts a D-gear second slope anti-slip function, the vehicle enters a slope anti-slip mode again, the motor enters a rotating speed control mode, in the rotating speed control mode, the target rotating speed of the motor is 0rpm, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque so as to enable the vehicle to be stationary, wherein the rotating direction of the motor corresponding to the second rotating speed threshold is opposite to the direction of the vehicle, the absolute value of the second rotating speed threshold is larger than the absolute value of the first rotating speed threshold, and the second depth threshold is smaller than the first depth threshold.
Further, the method further comprises:
if the vehicle is not subjected to gear switching and the current gear is an R gear, the motor controller assigns a virtual gear in the slope road anti-slip control system to the R gear, wherein the virtual gear is an actual execution gear of the motor controller;
the motor controller judges whether the motor rotating speed is within a third rotating speed threshold range or not and whether the braking depth is smaller than the first depth threshold or not, the rotating direction of the motor corresponding to the third rotating speed threshold is the same as the vehicle direction, and the absolute value of the third rotating speed threshold is equal to that of the first rotating speed threshold;
and if the rotating speed of the motor is within the range of the third rotating speed threshold value and the braking depth is smaller than the first depth threshold value, starting an R-gear first slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static.
Further, the method further comprises:
in the anti-slip mode of the vehicle on the slope, the motor controller collects a gear signal, an accelerator pedal signal and a brake depth signal in real time;
the motor controller judges whether the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold or the current gear is switched to a non-R gear;
if the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold value or the current gear is switched to a non-R gear, exiting the slope anti-slip function, switching the motor to a torque control mode, and returning to the step that the motor controller detects the gear of the gear shifter, whether the vehicle is subjected to gear switching and a rotating speed signal of the motor;
if the torque of the accelerator pedal is not larger than the current slope anti-slip torque, the braking depth is not larger than the first depth threshold value, and the current gear is not switched to the non-R gear, the slope anti-slip function is quitted after starting accumulated preset time, then the motor is switched to a torque control mode, and after the slope anti-slip function is quitted, if the rotating speed of the motor is larger than or equal to 0rpm again, the steps that the motor controller detects the gear of the gear shifter, whether the vehicle is subjected to gear switching and the rotating speed signal of the motor are returned.
Further, the method further comprises:
after the slope anti-slip function is exited, if the rotating speed of the motor is within a fourth rotating speed threshold range and the braking depth is within a second depth threshold range, the motor controller starts the R-gear second slope anti-slip function, the vehicle enters a slope anti-slip mode again, the motor enters a rotating speed control mode, in the rotating speed control mode, the target rotating speed of the motor is 0rpm, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque so as to enable the vehicle to be static, wherein the rotating direction of the motor corresponding to the fourth rotating speed threshold is the same as the direction of the vehicle, and the absolute value of the fourth rotating speed threshold is the same as the absolute value of the second rotating speed threshold.
Further, the method further comprises:
and if the vehicle is not subjected to gear switching and the current gear is the N gear, the motor controller assigns the virtual gear in the slope road anti-slip control system to the N gear and ends the process.
Further, the method further comprises:
when the vehicle is switched to a gear, the motor controller assigns a virtual gear in the slope anti-slip control system to an N gear;
if the current gear of the vehicle is the D gear, judging whether the rotating speed value of the motor is smaller than a fifth rotating speed threshold value, wherein the rotating direction of the motor corresponding to the fifth rotating speed threshold value is opposite to the direction of the vehicle;
and if the numerical value of the motor rotating speed is not less than the fifth rotating speed threshold value, assigning a D gear to a virtual gear in the slope anti-slip control system, and then entering a step of judging whether the motor rotating speed is in a first rotating speed threshold value range and whether the braking depth is less than a first depth threshold value by the motor controller.
Further, the method further comprises:
when the vehicle is switched to a gear, the motor controller assigns a virtual gear in the slope anti-slip control system to an N gear;
if the current gear of the vehicle is the R gear, judging whether the rotating speed value of the motor is greater than a sixth rotating speed threshold value, wherein the rotating direction of the motor corresponding to the sixth rotating speed threshold value is the same as the direction of the vehicle;
and if the numerical value of the motor rotating speed is not greater than the sixth rotating speed threshold value, assigning an R gear to a virtual gear in the slope anti-slip control system, and then entering a step of judging whether the motor rotating speed is within a third rotating speed threshold value range and whether the braking depth is smaller than the first depth threshold value by the motor controller.
Further, the first rotating speed threshold value is-10-0 rpm;
the second rotating speed threshold value is-200 to-10 rpm;
the third rotating speed threshold value is 0-10 rpm;
the fourth rotating speed threshold is 10-200 rpm;
the fifth rotating speed threshold is-1 rpm;
the sixth rotating speed threshold is 1 rpm;
the first depth threshold is 70%;
the second depth threshold is 15% -70%.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions will be clearly and completely described below with reference to the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The control method of the slope anti-skid auxiliary system of the electric automobile provided by the embodiment of the invention comprises a motor controller and a motor, and the control method of the embodiment is mainly realized by the control of the motor controller.
The control method includes steps S1-S8:
s1, the motor controller detects the gear of the gear shifter, whether the gear of the vehicle is switched and the rotating speed signal of the motor;
executing the subsequent steps according to whether the gear is switched, and if the gear is switched, entering the step S2; if no gear shift occurs and the current gear is the N gear, go to step S3; if no gear shift occurs and the current gear is the D gear, go to step S5; if no gear shift has occurred and the current gear is the R gear, the process proceeds to step S6.
S2, firstly, the motor controller assigns a virtual gear in the slope anti-skid control system to an N gear, wherein a virtual gear is introduced, the virtual gear is an actual execution gear of the motor controller, and is different from a gear operated by a driver, and when slope anti-skid control is performed, the actual execution gear of the motor controller is the virtual gear;
if the current gear (the gear operated by the driver) is the N gear, assigning the input virtual gear of the slope road anti-slip control system to the N gear again, and then entering the step S4;
if the current gear is the D gear, judging whether the rotating speed value of the motor is smaller than a fifth rotating speed threshold, wherein the rotating direction of the motor corresponding to the fifth rotating speed threshold is opposite to the direction of the vehicle, the fifth rotating speed threshold is specifically-1 rpm (the rotating direction is opposite to the expected rotating direction of the D gear, namely the vehicle rolls backwards), and if the rotating speed value of the motor is smaller than-1 rpm, assigning the input virtual gear of the slope anti-slip control system to the N gear again, and entering the step S4; if the rotating speed value of the motor is not less than-1 rpm, assigning a D gear to a virtual gear input signal of the slope road anti-slip control module, and then entering a step S5;
if the current actual gear is the R gear, judging whether the rotating speed value of the motor is greater than a sixth rotating speed threshold, wherein the rotating direction of the motor corresponding to the sixth rotating speed threshold is the same as the vehicle direction, the sixth rotating speed threshold is specifically 1rpm (the rotating direction is opposite to the expected rotating direction of the R gear, namely the vehicle slides forwards), and if the rotating speed value of the motor is greater than 1rpm, assigning the input virtual gear of the slope anti-sliding control system to the N gear again, and entering the step S4; and if the rotating speed value of the motor is not more than 1rpm, assigning an R gear to a virtual gear input signal of the slope road anti-slip control module, and then entering the step S6.
And S3, assigning the input virtual gear of the slope road anti-slip control system to be an N gear and ending the process.
S4, the flow repeatedly proceeds to step S2.
And S5, assigning a D gear to a virtual gear in the slope anti-skid control system by the motor controller, judging whether the rotating speed of the motor is within a first rotating speed threshold range and whether the braking depth is smaller than a first depth threshold value, wherein the rotating direction of the motor corresponding to the first rotating speed threshold value is opposite to the vehicle direction, in the embodiment, the first rotating speed threshold value is-10-0 rpm, and the first depth threshold value is 70%.
And if the rotating speed of the motor is between-10 and 0rpm and the braking depth is less than 70%, starting a D-gear first slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static. The rotation speed control mode is different from the traditional torque control mode, and is a control mode aiming at controlling the rotation speed of the motor, but not directly outputting the torque to the motor;
in addition, when the vehicle is in a slope anti-slip mode, the motor controller can acquire a gear signal, an accelerator pedal signal and a brake depth signal in real time;
the motor controller judges whether the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than 70% or whether the current gear is switched to a non-D gear;
if the torque of the accelerator pedal is larger than the anti-slip torque of the current slope, or the braking depth is larger than 70%, or the current gear is switched to a non-D gear, the slope anti-slip function is quitted, the motor is switched to a traditional torque control mode, and the steps that the motor controller detects the gear of the gear shifter, whether the gear switching of the vehicle occurs and the rotating speed signal of the motor are returned, namely the step S1 is returned;
if the torque of the accelerator pedal is not greater than the current slope anti-slip torque, the braking depth is not greater than 70%, and the current gear is not switched to the non-D gear, the slope anti-slip function exits after starting accumulated preset time (for example, 4S), then the motor is switched to the torque control mode, and after the slope anti-slip function exits, if the rotating speed of the motor is greater than or equal to 0rpm again, the step of detecting the gear of the gear shifter by the motor controller, whether the gear of the vehicle is switched, and a rotating speed signal of the motor is returned, namely the step of returning to the step S1; if the motor speed is within a second speed threshold range and the braking depth is within a second depth threshold range, the process goes to step S7, where the motor rotation direction corresponding to the second speed threshold is opposite to the vehicle direction, and the absolute value of the second speed threshold is greater than the absolute value of the first speed threshold, and the second depth threshold is smaller than the first depth threshold, specifically in this embodiment, the second speed threshold is-200 to-10 rpm, and the second depth threshold is 15% to 70%, that is, if the motor speed is between-200 to-10 rpm and the braking depth is between 15% to 70%, the process goes to step S7.
S6, assigning a virtual gear in the slope road anti-slip control system to an R gear by the motor controller;
the motor controller judges whether the motor rotating speed is within a third rotating speed threshold range and whether the braking depth is smaller than the first depth threshold, the rotating direction of the motor corresponding to the third rotating speed threshold is the same as the vehicle direction, and the absolute value of the third rotating speed threshold is equal to that of the first rotating speed threshold, specifically in the embodiment, the third rotating speed threshold is 0-10 rpm;
and if the rotating speed of the motor is between 0 and 10rpm and the braking depth is less than 70%, starting an R-gear first slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static.
The motor controller collects a gear signal, an accelerator pedal signal and a brake depth signal in real time when the vehicle is in a slope anti-slip mode;
the motor controller judges whether the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold or the current gear is switched to a non-R gear;
if the torque of the accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold value or the current gear is switched to a non-R gear, exiting the slope anti-slip function, switching the motor to a torque control mode, returning to the step of detecting the gear of the gear shifter by the motor controller, judging whether the vehicle is subjected to gear switching and judging whether the motor is in the gear switching mode or not and returning to the step of detecting a rotating speed signal of the motor by the motor controller, namely returning to the step S1;
if the torque of the accelerator pedal is not greater than the current slope anti-slip torque, the braking depth is not greater than the first depth threshold value and the current gear is not switched to the non-R gear, the slope anti-slip function exits after starting accumulated preset time (for example, 4S), then the motor is switched to the torque control mode, and after the slope anti-slip function exits, if the rotating speed of the motor is greater than or equal to 0rpm again, the step of detecting the gear of the gear shifter by the motor controller, whether the gear of the vehicle is switched and a rotating speed signal of the motor is returned, namely the step of returning to the step S1; if the motor speed is within the fourth speed threshold range and the braking depth is within the second depth threshold range, step S8 is performed, in this embodiment, the fourth speed threshold is 10-200 rpm, and the second depth threshold is 15% -70%.
And S7, starting the D-gear secondary slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode again, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static. In the anti-slip mode of the vehicle on the slope, a motor controller actually collects a gear, an accelerator pedal signal and a brake depth signal, judges whether the torque of an accelerator pedal is larger than the current anti-slip torque of the slope or whether the brake depth is larger than 70% or is switched to a non-D gear, if so, the anti-slip function of the slope is immediately exited, the anti-slip function is switched to a torque control mode, the step S1 is repeatedly entered, if not, the anti-slip function of the slope exits after the cumulative timer of the anti-slip function of the slope is counted for 4 seconds, the anti-slip function of the slope is switched to the torque control mode, if the numerical value of the rotating speed of the motor is smaller than or equal to 0rpm again, the step S1 is repeatedly entered, and if the rotating speed of the motor is between-200 rpm and-10.
S8, starting an R-gear secondary slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode again, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static;
actually acquiring an accelerator pedal signal and a brake depth signal in a slope anti-slip mode of a vehicle, judging whether the torque of the accelerator pedal is larger than the current slope anti-slip torque or whether the brake depth is larger than 70% or switching to a non-R gear, if so, immediately exiting the slope anti-slip function, switching to a torque control mode, and repeatedly entering a step S1, if not, after the slope anti-slip function is cumulatively counted for 4 seconds, exiting the slope anti-slip function, switching to the torque control mode, if the rotating speed value of the motor is larger than or equal to 0rpm again, repeatedly entering a step S1, and if the rotating speed of the motor is between 10 and 200rpm and the brake depth is between 15% and 70%, repeatedly executing a step S8.
According to the invention, the virtual gear is input into the slope anti-slip system by monitoring the current actual gear and judging whether gear switching occurs, and when the gear switching occurs and the rotating speed direction of the motor is opposite to the expected driving direction of the actual gear, the virtual gear is input into the N gear by assigning the slope anti-slip system, so that the problem of false triggering of the slope anti-slip system during gear switching is avoided, and the driving safety and comfort are ensured. After the slope anti-slip function quits, the vehicle slips, and when the rotating speed is within a certain range and the brake is stepped on, the slope anti-slip function is activated again to prevent the vehicle from slipping continuously, so that the problem that the vehicle cannot enter a slope anti-slip mode sometimes due to the fact that the rotating speed of the motor is sensitive, the fluctuation is large, the slope anti-slip activation condition is harsh is solved, and the driving safety and the system reliability are improved.
According to the control method of the electric automobile slope anti-slip auxiliary system provided by the embodiment, slope anti-slip can be realized through the cooperation of the motor controller and the motor on the premise of not increasing the cost, whether the vehicle needs to enter the slope anti-slip function or not is judged through the real-time monitoring of signals such as the motor rotating speed, the gear position, the brake depth and the like by the motor controller, the rotating speed of the motor is controlled in time, the vehicle is prevented from slipping towards the direction opposite to the expected running direction of the current gear position, the vehicle is kept static, the driving safety is guaranteed, and enough time is provided for a driver to complete vehicle starting operation. The invention not only has the function of preventing the vehicle from sliding down the slope under the working condition of advancing, but also has the function of preventing the vehicle from sliding down the slope under the working condition of backing, thereby further improving the driving safety. In addition, the invention does not need to be provided by other hardware such as a brake handle, a pressure supply valve and the like, reduces the cost of parts of the whole automobile, and has strong operability and easy realization.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit of a logic gate circuit specifically used for realizing a logic function for a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A control method of an electric automobile slope road anti-skid auxiliary system is characterized in that the electric automobile slope road anti-skid auxiliary system comprises a motor controller and a motor, and the control method comprises the following steps:
the motor controller detects the gear of the gear shifter, whether the gear of the vehicle is switched and the rotating speed signal of the motor;
if the vehicle is not subjected to gear switching and the current gear is the D gear, the motor controller assigns the D gear to a virtual gear in the slope road anti-slip auxiliary system, and the virtual gear is an actual execution gear of the motor controller;
the motor controller judges whether the rotating speed of the motor is within a first rotating speed threshold range and whether the braking depth is smaller than a first depth threshold, and the rotating direction of the motor corresponding to the first rotating speed threshold is opposite to the direction of the vehicle;
if the rotating speed of the motor is within the first rotating speed threshold range and the braking depth is smaller than the first depth threshold, the motor controller starts a D-gear first slope anti-slip function, the vehicle enters a slope anti-slip mode, the motor enters a rotating speed control mode, the target rotating speed of the motor is 0rpm in the rotating speed control mode, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque so as to enable the vehicle to be static;
the method further comprises the following steps:
in the anti-slip mode of the vehicle on the slope, the motor controller collects a gear signal, an accelerator pedal signal and a brake depth signal in real time;
the motor controller judges whether the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold or the current gear is switched to a non-D gear;
if the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold value or the current gear is switched to a non-D gear, the slope anti-slip function is withdrawn, the motor is switched to a torque control mode, and the steps that the motor controller detects the gear of a gear shifter, whether the gear of a vehicle is switched and a rotating speed signal of the motor are returned;
if the torque of an accelerator pedal is not larger than the current slope anti-slip torque, the braking depth is not larger than the first depth threshold value and the current gear is not switched to a non-D gear, the slope anti-slip function is quitted after starting accumulated preset time, then the motor is switched to a torque control mode, and after the slope anti-slip function is quitted, if the rotating speed of the motor is larger than or equal to 0rpm again, the step of returning to the motor controller to detect the gear of the gear shifter, whether the vehicle is subjected to gear switching and a rotating speed signal of the motor is carried out;
the method further comprises the following steps:
after the slope anti-slip function is exited, if the rotating speed of the motor is within a second rotating speed threshold range and the braking depth is within a second depth threshold range, the motor controller starts a D-gear second slope anti-slip function, the vehicle enters a slope anti-slip mode again, the motor enters a rotating speed control mode, in the rotating speed control mode, the target rotating speed of the motor is 0rpm, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque so as to enable the vehicle to be stationary, wherein the rotating direction of the motor corresponding to the second rotating speed threshold is opposite to the direction of the vehicle, the absolute value of the second rotating speed threshold is larger than the absolute value of the first rotating speed threshold, and the second depth threshold is smaller than the first depth threshold.
2. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 1, further comprising:
if the vehicle is not subjected to gear switching and the current gear is an R gear, the motor controller assigns a virtual gear in the slope road anti-slip auxiliary system to the R gear, wherein the virtual gear is an actual execution gear of the motor controller;
the motor controller judges whether the motor rotating speed is within a third rotating speed threshold range or not and whether the braking depth is smaller than the first depth threshold or not, the rotating direction of the motor corresponding to the third rotating speed threshold is the same as the vehicle direction, and the absolute value of the third rotating speed threshold is equal to that of the first rotating speed threshold;
and if the rotating speed of the motor is within the range of the third rotating speed threshold value and the braking depth is smaller than the first depth threshold value, starting an R-gear first slope anti-slip function by the motor controller, enabling the vehicle to enter a slope anti-slip mode, enabling the motor to enter a rotating speed control mode, enabling the target rotating speed of the motor to be 0rpm in the rotating speed control mode, calculating slope anti-slip torque in real time by the motor controller, and controlling the motor to execute the torque so as to enable the vehicle to be static.
3. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 2, further comprising:
in the anti-slip mode of the vehicle on the slope, the motor controller collects a gear signal, an accelerator pedal signal and a brake depth signal in real time;
the motor controller judges whether the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold or the current gear is switched to a non-R gear;
if the torque of an accelerator pedal is larger than the current slope anti-slip torque or the braking depth is larger than the first depth threshold value or the current gear is switched to a non-R gear, exiting the slope anti-slip function, switching the motor to a torque control mode, and returning to the step that the motor controller detects the gear of the gear shifter, whether the vehicle is subjected to gear switching and a rotating speed signal of the motor;
if the torque of the accelerator pedal is not larger than the current slope anti-slip torque, the braking depth is not larger than the first depth threshold value, and the current gear is not switched to the non-R gear, the slope anti-slip function is quitted after starting accumulated preset time, then the motor is switched to a torque control mode, and after the slope anti-slip function is quitted, if the rotating speed of the motor is larger than or equal to 0rpm again, the steps that the motor controller detects the gear of the gear shifter, whether the vehicle is subjected to gear switching and the rotating speed signal of the motor are returned.
4. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 3, further comprising:
after the slope anti-slip function is exited, if the rotating speed of the motor is within a fourth rotating speed threshold range and the braking depth is within a second depth threshold range, the motor controller starts the R-gear second slope anti-slip function, the vehicle enters a slope anti-slip mode again, the motor enters a rotating speed control mode, in the rotating speed control mode, the target rotating speed of the motor is 0rpm, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque so as to enable the vehicle to be static, wherein the rotating direction of the motor corresponding to the fourth rotating speed threshold is the same as the direction of the vehicle, and the absolute value of the fourth rotating speed threshold is the same as the absolute value of the second rotating speed threshold.
5. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 4, further comprising:
and if the vehicle is not subjected to gear switching and the current gear is the N gear, the motor controller assigns the virtual gear in the slope road anti-slip auxiliary system to the N gear and ends the process.
6. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 5, further comprising:
when the vehicle is switched to a gear, the motor controller assigns a virtual gear in the slope road anti-slip auxiliary system to an N gear;
if the current gear of the vehicle is the D gear, judging whether the rotating speed value of the motor is smaller than a fifth rotating speed threshold value, wherein the rotating direction of the motor corresponding to the fifth rotating speed threshold value is opposite to the direction of the vehicle;
and if the numerical value of the motor rotating speed is not less than the fifth rotating speed threshold value, assigning a D gear to a virtual gear in the slope anti-slip auxiliary system, and then entering a step of judging whether the motor rotating speed is in a first rotating speed threshold value range and whether the braking depth is less than a first depth threshold value by the motor controller.
7. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 6, further comprising:
when the vehicle is switched to a gear, the motor controller assigns a virtual gear in the slope road anti-slip auxiliary system to an N gear;
if the current gear of the vehicle is the R gear, judging whether the rotating speed value of the motor is greater than a sixth rotating speed threshold value, wherein the rotating direction of the motor corresponding to the sixth rotating speed threshold value is the same as the direction of the vehicle;
and if the numerical value of the motor rotating speed is not greater than the sixth rotating speed threshold value, assigning an R gear to a virtual gear in the slope anti-slip auxiliary system, and then entering a step of judging whether the motor rotating speed is within a third rotating speed threshold value range and whether the braking depth is smaller than the first depth threshold value by the motor controller.
8. The method for controlling the electric vehicle slope road anti-skid auxiliary system according to claim 7, wherein:
the first rotating speed threshold value is-10-0 rpm;
the second rotating speed threshold value is-200 to-10 rpm;
the third rotating speed threshold value is 0-10 rpm;
the fourth rotating speed threshold is 10-200 rpm;
the fifth rotating speed threshold is-1 rpm;
the sixth rotating speed threshold is 1 rpm;
the first depth threshold is 70%;
the second depth threshold is 15% -70%.
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| CN111661019A (en) * | 2019-12-11 | 2020-09-15 | 摩登汽车有限公司 | Anti-slope-sliding control method for automobile |
| CN111231695A (en) * | 2020-01-17 | 2020-06-05 | 浙江飞碟汽车制造有限公司 | Ramp auxiliary control method for driving motor system for pure electric truck |
| CN111806249A (en) * | 2020-06-29 | 2020-10-23 | 江西江铃集团新能源汽车有限公司 | Ramp auxiliary control method and system for electric vehicle |
| CN111890949B (en) * | 2020-07-23 | 2023-02-03 | 奇瑞商用车（安徽）有限公司 | New energy automobile slope-sliding prevention control method |
| CN112606817B (en) * | 2020-12-15 | 2022-06-07 | 武汉格罗夫氢能汽车有限公司 | Gear shifting system of fuel cell hydrogen energy automobile and control method thereof |
| CN113829895B (en) * | 2021-11-10 | 2023-10-20 | 浙江奥思伟尔电动科技有限公司 | Gear control method for electric automobile |
| CN114754133B (en) * | 2022-03-28 | 2023-10-27 | 上汽通用五菱汽车股份有限公司 | Mixed motion platform vehicle type gear control system and control method based on single gear speed reducer |
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| US8033955B2 (en) * | 2008-03-06 | 2011-10-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and systems for regulating hill descent speed of an electric vehicle |
| CN104590052B (en) * | 2014-12-31 | 2017-12-19 | 北京新能源汽车股份有限公司 | A kind of anti-slip control method of hill start |
| CN106926751B (en) * | 2017-03-31 | 2020-04-03 | 北京经纬恒润科技有限公司 | Control method and device for preventing vehicle from sliding down slope |
| CN109334470B (en) * | 2018-11-30 | 2022-07-19 | 上海大郡动力控制技术有限公司 | Control method for preventing miniature electric automobile from sliding down slope |
| CN109591621B (en) * | 2018-12-10 | 2021-03-26 | 北京新能源汽车股份有限公司 | Method, device, vehicle and medium for preventing vehicle from sliding on ramp |
| CN109484208A (en) * | 2018-12-13 | 2019-03-19 | 安徽江淮汽车集团股份有限公司 | The control method and system of a kind of electric car ramp parking |
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