CN111376728A - Control method and control system based on steep-slope slow-descent control system and electric vehicle - Google Patents
Control method and control system based on steep-slope slow-descent control system and electric vehicle Download PDFInfo
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- CN111376728A CN111376728A CN201811644518.3A CN201811644518A CN111376728A CN 111376728 A CN111376728 A CN 111376728A CN 201811644518 A CN201811644518 A CN 201811644518A CN 111376728 A CN111376728 A CN 111376728A
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
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Abstract
The invention relates to the field of motor control, and discloses a control method based on a steep descent control (HDC) system, the HDC system and an electric vehicle. The control method comprises the following steps: judging the state of the HDC system; under the condition that the HDC system is in a trigger state, determining a target braking torque based on the current speed and the target speed of the electric vehicle; comparing the target braking torque with the current maximum braking torque of the motor; and controlling the electric vehicle to brake in a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to the comparison result, and determining that the HDC system is in a triggering state when the triggering condition is met: the HDC system is in a standby state; and the depth signals of the accelerator pedal and the brake pedal are 0, the speed of the electric vehicle is in a preset speed range, and the electric vehicle is in an acceleration downhill state. The control method does not need a gradient sensor to acquire the gradient, thereby preventing the abnormal HDC function caused by the abnormal signal acquired by the gradient sensor and greatly improving the stability of the braking system and the braking safety of the whole vehicle.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method and a control system based on a steep descent control system and an electric vehicle.
Background
The basic principle of the steep descent function of the traditional engine vehicle type is that the combined action of an engine brake and an anti-lock brake system (ABS) is combined, so that the vehicle maintains the state of low vehicle speed without losing the tire grip force when descending a steep slope, and the vehicle can reach the low vehicle speed running state by being matched with a gearbox to descend to 1 gear. Taking the Land Rover vehicle as an example, the upper limit vehicle speed set by the steep descent is 9 km/h.
However, when the steep descent function is triggered at present, friction braking is mainly performed by an electric control hydraulic braking system, and the braking mode has the following problems: (1) the maintenance costs are increased and the generation of harmful dust is caused due to excessive wear of the brake system; (2) the long-time braking causes the heat fading of the brake disc, so that the braking performance is reduced and even the brake disc is failed; and (3) brake medium inertia and complex brake piping make the braking reaction sluggish.
Disclosure of Invention
The invention aims to provide a control method and a control system based on a steep descent control system and an electric vehicle, which cancel a gradient sensor in the traditional steep descent control system, so that the abnormal steep descent control function caused by the abnormal signal collected by the gradient sensor can be prevented, the working frequency and the working strength of a brake disc can be reduced, the brake disc is prevented from being overheated, and the service life and the stability of the brake system and the braking safety of the whole vehicle are greatly improved.
In order to achieve the above object, an aspect of the present invention provides a control method based on a steep descent control system, where the control method includes: judging the state of the steep descent control system; under the condition that the steep descent control system is in a trigger state, determining a required target braking torque based on the current speed and the target speed of the electric vehicle; comparing the target braking torque with a current maximum braking torque of a motor of the electric vehicle; and controlling the electric vehicle to brake through a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to a comparison result, and determining that the steep descent control system is in the triggering state under the condition that the following triggering conditions are met: the steep descent control system is in a standby state; and the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is within a preset speed range, and the electric vehicle is in an acceleration and downhill state.
Optionally, the controlling the electric vehicle to brake in a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to the comparison result includes: controlling the electric vehicle to brake in a motor feedback and hydraulic hybrid braking mode under the condition that the target braking torque is larger than the current maximum braking torque of a motor of the electric vehicle; and controlling the electric vehicle to brake by the target braking torque through a motor feedback braking mode under the condition that the target braking torque is less than or equal to the current maximum braking torque of the motor of the electric vehicle.
Optionally, the controlling the electric vehicle to brake through a motor feedback and hydraulic hybrid braking mode includes: controlling a motor feedback braking mode which takes the current maximum braking torque of the motor as the braking torque to brake; and controlling a hydraulic braking mode which takes the difference value of the target braking torque and the current maximum braking torque of the motor as braking torque to brake.
Optionally, the control method further includes: before executing the step of controlling the hydraulic braking mode to brake by taking the difference value between the target braking torque and the current maximum braking torque of the motor as the braking torque, executing the following operations: judging whether an anti-lock braking system of the electric vehicle is triggered or not; and controlling the anti-lock brake system to brake by taking the difference value as the brake torque under the condition that the anti-lock brake system is triggered.
Optionally, the steep descent control system is determined to be in a standby state in a case that the following standby conditions are met: the steep descent control system is electrified; and the speed of the electric vehicle is less than or equal to a preset speed threshold value, wherein the preset speed threshold value is greater than the maximum value of the preset speed range. Optionally, the control method further includes: controlling the steep descent control system to switch from the triggered state to the standby state if any one of the following switching conditions is met: the depth signal of an accelerator pedal of the electric vehicle is not 0; the braking torque of the brake pedal is larger than the target braking torque; or the target braking torque is 0 and the electric vehicle is in a deceleration state.
Optionally, the control method further includes: and storing the electric quantity in the braking process through the motor feedback braking mode.
Correspondingly, the invention also provides a steep descent control system, which comprises: the judging device is used for judging the state of the steep descent control system; the determining device is used for determining the required target braking torque based on the current speed and the target speed of the electric vehicle under the condition that the steep descent control system is in a trigger state; a comparison device for comparing the target braking torque with a current maximum braking torque of a motor of the electric vehicle; and the controller is used for controlling the electric vehicle to brake in a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to a comparison result, and the judging device is also used for determining that the steep descent control system is in a triggering state under the condition that the following triggering conditions are met: the steep descent control system is in a standby state; and the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is within a preset speed range, and the electric vehicle is in an acceleration and downhill state.
Optionally, the controller is further configured to: controlling the electric vehicle to brake in a motor feedback and hydraulic hybrid braking mode under the condition that the target braking torque is larger than the current maximum braking torque of a motor of the electric vehicle; and controlling the electric vehicle to brake by the target braking torque through a motor feedback braking mode under the condition that the target braking torque is less than or equal to the current maximum braking torque of the motor of the electric vehicle.
Optionally, in a case that the target braking torque is larger than a current maximum braking torque of a motor of the electric vehicle, the controller is further configured to: controlling a motor feedback braking mode which takes the current maximum braking torque of the motor as the braking torque to brake; and controlling a hydraulic braking mode which takes the difference value of the target braking torque and the current maximum braking torque of the motor as braking torque to brake.
Optionally, the determining device is further configured to determine whether an anti-lock braking system of the electric vehicle is triggered, and the controller is further configured to control the anti-lock braking system to brake with the difference as a braking torque when the anti-lock braking system is triggered.
Optionally, the determining device is further configured to determine that the steep descent control system is in a standby state if the following standby conditions are met: the steep descent control system is electrified; and the speed of the electric vehicle is less than or equal to a preset speed threshold value, wherein the preset speed threshold value is greater than the maximum value of the preset speed range.
Optionally, the controller is further configured to: controlling the steep descent control system to switch from the triggered state to the standby state if any one of the following switching conditions is met: the depth signal of an accelerator pedal of the electric vehicle is not 0; the braking torque of the brake pedal is larger than the target braking torque; or the target braking torque is 0 and the electric vehicle is in a deceleration state.
Optionally, the control system further includes: and the battery pack is used for storing the electric quantity in the braking process through the motor feedback braking mode.
Correspondingly, the invention further provides an electric vehicle which comprises the steep descent control system.
According to the technical scheme, the electric vehicle is controlled to brake through a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode creatively by judging that a steep descent control system is in a standby state, the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is in a preset speed range, and the electric vehicle is in an accelerating and descending state under the condition that the steep descent control system is in a trigger state. The control system cancels a gradient sensor in the traditional steep descent control system, thereby preventing the steep descent control function from being abnormal due to the abnormal signal collected by the gradient sensor, braking the brake disc through a motor feedback braking mode or a motor feedback and hydraulic mixed braking mode to reduce the working frequency and the working strength of the brake disc, preventing the brake disc from being overheated, and greatly improving the service life and the stability of the brake system and the braking safety of the whole vehicle.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a control method based on a steep descent control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a steep descent control system of an electric vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart of a control process of a steep descent control system according to an embodiment of the present invention; and
fig. 4 is a block diagram of a steep descent control system according to an embodiment of the present invention.
Description of the reference numerals
1 wheel speed sensor 2 wheel
3 brake disc 4 battery pack
5 Hydraulic control System 6 BSC
7 brake pedal and 8 accelerator pedal
9-gear 10 judgment device
11 HDC button 20 determination device
30 comparing device 40 controller
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The high-grade descent control (HDC) system can be applied to a vehicle so that the vehicle runs at a constant speed in the process of descending a slope, and therefore the running stability of the vehicle in the process of descending the slope can be improved. Specifically, the vehicle control unit can judge the actual downhill speed of the vehicle according to the wheel speed and the motor rotating speed, so that the motor can control the wheel speed according to the actual downhill condition of the vehicle, the vehicle downhill speed can be slow and uniform, and the driving smoothness of the vehicle in the downhill process can be improved.
Fig. 1 is a block diagram of a steep descent control system according to an embodiment of the present invention. As shown in fig. 1, the present invention provides a steep descent control system, which includes: the judging device 10 is used for judging the state of the steep descent control system; the determining device 20 is used for determining the required target braking torque based on the current speed and the target speed of the electric vehicle under the condition that the steep descent control system is in a trigger state; a comparison device 30 for comparing the target braking torque with a current maximum braking torque of a motor of the electric vehicle; and a controller 40 for controlling the electric vehicle to brake in a motor regenerative braking mode or a motor regenerative and hydraulic hybrid braking mode according to the comparison result. The control system creatively controls the electric vehicle to brake through a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode by judging that the steep descent control system is in a standby state, the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is in a preset speed range, and the condition that the electric vehicle is in an accelerating and descending state is that the steep descent control system is in a trigger state. The control system cancels a gradient sensor in the traditional steep descent control system, thereby preventing the steep descent control function from being abnormal due to the abnormal signal collected by the gradient sensor, braking the brake disc through a motor feedback braking mode or a motor feedback and hydraulic mixed braking mode to reduce the working frequency and the working strength of the brake disc, preventing the brake disc from being overheated, and greatly improving the service life and the stability of the brake system and the braking safety of the whole vehicle.
Wherein the determining the required target braking torque based on the current speed and the target speed of the electric vehicle may include: and calculating the target braking torque of the whole vehicle through an incremental PID algorithm based on the current speed and the target speed of the electric vehicle. The controller may be further operable to: controlling the electric vehicle to brake in a motor feedback and hydraulic hybrid braking mode under the condition that the target braking torque is larger than the current maximum braking torque of a motor of the electric vehicle; and controlling the electric vehicle to brake by the target braking torque through a motor feedback braking mode under the condition that the target braking torque is less than or equal to the current maximum braking torque of the motor of the electric vehicle. In the case that the target braking torque is greater than a current maximum braking torque of a motor of the electric vehicle, the controller may be further configured to: controlling a motor feedback braking mode which takes the current maximum braking torque of the motor as the braking torque to brake; and controlling a hydraulic braking mode which takes the difference value of the target braking torque and the current maximum braking torque of the motor as braking torque to brake. The control system may further include: and a battery pack 4 for storing an amount of electricity during braking through the motor regenerative braking mode, as shown in fig. 2. Therefore, in the process of braking the electric vehicle in the motor feedback braking mode, the advantages of short motor feedback torque response time and high control precision can be fully utilized, so that the braking stability is obviously improved, the kinetic energy of the motor can be converted into electric energy to be stored in the battery pack, the endurance mileage of the electric vehicle is improved, and the economical efficiency of the vehicle is improved.
The determination device may be further configured to determine whether an anti-lock brake system of the electric vehicle is activated, and the controller may be further configured to: under the condition that the anti-lock brake system is triggered, controlling the anti-lock brake system to brake by taking the difference value as brake torque; and under the condition that the anti-lock brake system is not triggered, controlling a hydraulic brake mode with the difference value of the target brake torque and the current maximum brake torque of the motor as the brake torque to brake.
The judging device can be further used for determining that the steep descent control system is in a triggering state under the condition that the following triggering conditions are met: the steep descent control system is in a standby state; and the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is within a preset speed range, and the electric vehicle is in an accelerating and downhill state. Wherein the preset speed range may be. V is more than or equal to Akm/h and less than or equal to 38km/h, Akm/h is the maximum speed which can be reached when the gear of the electric vehicle is a driving (D) gear or a reversing (R) gear and the electric vehicle idles on a single horizontal road surface with high adhesion capacity, and the size of the maximum speed is related to the specific model, mode and gear of the electric vehicle. When the gear is a driving (D) gear and the vehicle head drives downwards along a slope, the gear is a reverse (R) gear and the vehicle head drives upwards along the slope, or the gear is a neutral (N) gear and the electric vehicle drives upwards or downwards along the slope (or when the gear is in a non-P gear), the electric vehicle can be determined to be in a downhill state. The determination device may be further configured to determine that the steep descent control system is in a standby state if the following standby conditions are satisfied: the steep descent control system is electrified; and the speed of the electric vehicle is less than or equal to a preset speed threshold, wherein the preset speed threshold is greater than the maximum value of the preset speed range, for example, the preset speed threshold may be 60 km/h. Of course, the preset speed range and the preset speed threshold in the present invention are not limited to the above cases, and other reasonable ranges and values are possible.
The controller may be further operable to: controlling the steep descent control system to switch from the triggered state to the standby state if any one of the following switching conditions is met: the depth signal of an accelerator pedal of the electric vehicle is not 0; the braking torque of the brake pedal is larger than the target braking torque; or the target braking torque is 0 and the electric vehicle is in a deceleration state. For example, a driver maintains the electric vehicle at a first speed V via a steep descent control system1(Akm/h≤V138km/h) is lowered, if desired, at a second, lower speed V2(Akm/h≤V2Not more than 38km/h), the speed of the electric vehicle can be reduced by trampling a brake pedal, and once the judgment device judges that the depth signal of the brake pedal is not 0, the controller immediately switches the steep descent control system from a trigger state to a standby state. When the speed of the electric vehicle reaches a second speed V2When the driver releases the brake pedal and the judging device judges that other conditions also satisfy the triggering condition, the controller controls the steep descent control system to enter the triggering state again. Thus, the driver maintains the electric vehicle at the second speed V through the steep descent control system2Is going downhill. Therefore, compared with the traditional control system for controlling the electric vehicle to descend by the set vehicle speed (the same set value is used on slopes with different slopes), the driver can freely control the vehicle speed by stepping on the brake pedal or the accelerator pedal within a certain speed range, thereby improving the driving speed of the driverFlexibility, comfort and safety of using the steep descent control system.
The judging means, the determining means and the comparing means may be separate devices or may be modules integrated in the controller. The controller may be a complete vehicle control system controller (BSC) in an existing high-grade descent control (HDC) system in an electric vehicle, or may be a newly configured general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) circuit, any other type of Integrated Circuit (IC), a state machine, or the like.
As shown in fig. 2, a steep descent control (HDC) system may include: the device comprises a wheel speed sensor 1, wheels 2, a brake disc 3, a battery pack 4, a hydraulic control system 5, a vehicle control system controller (BSC)6, a brake pedal 7, an accelerator pedal 8, a gear 9 and an HDC button 11. The BSC6 may control the wheel cylinder brake pressure of the four wheels 2 (i.e., control the brake line pressure of each wheel) or recover electric energy through the hydraulic control system 5 or the battery pack 4, and the BSC6 is a control unit for realizing speed control by a steep descent control system. The HDC11 is connected with the BSC6 and is used for starting a steep descent control system. The wheel speed sensor 1 is connected with the BSC6 and used for collecting and sending the wheel speeds of four wheels 2 to the BSC 6; and the BSC6 processes and calculates the wheel speed of the wheel to obtain a speed signal of the electric vehicle. The brake disc 3 is an actuating mechanism for realizing the control of the braking force of the vehicle, and when a steep descent control system operates, the electric vehicle can be decelerated and braked by the brake disc 3, so that the aim of stabilizing the speed of the vehicle is fulfilled. The brake pedal 7 is connected with the BSC6 for sending a depth signal of the brake pedal 7 to the BSC 6. The accelerator pedal 8 is connected to the BSC6 for sending a signal of the accelerator pedal 8 (i.e., a signal that the accelerator pedal 8 is depressed or released) to the BSC 6.
Specifically, the process of controlling the braking of the electric vehicle will be explained and explained in detail by taking the HDC system shown in fig. 2 as an example, as shown in fig. 3.
Step S301, collecting the state of the HDC system.
Signals of an HDC button 11, an accelerator pedal 8, a brake pedal 7, the wheel speed of the wheel 2, a gear 9 and the like are acquired.
Step S302, judging whether the state of the HDC system meets a standby condition, and executing step S303 under the condition that the state of the HDC system meets the standby condition; otherwise, maintaining the initial state of the HDC system.
Step S303, controlling the HDC system to switch to the standby state.
And controlling the HDC system to be switched to the standby state under the condition that the HDC button 11 is electrified and the speed of the electric vehicle is less than or equal to 60 km/h.
Step S304, judging whether the state of the HDC system meets a trigger condition, and executing step S305 under the condition that the state of the HDC system meets the trigger condition; otherwise, the HDC system is maintained in a standby state.
Step S305, controlling the HDC system to switch to the trigger state, and executing steps S302S304 and S306.
If the HDC system is in the triggered state, it needs to detect whether it meets the standby condition or the triggering condition in real time, i.e., step S302 and step S304 are executed, and step S306 is executed only if the HDC system is in the triggered state in real time.
And step S306, under the condition that the HDC system is in the trigger state, determining the required target braking torque based on the current speed and the target speed of the electric vehicle.
Determining that the HDC system is in a triggered state if the following trigger conditions are met: the HDC system is in a standby state; and the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed V of the electric vehicle meets the condition that V is not less than Akm/h and not more than 38km/h, and the electric vehicle is in an acceleration downhill state. When the gear 9 is a D gear and the vehicle head runs downwards along a slope, the gear 9 is an R gear and the vehicle head runs upwards along the slope, or the gear 9 is an N gear and the electric vehicle runs upwards or downwards along the slope, the electric vehicle can be determined to be in a downhill state.
Step S307, judging whether the target braking torque is larger than the current maximum braking torque of the motor of the electric vehicle, and executing step S308 under the condition that the target braking torque is larger than the current maximum braking torque of the motor of the electric vehicle; otherwise, step S313 is performed.
Step S308, determining the current maximum braking torque of the motor as the braking torque of the motor feedback braking mode; and determining a difference value between the target braking torque and the current maximum braking torque of the motor as the braking torque in the hydraulic braking mode, and simultaneously executing the step S309 and the step S310.
Under the condition that the braking deceleration requirement does not exceed the road surface adhesion capacity, when the motor feedback braking cannot meet the target braking requirement, the motor feedback braking mode is preferentially used for braking, and the insufficient part is made up by using the hydraulic braking mode.
In step S309, the motor regenerative braking mode with the current maximum braking torque of the motor as the braking torque is controlled to perform braking, and the process goes to step S314.
Step S310, judging whether the ABS is triggered, and executing step S311 under the condition that the ABS is triggered; otherwise, step S312 is executed.
And step 311, controlling the ABS to brake by taking the difference value as the braking torque.
During braking by the ABS, the HDC system is still on standby.
And step S312, controlling a hydraulic braking mode with the difference value between the target braking torque and the current maximum braking torque of the motor as the braking torque to brake.
And step 313, controlling the electric vehicle to brake by the target braking torque through a motor feedback braking mode.
And under the condition that the braking deceleration requirement does not exceed the road adhesion capacity, when the motor feedback braking energy meets the target braking requirement, only using the motor feedback braking mode to brake.
Step S314, storing the electric quantity in the braking process through the motor regenerative braking mode.
Compared with the traditional steep slope slow descending control system, the steep slope slow descending control system is simple and easy to calibrate, and particularly can reduce a large amount of calibration cost and reduce the manufacturing cost of the whole vehicle during the mass production of vehicle types.
In summary, the invention creatively controls the electric vehicle to brake through a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode by judging that the steep descent control system is in a standby state, the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is in a preset speed range, and the electric vehicle is in an acceleration and descent state, namely that the steep descent control system is in a trigger state, and then under the condition that the steep descent control system is in the trigger state, according to the magnitude relation between the target braking torque of the electric vehicle and the current maximum braking torque of the motor of the electric vehicle. The control system cancels a gradient sensor in the traditional steep descent control system, thereby preventing the steep descent control function from being abnormal due to the abnormal signal collected by the gradient sensor, braking the brake disc through a motor feedback braking mode or a motor feedback and hydraulic mixed braking mode to reduce the working frequency and the working strength of the brake disc, preventing the brake disc from being overheated, and greatly improving the service life and the stability of the brake system and the braking safety of the whole vehicle.
Correspondingly, as shown in fig. 4, the invention further provides a control method based on the steep descent control system, and the control method may include the following steps: step S401, judging the state of the steep descent control system; step S402, under the condition that the steep descent control system is in a trigger state, determining a required target braking torque based on the current speed and the target speed of the electric vehicle; step S403, comparing the target braking torque with the current maximum braking torque of the motor of the electric vehicle; and step S404, controlling the electric vehicle to brake through a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to the comparison result.
For specific details and benefits of the control method based on the steep descent control system provided by the present invention, reference may be made to the above description of the steep descent control system, and details are not described herein again.
Correspondingly, the invention also provides an electric vehicle which can comprise the steep descent control system.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (15)
1. A control method based on a steep descent control system is characterized by comprising the following steps:
judging the state of the steep descent control system;
under the condition that the steep descent control system is in a trigger state, determining a required target braking torque based on the current speed and the target speed of the electric vehicle;
comparing the target braking torque with a current maximum braking torque of a motor of the electric vehicle; and
controlling the electric vehicle to brake in a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to the comparison result,
determining that the steep descent control system is in the triggered state if the following triggering conditions are met:
the steep descent control system is in a standby state; and
the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is within a preset speed range, and the electric vehicle is in an acceleration and downhill state.
2. The control method of claim 1, wherein the controlling the electric vehicle to brake in a motor regenerative braking mode or a motor regenerative and hydraulic hybrid braking mode according to the comparison result comprises:
controlling the electric vehicle to brake in a motor feedback and hydraulic hybrid braking mode under the condition that the target braking torque is larger than the current maximum braking torque of a motor of the electric vehicle; and
and controlling the electric vehicle to brake by the target braking torque through a motor feedback braking mode under the condition that the target braking torque is less than or equal to the current maximum braking torque of the motor of the electric vehicle.
3. The control method of claim 2, wherein the controlling the electric vehicle to brake via a hybrid electric regenerative and hydraulic braking mode comprises:
controlling a motor feedback braking mode which takes the current maximum braking torque of the motor as the braking torque to brake; and
and controlling a hydraulic braking mode which takes the difference value between the target braking torque and the current maximum braking torque of the motor as the braking torque to brake.
4. The control method according to claim 1, characterized by further comprising: before executing the step of controlling the hydraulic braking mode to brake by taking the difference value between the target braking torque and the current maximum braking torque of the motor as the braking torque, executing the following operations:
judging whether an anti-lock braking system of the electric vehicle is triggered or not;
and controlling the anti-lock brake system to brake by taking the difference value as the brake torque under the condition that the anti-lock brake system is triggered.
5. The control method according to claim 1, characterized in that the steep descent control system is determined to be in a standby state in a case where the following standby conditions are satisfied:
the steep descent control system is electrified; and
the speed of the electric vehicle is less than or equal to a preset speed threshold value,
wherein the preset speed threshold is greater than the maximum value of the preset speed range.
6. The control method according to claim 5, characterized by further comprising:
controlling the steep descent control system to switch from the triggered state to the standby state if any one of the following switching conditions is met:
the depth signal of an accelerator pedal of the electric vehicle is not 0;
the braking torque of the brake pedal is larger than the target braking torque; or
The target braking torque is 0 and the electric vehicle is in a deceleration state.
7. The control method according to claim 1, characterized by further comprising:
and storing the electric quantity in the braking process through the motor feedback braking mode.
8. A steep descent control system, comprising:
the judging device is used for judging the state of the steep descent control system;
the determining device is used for determining the required target braking torque based on the current speed and the target speed of the electric vehicle under the condition that the steep descent control system is in a trigger state;
a comparison device for comparing the target braking torque with a current maximum braking torque of a motor of the electric vehicle; and
a controller for controlling the electric vehicle to brake in a motor feedback braking mode or a motor feedback and hydraulic hybrid braking mode according to the comparison result,
the judging device is further used for determining that the steep descent control system is in a triggering state under the condition that the following triggering conditions are met:
the steep descent control system is in a standby state; and
the depth signals of an accelerator pedal and a brake pedal of the electric vehicle are 0, the speed of the electric vehicle is within a preset speed range, and the electric vehicle is in an acceleration and downhill state.
9. The control system of claim 8, wherein the controller is further configured to:
controlling the electric vehicle to brake in a motor feedback and hydraulic hybrid braking mode under the condition that the target braking torque is larger than the current maximum braking torque of a motor of the electric vehicle; and
and controlling the electric vehicle to brake by the target braking torque through a motor feedback braking mode under the condition that the target braking torque is less than or equal to the current maximum braking torque of the motor of the electric vehicle.
10. The control system of claim 9, wherein in the event that the target braking torque is greater than a current maximum braking torque of a motor of the electric vehicle, the controller is further configured to:
controlling a motor feedback braking mode which takes the current maximum braking torque of the motor as the braking torque to brake; and
and controlling a hydraulic braking mode which takes the difference value between the target braking torque and the current maximum braking torque of the motor as the braking torque to brake.
11. The control system according to claim 10, wherein the judging means is further configured to judge whether an antilock braking system of the electric vehicle is activated,
the controller is also used for controlling the anti-lock brake system to brake by taking the difference value as the brake torque under the condition that the anti-lock brake system is triggered.
12. The control system according to claim 8, wherein the determining means is further configured to determine that the steep descent control system is in a standby state if the following standby condition is satisfied:
the steep descent control system is electrified; and
the speed of the electric vehicle is less than or equal to a preset speed threshold value,
wherein the preset speed threshold is greater than the maximum value of the preset speed range.
13. The control system of claim 12, wherein the controller is further configured to:
controlling the steep descent control system to switch from the triggered state to the standby state if any one of the following switching conditions is met:
the depth signal of an accelerator pedal of the electric vehicle is not 0;
the braking torque of the brake pedal is larger than the target braking torque; or
The target braking torque is 0 and the electric vehicle is in a deceleration state.
14. The control system of claim 8, further comprising:
and the battery pack is used for storing the electric quantity in the braking process through the motor feedback braking mode.
15. An electric vehicle characterized in that it comprises a steep descent control system according to any one of claims 8-14.
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