CN112549984B - Vehicle control method, controller and electric vehicle - Google Patents

Vehicle control method, controller and electric vehicle Download PDF

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CN112549984B
CN112549984B CN201910916775.6A CN201910916775A CN112549984B CN 112549984 B CN112549984 B CN 112549984B CN 201910916775 A CN201910916775 A CN 201910916775A CN 112549984 B CN112549984 B CN 112549984B
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vehicle
flameout
longitudinal acceleration
mode
motor
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CN112549984A (en
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李玮
刘超
梁海强
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • 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
    • 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
    • B60L2240/50—Drive Train control parameters related to clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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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  • General Physics & Mathematics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a vehicle control method, a controller and an electric automobile, and relates to the field of control of electric automobiles. The control method of the vehicle comprises the steps of acquiring flameout state information of the vehicle; determining a flameout mode of the vehicle according to the flameout state information of the vehicle; and controlling the rotating speed of the motor according to the flameout mode of the vehicle. The embodiment of the invention provides the control method of the vehicle, which can truly simulate the driving experience of the flameout process of the traditional fuel vehicle, solves the great problem that the electric vehicle is used as a learner-driven vehicle in driving schools, does not relate to the change of the hardware of the original vehicle driving system, and ensures the simplicity and the economical efficiency of the operation.

Description

Vehicle control method, controller and electric vehicle
Technical Field
The invention relates to the field of electric automobile flameout simulation control, in particular to a vehicle control method, a controller and an electric automobile.
Background
With the rapid improvement of the economic level of China, automobiles become common consumer goods and enter common families, and due to the large number of people in China, the groups with the requirements on driving licenses of school cars and drivers are huge, so that the industry chain related to the school cars in China is developed vigorously under the background. At present, most of driving school instruction cars in China mainly use manual fuel-stop cars, and as the driving school instruction cars are mainly used for training special skills of trainees, the driving school instruction cars are in low-speed driving states for a long time, such as starting, stopping, idling, backing and the like, and compared with normal driving conditions, the driving school instruction cars consume more energy and emit more harmful substances to the atmosphere. Considering that the electric automobile is energy-saving and environment-friendly, especially under the low-speed working condition, the energy efficiency ratio of the electric automobile is far higher than that of a traditional fuel vehicle, so that the electric automobile is a future trend to replace the traditional fuel vehicle as a driving school learner-driven vehicle from the aspects of economy, energy conservation and environment protection.
The traditional fuel vehicle and the electric vehicle have great difference in the aspects of drive system composition and power output characteristics, so that if the traditional fuel vehicle is replaced by the electric vehicle to be used as a learner-driven vehicle for driving schools, the electric vehicle is required to be capable of highly simulating the working characteristics of the fuel vehicle so as to ensure the 'uniform learning and examination' of students in driving schools. The manual driving stopping is a technical difficulty of an electric automobile as a driving school instruction car, and because the electric automobile outputs power by a driving motor, the working characteristics of the driving motor, especially the power output characteristics, are greatly different from those of an internal combustion engine in a traditional car, if the electric automobile is used for the driving school manual driving stopping instruction car, a gear shifting mechanism, a clutch mechanism and the like are required to be added, and a special control strategy is required to be designed to ensure that the driving experience is consistent with that of the traditional fuel oil car.
As a driving school student, in the process of learning a manual-gear vehicle, a flameout phenomenon caused by various reasons inevitably occurs, and the flameout experience can promote the growth of the student, so that the electric vehicle used as the driving school learner-driven vehicle firstly needs to simulate the flameout characteristic of a traditional fuel vehicle, but no mature solution exists at home and abroad for the electric vehicle to simulate the flameout characteristic of the traditional manual-gear fuel vehicle.
Disclosure of Invention
The embodiment of the invention provides a control method and a controller of a vehicle and an electric vehicle, which are used for solving the problems that the working characteristics, especially the power output characteristics, of a driving motor of the electric vehicle in the prior art are greatly different from those of an internal combustion engine in a traditional vehicle, and if the electric vehicle is used for a manual gear instructional vehicle in a driving school, a gear shifting mechanism, a clutch mechanism and the like are required to be added, and a special control strategy is required to be designed to ensure that the driving experience is consistent with that of the traditional fuel vehicle.
In order to solve the above technical problem, an embodiment of the present invention provides a control method for a vehicle, including:
acquiring flameout state information of the vehicle;
determining the flameout mode of the vehicle to be one of a flameout mode in the vehicle starting process, a flameout mode in the vehicle braking process and a flameout mode in the reason of improper matching of the clutch according to the flameout state information of the vehicle;
and controlling the rotating speed of the motor to be 0 according to the flameout mode of the vehicle.
Further, the vehicle flameout status information includes at least one of:
the rotating speed of the motor;
a clutch signal;
a braking signal;
an accelerator pedal signal;
longitudinal acceleration original value a of vehicle int 。
Further, the determining that the flameout mode of the vehicle is one of a flameout mode in a vehicle starting process, a flameout mode in a vehicle braking process and a flameout mode in a reason of improper clutch fit according to the status information of vehicle flameout includes:
determining a vehicle flameout mode as a vehicle starting process flameout mode according to the motor rotating speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration change parameter of the vehicle;
or determining a vehicle flameout mode as a vehicle braking process flameout mode according to the motor rotating speed, the braking signal and the longitudinal acceleration change parameter of the vehicle;
or determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the rotating speed of the motor and the longitudinal acceleration change parameter of the vehicle.
Further, the determining that the vehicle flameout mode is the vehicle starting process flameout mode according to the motor rotating speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to a first preset value, the clutch signal is that the pedal is stepped, the opening degree of the accelerator pedal is greater than a second preset value, and the longitudinal acceleration change parameter a of the vehicle K And if the threshold value Ka is larger than the threshold value Ka, determining that the vehicle flameout mode is the vehicle starting process flameout mode.
Further, the determining that the vehicle flameout mode is the vehicle braking process flameout mode according to the motor rotating speed, the braking signal and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to the first preset value, the braking signal is that the brake pedal is pressed down and the longitudinal acceleration change parameter a of the vehicle is K Is greater than the threshold value Ka and is,it is determined that the vehicle key-off mode is the vehicle braking process key-off mode and the key-off mode of the vehicle is the vehicle braking process key-off.
Further, the determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the rotating speed of the motor and the longitudinal acceleration variation parameter of the vehicle comprises:
if the rotating speed of the motor is less than or equal to the first preset value and the longitudinal acceleration change parameter a of the vehicle K And if the vehicle flameout mode is larger than the threshold Ka, determining that the vehicle flameout mode is a flameout mode caused by improper matching of the accelerator and the clutch.
Further, the vehicle longitudinal acceleration variation parameter a K Obtained by the following process:
according to the longitudinal acceleration original value a of the vehicle int Low pass filter coefficient K La 、K Lb And K Lc And carrying out low-pass filtering processing on the acceleration signal in N sampling filtering periods to obtain an acceleration signal a subjected to low-pass filtering processing L (n)；
Acceleration signals a after low-pass filtering processing of N sampling filtering periods L Carrying out weighted average on the absolute values of (n) to obtain a vehicle longitudinal acceleration change parameter a K 。
Further, the controlling the rotation speed of the motor at 0 rotation speed according to the flameout mode of the vehicle comprises:
correcting a vehicle longitudinal acceleration change parameter;
determining the transition time of 0 rotating speed control according to the correction of the vehicle longitudinal acceleration change parameter;
and acquiring a rotating speed control command of the motor according to the transition time of the 0 rotating speed control.
Further, the correction of the vehicle longitudinal acceleration variation parameter comprises:
by passing
Figure GDA0003725872820000031
For the change parameter a of the longitudinal acceleration of the vehicle K Correcting;
wherein, a limit The corrected longitudinal acceleration change parameter of the vehicle is obtained;
a min is a minimum boundary value of a parameter of the longitudinal acceleration change of the vehicle, a max Is the maximum boundary value of the change parameter of the longitudinal acceleration of the vehicle, and a max ＞a min ＞K a 。
Further, the obtaining of the transition time of the 0 rotation speed control according to the correction of the vehicle longitudinal acceleration change parameter includes:
minimum boundary value a of parameter according to vehicle longitudinal acceleration change min Maximum boundary value a of vehicle longitudinal acceleration change parameter max 0 maximum transition time T of speed control max And a minimum transition time T of 0rpm control min Obtaining a transition time T of 0 revolution control ctl 。
Further, the determining a rotation speed control command of the motor according to the transition time of the 0 rotation speed control includes:
according to the modified longitudinal acceleration change parameter a of the vehicle limit Current motor speed S of the vehicle in Time gradient parameter T m Determining a motor speed control command S cmd ；
Wherein, T m ＞0；T m According to the modified longitudinal acceleration change parameter a of the vehicle limit And carrying out adaptive adjustment.
An embodiment of the present invention further provides a controller for a vehicle, including:
the acquisition module is used for acquiring flameout state information of the vehicle;
the determining module is used for determining that the flameout mode of the vehicle is one of a flameout mode in the vehicle starting process, a flameout mode in the vehicle braking process and a flameout mode caused by improper fit of the clutch according to the flameout state information of the vehicle;
and the control module is used for controlling the rotating speed of the motor to be 0 according to the flameout mode of the vehicle.
An embodiment of the present invention further provides a vehicle controller, including: the processor and the memory are stored with programs executable by the processor, and when the processor executes the programs, the steps of the method are realized.
The embodiment of the invention also provides an electric automobile which comprises the control device for simulating flameout of the fuel automobile.
The scheme of the invention at least has the following technical effects:
in the embodiment, according to the status information of vehicle flameout, such as the rotating speed of the motor; a clutch signal; a braking signal; an accelerator pedal signal; longitudinal acceleration original value a of vehicle int The vehicle flameout modes are divided into three modes, namely a vehicle starting process flameout mode, a vehicle braking process flameout mode and a flameout mode caused by improper oil-out matching; the simulation of the flameout state of the traditional fuel vehicle by the electric vehicle is realized by controlling the rotating speed of the driving motor after the flameout mode detection is finished, the driving experience of the flameout process of the traditional fuel vehicle can be truly simulated by the vehicle control method, the problem that the electric vehicle is used as a learner-driven vehicle for driving schools is solved, the realization is simple and convenient, the change of the hardware of the original vehicle driving system is not involved, and the popularization value is wide.
Drawings
FIG. 1 is a schematic representation of the steps of a control method for a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an implementation architecture of a control method for a vehicle according to an embodiment of the present invention;
fig. 3 shows a block diagram of a controller of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides a vehicle control method, a controller and an electric vehicle, aiming at the problems that the working characteristics of a driving motor of the electric vehicle in the prior art, particularly the power output characteristics are greatly different from those of an internal combustion engine in a traditional vehicle, and if the electric vehicle is used for a manual gear instruction vehicle in a driving school, a special control strategy needs to be designed to ensure that the driving experience is consistent with that of the traditional fuel vehicle besides a gear shifting mechanism, a clutch mechanism and the like.
As shown in fig. 1, a control method of a vehicle of an embodiment of the present invention includes:
step 100, acquiring flameout state information of a vehicle;
200, determining that the flameout mode of the vehicle is one of a flameout mode in the vehicle starting process, a flameout mode in the vehicle braking process and a flameout mode caused by improper fit of a clutch according to the flameout state information of the vehicle;
and 300, controlling the rotating speed of the motor to be 0 according to the flameout mode of the vehicle.
In the embodiment, according to the status information of vehicle flameout, such as the rotating speed of the motor; a clutch signal; a braking signal; an accelerator pedal signal; longitudinal acceleration original value a of vehicle int The vehicle flameout modes are divided into three modes, namely a vehicle starting process flameout mode, a vehicle braking process flameout mode and a flameout mode caused by improper oil-out matching; the simulation of the flameout state of the traditional fuel vehicle by the electric vehicle is realized by controlling the rotating speed of the driving motor after the flameout mode detection is finished, the driving experience of the flameout process of the traditional fuel vehicle can be truly simulated by the vehicle control method, the problem that the electric vehicle is used as a learner-driven vehicle for driving schools is solved, the realization is simple and convenient, the change of the hardware of the original vehicle driving system is not involved, and the popularization value is wide.
Fig. 2 is a control method implementation architecture of a vehicle provided in an embodiment of the present invention, and in combination with a flameout caused by a non-fault factor of a small-sized fuel manual transmission, that is, a flameout caused by an improper operation of a driver, the flameout condition of the vehicle is detected in an electric vehicle according to a vehicle state and a specific action of the driver, so as to respectively detect and determine three flameout modes, namely a vehicle starting process, a vehicle braking process, and other causes of improper fuel disengagement. The method comprises the steps of entering motor rotating speed control after flameout mode detection is finished, for a traditional fuel vehicle, after an engine is flamed out, generating larger braking force by the engine under the condition that the vehicle speed is not 0 and a transmission mechanism is not disconnected, and enabling the vehicle speed to be rapidly reduced to 0, wherein the driving motor in the electric vehicle cannot generate larger braking force after the power of the driving motor is cut off due to working characteristics and the like.
In an embodiment of the present invention, the step 100 may include acquiring the status information of the vehicle flameout including at least one of:
the rotating speed of the motor;
a clutch signal;
a braking signal;
an accelerator pedal signal;
longitudinal acceleration original value a of vehicle int 。
Optionally, in an embodiment of the present invention, the step 200 may include:
determining a vehicle flameout mode as a vehicle starting process flameout mode according to the motor rotating speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration change parameter of the vehicle;
or determining a vehicle flameout mode as a vehicle braking process flameout mode according to the motor rotating speed, the braking signal and the longitudinal acceleration change parameter of the vehicle;
or determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the rotating speed of the motor and the longitudinal acceleration change parameter of the vehicle.
Optionally, the determining that the vehicle flameout mode is the vehicle starting process flameout mode according to the motor rotation speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration variation parameter of the vehicle includes:
if the motor rotates at a certain speedLess than or equal to a first preset value, a clutch signal is that a pedal is pressed down, the opening degree of an accelerator pedal is greater than a second preset value, and a vehicle longitudinal acceleration change parameter a K If the vehicle flameout mode is larger than the threshold Ka, determining that the vehicle flameout mode is the vehicle starting process flameout mode;
preferably, the first preset value is 500rpm, and the second preset value is 2%;
it should be noted that, considering that the driving school student is easy to cause flameout of the vehicle due to improper operation during the starting exercise, the invention specially simulates and detects the flameout mode in the state, wherein the condition that the rotating speed of the motor is not higher than 500rpm is consistent with the flameout rotating speed interval of the engine of the traditional fuel vehicle; in addition, the conditions of the effective clutch signal and the opening degree of the accelerator pedal are used for simulating the actual starting process of a student, namely the clutch is in a semi-linkage state when being stepped on, and the accelerator pedal is stepped on at the same time, wherein the limitation of the 2% opening degree of the accelerator pedal is to consider the dead zone of the accelerator pedal and the signal zero drift factor; finally, the change parameter of the longitudinal acceleration of the vehicle is larger than a specified threshold value, and the change parameter of the longitudinal acceleration of the vehicle is considered to be difficult to master in the process that a driving school student learns the oil-out matching of the manual-gear vehicle, so that the longitudinal vibration of the vehicle is very easy to occur due to the improper oil-out matching.
Optionally, the determining that the vehicle key-off mode is the vehicle braking process key-off mode according to the motor rotation speed, the braking signal and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to the first preset value, the braking signal is that the brake pedal is pressed down and the longitudinal acceleration change parameter a of the vehicle is K If the vehicle braking process is larger than the threshold Ka, determining that the vehicle flameout mode is the flameout mode in the vehicle braking processThe flameout mode of the vehicle is flameout in the braking process of the vehicle;
it should be noted that, for a driving school student, when learning to drive the manual fuel-oil-retaining vehicle, if the clutch is not properly matched in the low-speed braking process, a flameout phenomenon is easy to occur.
Optionally, the determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the motor rotation speed and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to the first preset value and the longitudinal acceleration change parameter a of the vehicle K If the vehicle flameout mode is larger than the threshold Ka, determining that the vehicle flameout mode is a flameout mode caused by improper matching of the accelerator and the clutch;
it should be noted that, for the driving school students, when learning to drive the manual fuel-oil-retaining vehicle, if the clutch is not stepped down in time or the separation degree is not enough, the flameout phenomenon is easy to occur.
Optionally, the vehicle longitudinal acceleration variation parameter a K Obtained by the following process:
according to the longitudinal acceleration original value a of the vehicle int Low pass filter coefficient K La 、K Lb And K Lc And carrying out low-pass filtering processing on the acceleration signal in N sampling filtering periods to obtain an acceleration signal a subjected to low-pass filtering processing L (n)；
Acceleration signals a after low-pass filtering processing of N sampling filtering periods L Carrying out weighted average on the absolute values of (n) to obtain a vehicle longitudinal acceleration change parameter a K 。
In an embodiment of the present invention, the step 300 may include:
step 301, correcting a longitudinal acceleration change parameter of the vehicle;
step 302, determining the transition time of 0 rotating speed control according to the correction of the vehicle longitudinal acceleration change parameter;
and 303, acquiring a rotating speed control command of the motor according to the transition time of the 0 rotating speed control.
In the conventional fuel-oil vehicle, a large braking force is generated by the engine in a state where the transmission mechanism is not disengaged after the vehicle is turned off, and if the vehicle speed is not 0 at the time of the vehicle turning off, the vehicle is rapidly stopped by the braking force. As an electric automobile, the power output core of the electric automobile is a driving motor, and the driving motor cannot generate large braking force in states such as pipe closing, active short circuit, zero torque and the like when the driving motor does not actively output power.
In one embodiment of the invention, the braking characteristic of the engine after the conventional fuel vehicle is shut down is simulated by controlling the rotation speed of the driving motor to be 0. The power output core driving motor of the electric automobile has two important working modes, namely a torque mode and a rotating speed mode, wherein the motor outputs corresponding torque according to a torque command in the torque mode, and the driving motor realizes accurate tracking of the rotating speed of the driving motor per se to the rotating speed command according to the rotating speed command in the rotating speed mode. The 0 rotating speed control is an important expression form of the rotating speed control, and the 0 rotating speed control is widely applied to the slope-stopping and anti-sliding control of the electric automobile. In the 0 rotating speed mode, the driving motor has a similar braking effect to that of the engine of the traditional fuel vehicle, and the embodiment of the invention utilizes the characteristic and simulates the braking characteristic of the engine of the traditional fuel vehicle after flameout by utilizing a 0 rotating speed control mode.
Optionally, the step 301 includes:
by passing
Figure GDA0003725872820000091
For the change parameter a of the longitudinal acceleration of the vehicle K Correcting;
wherein, a limit The corrected longitudinal acceleration change parameter of the vehicle is obtained;
a min for the minimum boundary value of the longitudinal acceleration variation parameter of the vehicle, a max Is the maximum boundary value of the change parameter of the longitudinal acceleration of the vehicle, and a max ＞a min ＞K a 。
Optionally, the step 302 includes:
minimum boundary value a of parameter according to vehicle longitudinal acceleration change min Maximum boundary value a of vehicle longitudinal acceleration change parameter max 0 maximum transition time T of speed control max And a minimum transition time T of 0rpm control min Obtaining a transition time T of 0 rotation speed control ctl ；
The adjustment of the 0-rpm control is performed in accordance with the magnitude of the vehicle longitudinal acceleration variation parameter when the vehicle enters the key-off mode. Considering that the conventional manual fuel oil-retaining automobile stalls due to improper oil-out fit, the time required by the whole stalling process is related to the longitudinal vibration degree of the automobile, and the whole stalling process can be decomposed into two stalling scenes, namely scene 1: the driver does not depress the clutch pedal all the way during braking, thereby causing the vehicle to stall; scene 2: during braking, the driver depresses the clutch pedal when the vehicle speed is low, but the clutch is not completely separated due to low force, so that the vehicle is flamed out. In the two scenes, the longitudinal vibration conditions of the vehicle are different, and the vehicle longitudinal acceleration change parameter corresponding to the scene 1 is larger than the vehicle longitudinal acceleration change parameter of the scene 2; meanwhile, the time required by the whole flameout process of the two scenes is different, the vehicle can rapidly flameout along with severe longitudinal vibration in the scene 1, and the flameout process in the scene 2 is longer than that in the scene 1 because the longitudinal vibration of the vehicle is smaller.
The embodiment of the invention is based on the characteristic of the flameout process of the traditional manual-gear fuel-oil vehicle, and the electric automobile is adjusted to rotate at 0 turn under the flameout modeTransition time T of speed control ctl The driving feeling of flameout of the traditional fuel vehicle is accurately simulated.
Optionally, the step 303 includes:
according to the modified longitudinal acceleration change parameter a of the vehicle limit Current motor speed S of the vehicle in Time gradient parameter T m Determining a motor speed control command S cmd ；
Wherein, T m ＞0；T m According to the corrected longitudinal acceleration change parameter a of the vehicle limit And carrying out adaptive adjustment.
As shown in fig. 3, an embodiment of the present invention further provides a controller of a vehicle, including:
the acquisition module 10 is used for acquiring the flameout state information of the vehicle;
the determining module 20 is configured to determine, according to the vehicle flameout state information, that the flameout mode of the vehicle is one of a vehicle starting process flameout mode, a vehicle braking process flameout mode and a flameout mode due to improper clutch fit;
and the control module 30 is used for controlling the rotating speed of the motor to be 0 according to the flameout mode of the vehicle.
Specifically, the acquiring module 10 acquires the status information that the vehicle is turned off and includes at least one of the following:
the rotating speed of the motor;
a clutch signal;
a braking signal;
an accelerator pedal signal;
longitudinal acceleration original value a of vehicle int 。
Specifically, the determining module 20 includes:
determining a vehicle flameout mode as a vehicle starting process flameout mode according to the motor rotating speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration change parameter of the vehicle;
or determining a vehicle flameout mode as a vehicle braking process flameout mode according to the motor rotating speed, the braking signal and the longitudinal acceleration change parameter of the vehicle;
or determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the rotating speed of the motor and the longitudinal acceleration change parameter of the vehicle.
Optionally, the determining that the vehicle flameout mode is the vehicle starting process flameout mode according to the motor rotation speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to the first preset value, the clutch signal indicates that the pedal is pressed down, the opening degree of the accelerator pedal is greater than the second preset value, and the longitudinal acceleration change parameter a of the vehicle K If the vehicle flameout mode is larger than the threshold Ka, determining that the vehicle flameout mode is the vehicle starting process flameout mode;
preferably, the first preset value is 500rpm and the second preset value is 2%.
Optionally, the determining that the vehicle key-off mode is the vehicle braking process key-off mode according to the motor rotation speed, the braking signal and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to the first preset value, the braking signal is that the brake pedal is pressed down and the longitudinal acceleration change parameter a of the vehicle is K If the vehicle braking process is larger than the threshold Ka, determining that the vehicle flameout mode is the vehicle braking process flameout mode, and determining that the vehicle flameout mode is the vehicle braking process flameout mode;
optionally, the determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the motor rotation speed and the longitudinal acceleration variation parameter of the vehicle includes:
if the rotating speed of the motor is less than or equal to the first preset value and the longitudinal acceleration change parameter a of the vehicle K And if the vehicle flameout mode is larger than the threshold Ka, determining that the vehicle flameout mode is a flameout mode caused by improper matching of the accelerator and the clutch.
Specifically, the control module 30 includes:
correcting a vehicle longitudinal acceleration change parameter;
determining the transition time of 0 rotating speed control according to the correction of the vehicle longitudinal acceleration change parameter;
and acquiring a rotating speed control command of the motor according to the transition time of the 0 rotating speed control.
Optionally, the modifying of the vehicle longitudinal acceleration variation parameter includes:
by passing
Figure GDA0003725872820000111
For the change parameter a of the longitudinal acceleration of the vehicle K Correcting;
wherein, a limit The corrected longitudinal acceleration change parameter of the vehicle is obtained;
a min for the minimum boundary value of the longitudinal acceleration variation parameter of the vehicle, a max Is the maximum boundary value of the change parameter of the longitudinal acceleration of the vehicle, and a max ＞a min ＞K a 。
Optionally, the obtaining the transition time of the 0 rotation speed control according to the correction of the vehicle longitudinal acceleration change parameter includes:
minimum boundary value a of parameter according to vehicle longitudinal acceleration change min Maximum boundary value a of vehicle longitudinal acceleration change parameter max 0 maximum transition time T of speed control max And a minimum transition time T of 0rpm control min Obtaining a transition time T of 0 revolution control ctl 。
Optionally, the determining a rotation speed control command of the motor according to the transition time of the 0 rotation speed control includes:
according to the modified longitudinal acceleration change parameter a of the vehicle limit Current motor speed S of the vehicle in Time gradient parameter T m Determining a motor speed control command S cmd ；
Wherein, T m ＞0；T m According to the modified longitudinal acceleration change parameter a of the vehicle limit And carrying out adaptive adjustment.
An embodiment of the present invention further provides a vehicle controller, including: the processor, the memorizer, store the procedure that the said processor can carry out on the said memorizer, when the said processor carries out the said procedure, realize the steps of the above-mentioned method.
The embodiment of the invention also provides an electric automobile which comprises the control device for simulating flameout of the fuel automobile.
In the embodiment, according to the state information of vehicle flameout, such as the rotating speed of the motor; a clutch signal; a braking signal; an accelerator pedal signal; longitudinal acceleration original value a of vehicle int The vehicle flameout modes are divided into three modes, namely a vehicle starting process flameout mode, a vehicle braking process flameout mode and a flameout mode caused by improper oil-out matching; the simulation of the flameout state of the traditional fuel vehicle by the electric vehicle is realized by controlling the rotating speed of the driving motor after the flameout mode detection is finished, the driving experience of the flameout process of the traditional fuel vehicle can be truly simulated by the vehicle control method, the problem that the electric vehicle is used as a learner-driven vehicle for driving schools is solved, the realization is simple and convenient, the change of the hardware of the original vehicle driving system is not involved, and the popularization value is wide.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims (10)

1. A control method of a vehicle, characterized by comprising:
acquiring flameout state information of the vehicle;
the vehicle key-off status information includes at least one of:
the rotating speed of the motor;
a clutch signal;
a braking signal;
an accelerator pedal signal;
longitudinal acceleration raw value of vehicle
Figure 187942DEST_PATH_IMAGE001
；
Determining the flameout mode of the vehicle to be one of a flameout mode in the vehicle starting process, a flameout mode in the vehicle braking process and a flameout mode due to improper matching of a clutch according to the flameout state information of the vehicle;
controlling the rotating speed of the motor to be 0 according to the flameout mode of the vehicle;
according to under the flame-out mode of vehicle, carry out 0 rotational speed control to motor speed, include:
correcting a vehicle longitudinal acceleration change parameter;
determining the transition time of 0 rotating speed control according to the correction of the vehicle longitudinal acceleration change parameter;
acquiring a rotating speed control command of the motor according to the transition time of the 0 rotating speed control;
the obtaining of the transition time of 0 rotation speed control according to the correction of the vehicle longitudinal acceleration change parameter comprises:
minimum boundary value of parameter change according to vehicle longitudinal acceleration
Figure 74645DEST_PATH_IMAGE002
Maximum limit value of vehicle longitudinal acceleration variation parameter
Figure 862472DEST_PATH_IMAGE003
0 maximum transition time of speed control
Figure 312039DEST_PATH_IMAGE004
And minimum transition time for 0rpm control
Figure 402486DEST_PATH_IMAGE005
Obtaining a transition time of 0rpm control
Figure 567364DEST_PATH_IMAGE006
；
The determining the rotation speed control command of the motor according to the transition time of the 0 rotation speed control comprises the following steps:
according to the corrected longitudinal acceleration change parameter of the vehicle
Figure 299828DEST_PATH_IMAGE007
Current motor speed of the vehicle
Figure 462956DEST_PATH_IMAGE008
Time gradient parameter
Figure 724304DEST_PATH_IMAGE009
Determining motor speed control commands
Figure 113828DEST_PATH_IMAGE010
；
Wherein,
Figure 246388DEST_PATH_IMAGE009
>0；
Figure 404968DEST_PATH_IMAGE011
according to the corrected longitudinal acceleration change parameter of the vehicle
Figure 696272DEST_PATH_IMAGE007
And carrying out adaptive adjustment.
2. The method for controlling a vehicle according to claim 1, wherein determining that the key-off mode of the vehicle is one of a key-off mode during vehicle starting, a key-off mode during vehicle braking, and a key-off mode due to improper clutch engagement according to the status information of the key-off of the vehicle comprises:
determining a vehicle flameout mode as a vehicle starting process flameout mode according to the motor rotating speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration change parameter of the vehicle; or,
determining a vehicle flameout mode as a vehicle braking process flameout mode according to the motor rotating speed, the braking signal and the longitudinal acceleration change parameter of the vehicle; or,
and determining that the vehicle flameout mode is a flameout mode caused by improper matching of an accelerator and a clutch according to the rotating speed of the motor and the longitudinal acceleration change parameter of the vehicle.
3. The method as claimed in claim 2, wherein the determining that the vehicle key-off mode is the vehicle launch process key-off mode according to the motor speed, the clutch signal, the accelerator pedal signal and the longitudinal acceleration variation parameter of the vehicle comprises:
if the motor rotating speed is less than or equal to the first preset value, the clutch signal is that the pedal is pressed down, the opening degree of the accelerator pedal is greater than the second preset value, and the longitudinal acceleration change parameter of the vehicle
Figure 573092DEST_PATH_IMAGE012
And if the threshold value Ka is larger than the threshold value Ka, determining that the vehicle flameout mode is the vehicle starting process flameout mode.
4. The method for controlling a vehicle according to claim 2, wherein the determining that the vehicle key-off mode is the vehicle braking process key-off mode according to the motor rotation speed, the braking signal and the longitudinal acceleration variation parameter of the vehicle comprises:
if the rotating speed of the motor is less than or equal to the first preset value, the braking signal is a parameter of the brake pedal being pressed down and the longitudinal acceleration of the vehicle being changed
Figure 116200DEST_PATH_IMAGE012
If the vehicle flameout mode is larger than the threshold Ka, the vehicle flameout mode is determined to be the vehicle braking process flameout mode, and the flameout mode of the vehicle is determined to be the vehicle braking process flameout.
5. The method for controlling a vehicle according to claim 2, wherein the determining that the vehicle key-off mode is the key-off mode due to improper engagement of the throttle and the clutch according to the motor rotation speed and the longitudinal acceleration variation parameter of the vehicle comprises:
if the rotating speed of the motor is less than or equal to the first preset value and the longitudinal acceleration change parameter of the vehicle
Figure 250991DEST_PATH_IMAGE012
And if the vehicle flameout mode is larger than the threshold Ka, determining that the vehicle flameout mode is a flameout mode caused by improper matching of the accelerator and the clutch.
6. The control method of the vehicle according to claim 3, 4 or 5, characterized in that the vehicle longitudinal acceleration variation parameter
Figure 854141DEST_PATH_IMAGE012
Obtained by the following process:
according to the longitudinal acceleration original value of the vehicle
Figure 952679DEST_PATH_IMAGE001
Low pass filter coefficient
Figure 424111DEST_PATH_IMAGE013
、
Figure 291704DEST_PATH_IMAGE014
And
Figure 334265DEST_PATH_IMAGE015
and carrying out low-pass filtering processing on the acceleration signal by N sampling filtering periods to obtain the acceleration signal subjected to the low-pass filtering processing
Figure 44732DEST_PATH_IMAGE016
；
Acceleration signals of N sampling filter periods after low-pass filtering processing
Figure 929643DEST_PATH_IMAGE016
Is weighted and averaged to obtain the longitudinal acceleration change of the vehicleParameter(s)
Figure 182901DEST_PATH_IMAGE012
。
7. The control method of a vehicle according to claim 1, wherein the correction of the vehicle longitudinal acceleration variation parameter includes: by passing
Figure 986909DEST_PATH_IMAGE017
For vehicle longitudinal acceleration variation parameter
Figure 57108DEST_PATH_IMAGE012
Correcting;
wherein,
Figure 870343DEST_PATH_IMAGE007
the corrected longitudinal acceleration change parameter of the vehicle is obtained;
Figure 978108DEST_PATH_IMAGE002
is the minimum boundary value of the vehicle longitudinal acceleration change parameter,
Figure 953017DEST_PATH_IMAGE003
is the maximum boundary value of the longitudinal acceleration variation parameter of the vehicle, and
Figure 779022DEST_PATH_IMAGE003
>
Figure 32102DEST_PATH_IMAGE002
>
Figure 853428DEST_PATH_IMAGE018
。
8. a controller of a vehicle, characterized by comprising:
the acquisition module is used for acquiring flameout state information of the vehicle;
the vehicle key-off status information includes at least one of:
the rotating speed of the motor;
a clutch signal;
a braking signal;
an accelerator pedal signal;
longitudinal acceleration raw value of vehicle
Figure 140184DEST_PATH_IMAGE001
；
The determining module is used for determining that the flameout mode of the vehicle is one of a flameout mode in the vehicle starting process, a flameout mode in the vehicle braking process and a flameout mode caused by improper fit of the clutch according to the flameout state information of the vehicle;
the control module is used for controlling the rotating speed of the motor to be 0 according to the flameout mode of the vehicle;
specifically, the control module includes:
correcting a vehicle longitudinal acceleration change parameter;
according to the correction of the longitudinal acceleration change parameters of the vehicle, determining the transition time of 0 rotating speed control;
acquiring a rotating speed control command of the motor according to the transition time of the 0 rotating speed control;
the obtaining of the transition time of 0 rotation speed control according to the correction of the vehicle longitudinal acceleration change parameter comprises:
minimum boundary value of parameter change according to vehicle longitudinal acceleration
Figure 46960DEST_PATH_IMAGE002
Maximum limit value of vehicle longitudinal acceleration variation parameter
Figure 77364DEST_PATH_IMAGE004
0 maximum transition time of speed control
Figure 750266DEST_PATH_IMAGE004
And minimum transition time for 0rpm control
Figure 942344DEST_PATH_IMAGE005
Obtaining a transition time of 0rpm control
Figure 601996DEST_PATH_IMAGE006
；
The determining the rotation speed control command of the motor according to the transition time of the 0 rotation speed control comprises the following steps:
according to the corrected longitudinal acceleration change parameter of the vehicle
Figure 170511DEST_PATH_IMAGE007
Current motor speed of the vehicle
Figure 966429DEST_PATH_IMAGE008
Time gradient parameter
Figure 863496DEST_PATH_IMAGE009
Determining motor speed control commands
Figure 213706DEST_PATH_IMAGE010
；
Wherein,
Figure 851492DEST_PATH_IMAGE009
>0； ，
Figure 377283DEST_PATH_IMAGE009
according to the corrected longitudinal acceleration change parameter of the vehicle
Figure 301376DEST_PATH_IMAGE007
And carrying out adaptive adjustment.
9. A vehicle controller, characterized by comprising: a processor, a memory, the memory having stored thereon a program executable by the processor, when executing the program, performing the steps of the method of any of claims 1 to 7.
10. An electric vehicle characterized by comprising the controller according to claim 8.
CN201910916775.6A 2019-09-26 2019-09-26 Vehicle control method, controller and electric vehicle Active CN112549984B (en)

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