CN112659915B - Pure electric vehicle stable parking control method and device - Google Patents
Pure electric vehicle stable parking control method and device Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for controlling stable parking of a pure electric vehicle, wherein the method comprises the following steps: when a deceleration instruction of a user vehicle is detected, sending a preset deceleration operation to a motor controller of the user vehicle, wherein the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a recharging mode; detecting whether a user vehicle meets a pre-parking condition; when the user vehicle meets the pre-parking condition, detecting whether a deceleration instruction exists; and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period. By adopting the method, the development cost of the whole vehicle can be saved, other controllers are not required to be added, the effect of stopping and stabilizing the vehicle is also achieved, and the vehicle sliding risk does not exist after the vehicle is stopped on a ramp.
Description
Technical Field
The invention relates to the technical field of pure electric vehicles, in particular to a method and a device for controlling stable parking of a pure electric vehicle.
Background
For the current pure electric new energy automobile, the control method for controlling parking through a single pedal (e-pedal/one-pedal) function comprises the following two control methods: 1. when a vehicle equipped with an auto hold or a brake-by-wire system (ibooster) normally runs, when the opening degree of an accelerator pedal is 0, a Vehicle Control Unit (VCU) requests a large recovery torque to decelerate until the vehicle stops, the auto hold or the brake-by-wire system (ibooster) intervenes after the vehicle stops, the vehicle stops by using hydraulic pressure, and the hydraulic pressure of the auto hold or the ibooster is automatically released after the accelerator pedal is depressed again, so that the vehicle normally runs. 2. When a vehicle without an auto hold or a brake-by-wire (ibooster) normally runs, when the opening degree of an accelerator pedal is 0, the VCU requests a large recovery torque to decelerate until the vehicle stops, the vehicle cannot be controlled to be in a stationary state after the vehicle stops, and when the vehicle stops on a road with a slope, the vehicle slips off the slope, so that a great risk exists.
However, for the two parking situations described above, there are disadvantages, respectively: 1. the auto hold or ibooster function is required to be equipped for the vehicle, the development cost of the whole vehicle is increased, the development period is long, and the VCU is required to carry out interactive control with other controllers; 2. when a vehicle without the auto hold or ibooster function is parked on a road with a slope, the vehicle runs a risk of rolling down the slope.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a method and a device for controlling stable parking of a pure electric vehicle.
The embodiment of the invention provides a method for controlling stable parking of a pure electric vehicle, which comprises the following steps:
when a deceleration instruction of a user vehicle is detected, sending a preset deceleration operation to a motor controller of the user vehicle, wherein the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a back-charging mode;
detecting whether the user vehicle meets a pre-parking condition;
when the user vehicle meets a pre-parking condition, detecting whether the deceleration instruction exists or not;
and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period.
In one embodiment, the method further comprises:
detecting whether the speed of the user vehicle is less than a preset speed and detecting whether the rotating speed of a motor of the user vehicle is less than the preset rotating speed;
the user vehicle satisfies a pre-parking condition, including:
and when the speed of the user vehicle is less than the preset speed and the motor rotating speed of the user vehicle is less than the preset rotating speed, the user vehicle meets the pre-parking condition.
In one embodiment, the method further comprises:
and the speed reduction operation user instructs the motor controller to enter a recharging mode after entering a zero-torque mode of a preset period, and instructs the motor to continuously reduce the recovery torque in the recharging mode.
In one embodiment, the method further comprises:
when a starting instruction of a user vehicle is detected, the starting instruction is sent to a motor controller of the user vehicle, and the starting instruction is used for indicating the motor controller to exit from the speed mode and enter a forward mode.
In one embodiment, the method further comprises:
and acquiring the current road condition of the user vehicle, and adjusting the period of the preset period according to the current road condition.
In one embodiment, the method further comprises:
and when the user vehicle meets the pre-parking condition and the deceleration instruction is detected to be absent, triggering a preset alarm mechanism.
The embodiment of the invention provides a pure electric vehicle stable parking control device, which comprises:
the system comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for sending a preset deceleration operation to a motor controller of a user vehicle when a deceleration instruction of the user vehicle is detected, and the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a recharging mode;
the first detection module is used for detecting whether the user vehicle meets a pre-parking condition;
the second detection module is used for detecting whether the deceleration instruction exists or not when the user vehicle meets the pre-parking condition;
and the second sending module is used for sending a preset parking operation to a motor controller of the user vehicle when the deceleration instruction exists, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period.
In one embodiment, the apparatus further comprises:
and the third detection module is used for detecting whether the speed of the user vehicle is less than a preset speed and detecting whether the rotating speed of a motor of the user vehicle is less than a preset rotating speed, and when the speed of the user vehicle is less than the preset speed and the rotating speed of the motor of the user vehicle is less than the preset rotating speed, the user vehicle meets the pre-parking condition.
The embodiment of the invention provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the method for controlling the stable parking of the pure electric vehicle.
The embodiment of the invention provides a non-transitory computer readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the method for controlling smooth parking of the pure electric vehicle.
According to the method and the device for controlling the stable parking of the pure electric vehicle, when a deceleration instruction of a user vehicle is detected, a preset deceleration operation is sent to a motor controller of the user vehicle, and the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a back-charging mode; detecting whether a user vehicle meets a pre-parking condition; when the user vehicle meets the pre-parking condition, detecting whether a deceleration instruction exists; and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period. Therefore, the development cost of the whole vehicle is saved, other controllers are not required to be added, the effect of parking and stabilizing the vehicle is achieved, and the vehicle sliding risk does not exist after the vehicle is parked on the ramp.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling smooth parking of a pure electric vehicle in an embodiment of the invention.
FIG. 2 is a structural diagram of a smooth parking control device for a pure electric vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Fig. 1 is a schematic flow diagram of a method for controlling a steady parking of a pure electric vehicle according to an embodiment of the present invention, and as shown in fig. 1, the embodiment of the present invention provides a method for controlling a steady parking of a pure electric vehicle, including:
step S101, when a deceleration instruction of a user vehicle is detected, sending a preset deceleration operation to a motor controller of the user vehicle, wherein the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a back-charging mode.
Specifically, when the user vehicle normally travels, a deceleration instruction of the user vehicle is detected, a Vehicle Control Unit (VCU) of the user vehicle sends a preset deceleration operation to a Motor Controller (MCU), where the deceleration operation may be a corresponding instruction or signal, and is used to instruct the motor controller to enter a recharging mode after entering a zero-torque mode of a preset period, and the specific step is that the VCU requests the MCU to exit from a forward mode (normal travel mode) and enter a 0-torque mode of a period and then enter a regen mode, and decelerates by using a large recovery torque in the recharging mode.
In addition, the deceleration operation may also instruct the motor controller to continue to reduce the recovered torque when in the recharge mode, i.e., the deceleration of the user vehicle gradually increases, so as to ensure good drivability and smoothness of the torque, and to complete deceleration more quickly.
And step S102, detecting whether the user vehicle meets a pre-parking condition.
Specifically, after the motor controller decelerates in the back-up mode, it is detected whether the user vehicle meets a pre-parking condition, that is, whether the user vehicle is to be parked or merely decelerated, where the pre-parking condition needs to detect whether a vehicle speed of the user vehicle is less than a preset vehicle speed and whether a motor rotation speed of the user vehicle is less than a preset rotation speed, and when the vehicle speed of the user vehicle is less than the preset vehicle speed and the motor rotation speed of the user vehicle is less than the preset rotation speed, for example, when the motor rotation speed is less than 50rpm and the vehicle speed is less than 0.5km/h, the pre-parking condition is met.
And step S103, when the user vehicle meets the pre-parking condition, detecting whether the deceleration instruction exists.
Specifically, when the vehicle speed of the user vehicle is less than the preset vehicle speed and the motor rotating speed of the user vehicle is less than the preset rotating speed, that is, when the pre-parking condition is met, it is required to detect whether the deceleration instruction still exists, and when the deceleration instruction still exists, it indicates that the driver of the user vehicle intends to park, and perform subsequent parking operation.
In addition, when the user vehicle meets the pre-parking condition and the deceleration instruction is detected to be absent, the condition that the user vehicle is running at a low speed is described, and a preset alarm mechanism is triggered to remind a driver of the user vehicle of driving normally.
And step S104, when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period.
Specifically, when a deceleration instruction exists, a corresponding parking operation is performed, and a preset parking operation is sent to a motor controller of the user vehicle, wherein the lift-up operation may be a corresponding instruction or signal, which is used to instruct the motor controller to enter a speed mode after entering a zero-torque mode of a preset period, so as to control the vehicle to be in a stationary state, no matter the user vehicle is on a flat road or on a slope, specifically, the VCU does not request the MCU to output a recovery torque any more when the motor speed is less than 50rpm and the vehicle speed is less than 0.5km/h, and the vehicle is decelerating, at which time the VCU requests the MCU to enter a 0-torque mode of one period and then requests the MCU to enter a speed mode, so as to control the vehicle to be in a stationary state.
In addition, when a starting instruction of the user vehicle is detected, the starting instruction is sent to a motor controller of the user vehicle, the starting instruction is used for indicating the motor controller to exit from a speed mode, and a forward mode is entered, namely when a driver of the user vehicle steps on an accelerator pedal again to drive forwards after the user vehicle is decelerated and stopped, the VCU requests the MCU to exit from the speed mode and enter the forward mode, and the vehicle returns to normal driving.
According to the method for controlling the stable parking of the pure electric vehicle, when a deceleration instruction of a user vehicle is detected, a preset deceleration operation is sent to a motor controller of the user vehicle, and the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a back-charging mode; detecting whether a user vehicle meets a pre-parking condition; when the user vehicle meets the pre-parking condition, detecting whether a deceleration instruction exists; and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period. Therefore, the development cost of the whole vehicle is saved, other controllers are not required to be added, the effect of parking and stabilizing the vehicle is achieved, and the vehicle sliding risk does not exist after the vehicle is parked on the ramp.
On the basis of the above embodiment, the method for controlling the stable parking of the pure electric vehicle further includes:
and acquiring the current road condition of the user vehicle, and adjusting the period size of the preset period according to the current road condition.
In the embodiment of the invention, the cycle size of the preset cycle of the zero torque mode of the motor can be adjusted according to the adaptability of the current road condition of the vehicle of a user, for example, the road condition is steep, when the vehicle is on a slope, the time length of the zero torque mode can be correspondingly reduced, and the steeper the slope is, the shorter the time length of the zero torque mode is, so that the conditions of shaking and landslide of the vehicle are prevented.
According to the embodiment of the invention, the cycle size of the preset cycle can be dynamically adjusted, and the conditions of vehicle shaking and landslide are prevented.
Fig. 2 is a device for controlling smooth parking of a pure electric vehicle according to an embodiment of the present invention, including: a first sending module 201, a first detecting module 202, a second detecting module 203, and a second sending module 204, wherein:
the first sending module 201 is configured to send a preset deceleration operation to a motor controller of a user vehicle when a deceleration instruction of the user vehicle is detected, where the deceleration operation is used to instruct the motor controller to enter a zero-torque mode of a preset period and then enter a back-charging mode.
The first detecting module 202 is configured to detect whether the user vehicle meets a pre-parking condition.
The second detection module 203 is configured to detect whether the deceleration instruction exists when the user vehicle meets a pre-parking condition.
A second sending module 204, configured to send a preset stop operation to a motor controller of the user vehicle when the deceleration instruction exists, where the stop operation is used for the motor controller to enter a speed mode after entering a zero-torque mode of a preset period.
In one embodiment, the apparatus may further comprise:
and the third detection module is used for detecting whether the vehicle speed of the user vehicle is less than a preset vehicle speed or not and detecting whether the motor rotating speed of the user vehicle is less than a preset rotating speed or not, and when the vehicle speed of the user vehicle is less than the preset vehicle speed and the motor rotating speed of the user vehicle is less than the preset rotating speed, the user vehicle meets the pre-parking condition.
In one embodiment, the apparatus may further comprise:
the fourth detection module is used for sending the starting instruction to a motor controller of the user vehicle when the starting instruction of the user vehicle is detected, and the starting instruction is used for indicating the motor controller to exit from the speed mode and enter a forward mode.
In one embodiment, the apparatus may further comprise:
and the acquisition module is used for acquiring the current road condition of the user vehicle and adjusting the period of the preset period according to the current road condition.
The specific definition of the pure electric vehicle smooth parking control device can be referred to the definition of the pure electric vehicle smooth parking control method, and is not described herein again. All modules in the pure electric vehicle stable parking control device can be completely or partially realized through software, hardware and combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor)301, a memory (memory)302, a communication Interface (Communications Interface)303 and a communication bus 304, wherein the processor 301, the memory 302 and the communication Interface 303 complete communication with each other through the communication bus 304. The processor 301 may call logic instructions in the memory 302 to perform the following method: when a deceleration instruction of a user vehicle is detected, sending a preset deceleration operation to a motor controller of the user vehicle, wherein the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a recharging mode; detecting whether a user vehicle meets a pre-parking condition; when the user vehicle meets the pre-parking condition, detecting whether a deceleration instruction exists; and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period.
Furthermore, the logic instructions in the memory 302 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the transmission method provided in the foregoing embodiments when executed by a processor, and for example, the method includes: when a deceleration instruction of a user vehicle is detected, sending a preset deceleration operation to a motor controller of the user vehicle, wherein the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a recharging mode; detecting whether a user vehicle meets a pre-parking condition; when a user vehicle meets a pre-parking condition, detecting whether a deceleration instruction exists or not; and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero-torque mode of a preset period.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A pure electric vehicle smooth parking control method is characterized by comprising the following steps:
when a deceleration instruction of a user vehicle is detected, sending a preset deceleration operation to a motor controller of the user vehicle, wherein the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a back-charging mode;
detecting whether the user vehicle meets a pre-parking condition;
when the user vehicle meets a pre-parking condition, detecting whether the deceleration instruction exists or not;
and when the deceleration instruction exists, sending a preset parking operation to a motor controller of the user vehicle, wherein the parking operation is used for entering a speed mode after the motor controller enters a zero torque mode of a preset period, and the speed mode is used for controlling the user vehicle to keep a static state.
2. The pure electric vehicle smooth parking control method according to claim 1, wherein the step of detecting whether the user vehicle meets a pre-parking condition comprises the steps of:
detecting whether the speed of the user vehicle is less than a preset speed and detecting whether the rotating speed of a motor of the user vehicle is less than the preset rotating speed;
the user vehicle satisfies a pre-parking condition, including:
and when the speed of the user vehicle is less than the preset speed and the motor rotating speed of the user vehicle is less than the preset rotating speed, the user vehicle meets the pre-parking condition.
3. The pure electric vehicle smooth parking control method according to claim 1, wherein the deceleration operation comprises:
and the speed reduction operation user instructs the motor controller to enter a zero-torque mode of a preset period and then enter a recharging mode, and instructs the motor to continuously reduce the recovery torque in the recharging mode.
4. The pure electric vehicle smooth parking control method according to claim 1, wherein after sending the preset parking operation to a motor controller of a user vehicle, the method comprises the following steps:
and when a starting instruction of the user vehicle is detected, sending the starting instruction to a motor controller of the user vehicle, wherein the starting instruction is used for indicating the motor controller to exit from the speed mode and enter a normal running mode.
5. The pure electric vehicle smooth parking control method according to claim 1, further comprising:
and acquiring the current road condition of the user vehicle, and adjusting the period of the preset period according to the current road condition.
6. The pure electric vehicle smooth parking control method according to claim 1, further comprising:
and when the user vehicle meets the pre-parking condition and the deceleration instruction is detected to be absent, triggering a preset alarm mechanism.
7. The utility model provides a pure electric vehicles stationary parking controlling means which characterized in that, the device includes:
the system comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for sending a preset deceleration operation to a motor controller of a user vehicle when a deceleration instruction of the user vehicle is detected, and the deceleration operation is used for indicating the motor controller to enter a zero-torque mode of a preset period and then enter a recharging mode;
the first detection module is used for detecting whether the user vehicle meets a pre-parking condition;
the second detection module is used for detecting whether the deceleration instruction exists or not when the user vehicle meets the pre-parking condition;
and the second sending module is used for sending a preset stopping operation to a motor controller of the user vehicle when the deceleration instruction exists, wherein the stopping operation is used for enabling the motor controller to enter a speed mode after entering a zero-torque mode of a preset period, and the speed mode is used for controlling the user vehicle to keep a static state.
8. The pure electric vehicle smooth parking control device according to claim 7, further comprising:
and the third detection module is used for detecting whether the vehicle speed of the user vehicle is less than a preset vehicle speed or not and detecting whether the motor rotating speed of the user vehicle is less than a preset rotating speed or not, and when the vehicle speed of the user vehicle is less than the preset vehicle speed and the motor rotating speed of the user vehicle is less than the preset rotating speed, the user vehicle meets the pre-parking condition.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method for controlling smooth parking of an all-electric vehicle as claimed in any one of claims 1 to 6.
10. A non-transitory computer readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the smooth parking control method for pure electric vehicles according to any one of claims 1 to 6.
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| CN110481329A (en) * | 2019-09-11 | 2019-11-22 | 上海申沃客车有限公司 | Electric bus Brake energy recovery control method |
| CN111775713A (en) * | 2020-07-31 | 2020-10-16 | 厦门金龙联合汽车工业有限公司 | Control method for energy recovery braking parking of electric vehicle |
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