CN113799620A - Vehicle hill-holding control method and device, storage medium and motor controller - Google Patents
Vehicle hill-holding control method and device, storage medium and motor controller Download PDFInfo
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- CN113799620A CN113799620A CN202111192692.0A CN202111192692A CN113799620A CN 113799620 A CN113799620 A CN 113799620A CN 202111192692 A CN202111192692 A CN 202111192692A CN 113799620 A CN113799620 A CN 113799620A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a vehicle hill-holding control method, a device, a storage medium and a motor controller, wherein the method comprises the following steps: when the vehicle stops in the driving process, judging whether the vehicle slips down a slope or not; if the vehicle is judged to slide down the slope, calculating a theoretical torque value for restraining the vehicle from sliding down the slope according to the given motor torque, the brake force and the acceleration before stopping; controlling a motor torque of the vehicle based on the calculated theoretical torque value to achieve hill-holding of the vehicle. The scheme of the invention can better generate the restraining torque with corresponding magnitude aiming at different vehicles under the slope-parking working condition.
Description
Technical Field
The invention relates to the field of control, in particular to a vehicle hill-holding control method and device, a storage medium and a motor controller.
Background
The automatic slope-stopping function is an important technical judgment index in the functions of the new energy automobile, and the function of the automatic slope-stopping function is to ensure that the new energy automobile cannot move in the direction opposite to the gear direction due to the action of gravity on a slope. The principle of the method is that when the automobile is in gear, if the automobile moves and the moving direction is opposite to the gear engaging direction, the automobile is abnormally moved under the influence of external force, and under the condition, a motor controller of the new energy automobile judges that the automobile is on a slope and slides down the slope. Therefore, the motor controller can generate a torque signal to enable the motor of the controlled automobile to be locked, and the function that the new energy automobile can be automatically parked on a slope is achieved. When the new energy automobile slips down the slope, the motor controller can output a reverse torque to restrain the slope slipping trend, and then the torque is adjusted to enable the new energy automobile to stop slipping down the slope and enter a slope parking state. The reverse restraining torque output when the vehicle slips on the slope is larger, the vehicle slip can be restrained, the torque value required when the vehicle stops and stops on the slope is quickly approached, the torque adjusting time is shorter, and the slope stopping effect is better. However, the magnitude of the torque which can rapidly stop the vehicle sliding cannot be confirmed before the new energy vehicle enters the hill-holding state in the related art, that is, the optimal set value of the reverse restraining torque output when restraining the slope sliding tendency cannot be determined.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the related art, and provides a method, an apparatus, a storage medium, and a motor controller for controlling a vehicle to stop on a slope, so as to solve the problem that the magnitude of a torque for rapidly stopping a vehicle from sliding cannot be confirmed before a new energy vehicle enters a state of stopping on a slope in the related art.
The invention provides a vehicle hill-holding control method in one aspect, which comprises the following steps: when the vehicle stops in the driving process, judging whether the vehicle slips down a slope or not; if the vehicle is judged to slide down the slope, calculating a theoretical torque value for restraining the vehicle from sliding down the slope according to the given motor torque, the brake force and the acceleration before stopping; controlling a motor torque of the vehicle based on the calculated theoretical torque value to achieve hill-holding of the vehicle.
Optionally, when the vehicle stops while driving, determining whether the vehicle slips down the slope includes: when the accelerator and the brake of the vehicle are both in a released state, judging whether the vehicle displaces; if the vehicle is judged to be displaced, judging whether the vehicle slips or not according to the condition that whether the direction of the vehicle displacement is consistent with the current gear direction or not; and if the direction of the vehicle displacement is inconsistent with the current gear direction, judging that the vehicle has a slope slipping phenomenon.
Optionally, calculating a theoretical torque value for restraining the vehicle from rolling down the slope according to the given motor torque, the braking force and the acceleration before the vehicle is stopped comprises: calculating a theoretical torque value T2 for restraining the vehicle from rolling down the slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
and the step of calculating the maximum braking force of the brake pedal of the vehicle according to the maximum braking force, wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force of the vehicle before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration of the vehicle before the vehicle stops, and L is a power transmission arm on the vehicle.
Optionally, controlling a motor torque of the vehicle based on the calculated theoretical torque value to realize hill-holding of the vehicle comprises: and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle to realize the slope parking of the vehicle.
Another aspect of the present invention provides a vehicle hill-holding control apparatus including: the judging unit is used for judging whether the vehicle slips down a slope or not when the vehicle stops in the driving process; the calculating unit is used for calculating a theoretical torque value for restraining the vehicle from sliding down the slope according to the given motor torque, the brake force and the acceleration before parking if the judging unit judges that the vehicle has the phenomenon of sliding down the slope; and the control unit is used for controlling the motor torque of the vehicle based on the theoretical torque value calculated by the calculation unit so as to realize the slope parking of the vehicle.
Optionally, the determining unit, when the vehicle stops during driving, determines whether a vehicle rolls off a slope, including: when the accelerator and the brake of the vehicle are both in a released state, judging whether the vehicle displaces; if the vehicle is judged to be displaced, judging whether the vehicle slips or not according to the condition that whether the direction of the vehicle displacement is consistent with the current gear direction or not; and if the direction of the vehicle displacement is inconsistent with the current gear direction, judging that the vehicle has a slope slipping phenomenon.
Optionally, calculating a theoretical torque value for restraining the vehicle from rolling down the slope according to the given motor torque, the braking force and the acceleration before the vehicle is stopped comprises: calculating a theoretical torque value T2 for restraining the vehicle from rolling down the slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
and the step of calculating the maximum braking force of the brake pedal of the vehicle according to the maximum braking force, wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force of the vehicle before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration of the vehicle before the vehicle stops, and L is a power transmission arm on the vehicle.
Alternatively, the control unit, which controls a motor torque of the vehicle based on the calculated theoretical torque value to realize hill-holding of the vehicle, includes: and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle to realize the slope parking of the vehicle.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
A further aspect of the invention provides a motor controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In still another aspect, the present invention provides a motor controller including any one of the vehicle hill-holding control devices described above.
According to the technical scheme, the restraining torque required by stopping the automobile from sliding when the parking point slides on the slope is judged according to the driving state of the new energy automobile before sliding, namely according to the driving condition that the automobile is moved to the parking point before parking, so that the restraining torque with corresponding size can be better generated aiming at different vehicles under the slope parking working condition, the sliding displacement is reduced, and the slope parking effect is improved.
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 invention and not to limit the invention. In the drawings:
FIG. 1 is a method schematic diagram of an embodiment of a vehicle hill-holding control method provided by the present invention;
FIG. 2 is a flow chart illustrating hill holding of a vehicle in the related art;
FIG. 3 is a method schematic diagram of one embodiment of a vehicle hill-holding control method provided by the present invention;
fig. 4 is a block diagram of a vehicle hill-holding control device 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 technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The vehicle hill-holding process in the related art is shown in fig. 2. The automobile stops in the driving process, and at the moment, if the accelerator pedal and the brake pedal are both in a released state, a signal of zero torque is generated and sent to the motor controller. When the automobile is shifted after exiting the parking state, the motor rotates accordingly and sends a rotation signal to the motor controller. In the zero torque state and the motor rotates, the motor controller will enter into the hill-holding judgment.
And the motor controller judges the moving direction of the motor and the received vehicle gear signal, if the moving direction of the vehicle is consistent with the gear direction, the vehicle normally advances or backs the vehicle, the next hill-holding process is not started, and the hill-holding judgment is finished. If the direction of the vehicle moving is opposite to the gear direction, the vehicle is judged to move abnormally, and the reason of the abnormal movement is generated due to unbalanced external stress at a high probability under the condition, so that the slope slipping is judged to occur, and the motor is controlled to be locked to realize the slope parking function. The control mode is that a restraining torque restraining slope slipping trend is quickly responded, the motor controller continuously detects the motion condition of the automobile after the generation (the motor sensor can periodically transmit the motion information of the automobile motor to the motor controller for processing), the speed change of the automobile is obtained through the motion condition, the slope stopping torque is continuously and automatically adjusted through a PID (proportion integration differentiation) adjusting method, and finally the slope stopping effect is achieved.
The restraining torque sent out during slope slipping is obtained through experimental tests, namely the best torque is obtained through slope-stopping debugging of one automobile during batch production of the same automobile type. As each matched vehicle type needs to be debugged, the vehicle has certain difference in the effects of different gradients, and the optimal torque obtained by manual debugging has relatively large error.
The invention provides a vehicle hill-holding control method. The present invention may be implemented in a motor controller of a vehicle.
FIG. 1 is a method diagram of an embodiment of a hill-holding control method for a vehicle according to the present invention.
As shown in fig. 1, according to one embodiment of the present invention, the method includes at least step S110, step S120, and step S130.
And step S110, judging whether the vehicle slips down the slope or not when the vehicle stops in the driving process.
In one embodiment, the determining whether the vehicle is rolling includes: when the accelerator and the brake of the vehicle are both in a released state, judging whether the vehicle displaces; if the vehicle is judged to be displaced, judging whether the vehicle slips or not according to the condition that whether the direction of the vehicle displacement is consistent with the current gear direction or not; and if the direction of the vehicle displacement is inconsistent with the current gear direction, judging that the vehicle has a slope slipping phenomenon.
Specifically, the vehicle is stopped while in motion, and if both the accelerator and brake pedals are released, a signal of zero torque will be generated and sent to the motor controller. When the vehicle is displaced from the parking state, the motor is rotated accordingly and a rotation signal is transmitted to the motor controller. In the zero torque state and the motor rotates, the motor controller will enter into the hill-holding judgment.
The motor controller judges the moving direction of the motor and the received vehicle gear signal, and if the moving direction of the vehicle is consistent with the gear direction, the vehicle is indicated to normally advance or reverse, and slope stopping control is not needed at the moment. And if the direction of the vehicle displacement is opposite to the gear direction, judging that the vehicle has abnormal movement, namely the vehicle slips down a slope, and entering a slope parking state.
And step S120, if the vehicle is judged to slide down the slope, calculating a theoretical torque value for restraining the vehicle from sliding down the slope according to the given motor torque, the braking force and the acceleration before stopping.
In one embodiment, the theoretical torque value T2 to restrain the vehicle from rolling down the slope is calculated according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
and the step of calculating the maximum braking force of the brake pedal of the vehicle according to the maximum braking force, wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force of the vehicle before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration of the vehicle before the vehicle stops, and L is a power transmission arm on the vehicle.
Preferably, the braking force and the acceleration of the vehicle can be detected in real time during the running process of the vehicle, and the theoretical torque value for restraining the vehicle from sliding down the slope is calculated when the vehicle is parked on the slope subsequently. The brake force is detected through the brake pedal sensor and transmits a force signal to the vehicle control unit (the total signal processor of the electric vehicle), and the vehicle control unit transmits the force signal to the motor controller, wherein the brake force is 0-100%.
The automobile acceleration is obtained by detecting the rotating speed of an automobile motor, namely, a motor sensor sends a speed signal to a motor controller, and the acceleration is obtained by detecting the speed difference in unit time, wherein the formula is as follows:
a＝(v1-v0)/△t
when the vehicle stops, the automobile rotating speed v0 is equal to 0, and the last speed value v1 before the vehicle stops can be detected, so that the formula can be simplified as follows:
a＝v1/△t
specifically, when the vehicle is on a slope, if the vehicle is not provided with the slope-stopping function, the vehicle rolls down the slope, and the vehicle is subjected to the external acting force F0. If the automobile is stopped, namely not rolling down the slope, a force F1 with the same magnitude as F0 and the opposite direction needs to be generated. And calculating a theoretical torque value F1 required to be generated when the vehicle is parked on a slope through the given motor torque, the brake force and the vehicle acceleration before the vehicle is stopped.
The transmission arm on the automobile is a fixed value L, and the output force F2 can be obtained through the given motor torque T1 of a motor controller, and the formula is as follows:
F2＝T1/L
the force Fmax corresponding to the maximum brake force of the brake pedal is determined by the physical properties of the vehicle pedal module, the magnitude F3 of the force corresponding to the brake force before parking can be obtained through the brake force sigma before parking, and the formula is as follows:
F3＝Fmax·σ％
the acceleration of the vehicle during parking is a, and the mass of the vehicle is m, and the formula can be obtained according to the stress:
m·a＝F3-F2-F0
the force F1 required to be generated when the vehicle does not roll down the slope is generated by the restraining torque T2 generated by the motor, and the formula is as follows:
F1＝T2/L
in conclusion, the relationship between the restrained torque and the given motor torque, the braking force and the vehicle acceleration before the vehicle is stopped is as follows:
T2＝(Fmax·σ％-T1/L-ma)·L
and S130, controlling the motor torque of the vehicle based on the calculated theoretical torque value so as to realize the slope parking of the vehicle.
Specifically, according to the speed change of the vehicle, the motor torque of the vehicle is adjusted through PID to realize the slope parking of the vehicle. PID adjustment is realized by comprehensively processing numerical values of current speed proportion, speed history integral and current speed differential. The higher the coasting speed means that the currently given hill-holding torque is smaller, and the given hill-holding torque is increased at this time. If the vehicle-sliding speed becomes slow, which means that the currently given hill-holding torque is larger, the given hill-holding torque is reduced.
After the restraining torque is responded (when the motor controller is judged to enter the slope-parking state, the restraining torque is sent immediately), the motor controller continuously detects the motion condition of the automobile, the speed change of the automobile is obtained through the motion condition, the slope-parking torque is continuously and automatically adjusted through a PID (proportion integration differentiation) adjusting method, and finally the slope-parking effect is achieved.
For the purpose of clearly illustrating the technical solution of the present invention, the following describes an implementation flow of the vehicle hill-holding control method provided by the present invention with a specific embodiment.
FIG. 3 is a method diagram of an embodiment of a hill-holding control method for a vehicle according to the present invention. As shown in fig. 3, when the vehicle is stopped during driving, a signal of zero torque is sent to the motor controller if both the accelerator and brake pedals are released. When the automobile is shifted after exiting the parking state, the motor rotates accordingly and sends a rotation signal to the motor controller. In the zero torque state and the motor rotates, the motor controller will enter into the hill-holding judgment.
And the motor controller judges the moving direction of the motor and the received vehicle gear signal, if the moving direction of the vehicle is consistent with the gear direction, the vehicle is indicated to normally advance or reverse, the next hill-holding control process is not started at the moment, and the hill-holding judgment is finished. And if the moving direction of the vehicle is opposite to the gear direction, judging that the vehicle abnormally moves and entering a slope-parking state. And calculating a theoretical torque value F1 required to be generated when the vehicle is parked on a slope through the given motor torque, the brake force and the vehicle acceleration before the vehicle is stopped. After the torque is restrained in response, the motor controller continuously detects the motion condition of the automobile, the speed change of the automobile is obtained through the motion condition, the slope-stopping torque is continuously and automatically adjusted through a PID (proportion integration differentiation) adjusting method, and finally the slope-stopping effect is achieved.
According to the embodiment of the invention, the corresponding torque response inhibition is realized by the information data acquired before slope stopping aiming at the working condition of the slope stopping point. The driving data in the process that the vehicle runs on the slope to the slope sliding point before sliding down the slope is recorded, calculation is carried out, the restraining torque required by subsequent slope parking is obtained, the problem of vehicle sliding before the vehicle enters the slope parking is solved, and the vehicle sliding distance is shortened.
Fig. 4 is a block diagram of a vehicle hill-holding control device according to an embodiment of the present invention. As shown in fig. 4, the vehicle hill-holding control device 100 includes a determination unit 110, a calculation unit 120, and a control unit 130.
The determination unit 110 is configured to determine whether the vehicle slips down a slope when the vehicle stops during traveling.
In one embodiment, the determining unit 110 determines whether the vehicle has a downhill slope, and includes: when the accelerator and the brake of the vehicle are both in a released state, judging whether the vehicle displaces; if the vehicle is judged to be displaced, judging whether the vehicle slips or not according to the condition that whether the direction of the vehicle displacement is consistent with the current gear direction or not; and if the direction of the vehicle displacement is inconsistent with the current gear direction, judging that the vehicle has a slope slipping phenomenon.
Specifically, the vehicle is stopped while in motion, and if both the accelerator and brake pedals are released, a signal of zero torque will be generated and sent to the motor controller. When the vehicle is displaced from the parking state, the motor is rotated accordingly and a rotation signal is transmitted to the motor controller. In the zero torque state and the motor rotates, the motor controller will enter into the hill-holding judgment.
The motor controller judges the moving direction of the motor and the received vehicle gear signal, and if the moving direction of the vehicle is consistent with the gear direction, the vehicle is indicated to normally advance or reverse, and slope stopping control is not needed at the moment. And if the direction of the vehicle displacement is opposite to the gear direction, judging that the vehicle has abnormal movement, namely the vehicle slips down a slope, and entering a slope parking state.
The calculating unit 120 is configured to calculate a theoretical torque value for suppressing the vehicle from sliding down the slope according to the given motor torque, the braking force and the acceleration before the vehicle is stopped, if the determining unit 110 determines that the vehicle has the phenomenon of sliding down the slope.
In one embodiment, the theoretical torque value T2 to restrain the vehicle from rolling down the slope is calculated according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
and the step of calculating the maximum braking force of the brake pedal of the vehicle according to the maximum braking force, wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force of the vehicle before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration of the vehicle before the vehicle stops, and L is a power transmission arm on the vehicle.
Preferably, the braking force and the acceleration of the vehicle can be detected in real time during the running process of the vehicle, and the theoretical torque value for restraining the vehicle from sliding down the slope is calculated when the vehicle is parked on the slope subsequently. The brake force is detected through the brake pedal sensor and transmits a force signal to the vehicle control unit (the total signal processor of the electric vehicle), and the vehicle control unit transmits the force signal to the motor controller, wherein the brake force is 0-100%.
The automobile acceleration is obtained by detecting the rotating speed of an automobile motor, namely, a motor sensor sends a speed signal to a motor controller, and the acceleration is obtained by detecting the speed difference in unit time, wherein the formula is as follows:
a＝(v1-v0)/△t
when the vehicle stops, the automobile rotating speed v0 is equal to 0, and the last speed value v1 before the vehicle stops can be detected, so that the formula can be simplified as follows:
a＝v1/△t
specifically, when the vehicle is on a slope, if the vehicle is not provided with the slope-stopping function, the vehicle rolls down the slope, and the vehicle is subjected to the external acting force F0. If the automobile is stopped, namely not rolling down the slope, a force F1 with the same magnitude as F0 and the opposite direction needs to be generated. And calculating a theoretical torque value F1 required to be generated when the vehicle is parked on a slope through the given motor torque, the brake force and the vehicle acceleration before the vehicle is stopped.
The transmission arm on the automobile is a fixed value L, and the output force F2 can be obtained through the given motor torque T1 of a motor controller, and the formula is as follows:
F2＝T1/L
the force Fmax corresponding to the maximum brake force of the brake pedal is determined by the physical properties of the vehicle pedal module, the magnitude F3 of the force corresponding to the brake force before parking can be obtained through the brake force sigma before parking, and the formula is as follows:
F3＝Fmax·σ％
the acceleration of the vehicle during parking is a, and the mass of the vehicle is m, and the formula can be obtained according to the stress:
m·a＝F3-F2-F0
the force F1 required to be generated when the vehicle does not roll down the slope is generated by the restraining torque T2 generated by the motor, and the formula is as follows:
F1＝T2/L
in conclusion, the relationship between the restrained torque and the given motor torque, the braking force and the vehicle acceleration before the vehicle is stopped is as follows:
T2＝(Fmax·σ％-T1/L-ma)·L
the control unit 130 is configured to control the motor torque of the vehicle based on the theoretical torque value calculated by the calculation unit 120 to realize hill holding of the vehicle.
Specifically, according to the speed change of the vehicle, the motor torque of the vehicle is adjusted through PID to realize the slope parking of the vehicle. PID adjustment is realized by comprehensively processing numerical values of current speed proportion, speed history integral and current speed differential. The higher the coasting speed means that the currently given hill-holding torque is smaller, and the given hill-holding torque is increased at this time. If the vehicle-sliding speed becomes slow, which means that the currently given hill-holding torque is larger, the given hill-holding torque is reduced. After the restraining torque is responded (when the motor controller is judged to enter the slope-parking state, the restraining torque is sent immediately), the motor controller continuously detects the motion condition of the automobile, the speed change of the automobile is obtained through the motion condition, the slope-parking torque is continuously and automatically adjusted through a PID (proportion integration differentiation) adjusting method, and finally the slope-parking effect is achieved.
The invention also provides a storage medium corresponding to the method for protecting a magnetic bearing system, on which a computer program is stored which, when being executed by a processor, carries out the steps of any of the methods described above.
The invention also provides a motor controller corresponding to the vehicle hill-holding control method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the methods.
The invention also provides a motor controller corresponding to the vehicle hill-holding control device, which comprises any one of the vehicle hill-holding control devices.
Therefore, according to the scheme provided by the invention, the restraining torque required for stopping the automobile from sliding when the parking point slides on the slope is judged according to the driving state of the new energy automobile before sliding, namely according to the driving condition that the automobile moves to the parking point before parking, so that the restraining torque with corresponding size can be better generated aiming at different automobiles under the slope parking working condition, the displacement of sliding on the slope is reduced, and the slope parking effect is improved. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A vehicle hill-holding control method characterized by comprising:
when the vehicle stops in the driving process, judging whether the vehicle slips down a slope or not;
if the vehicle is judged to slide down the slope, calculating a theoretical torque value for restraining the vehicle from sliding down the slope according to the given motor torque, the brake force and the acceleration before stopping;
controlling a motor torque of the vehicle based on the calculated theoretical torque value to achieve hill-holding of the vehicle.
2. The method of claim 1, wherein determining whether the vehicle is rolling when the vehicle is parked during travel comprises:
when the accelerator and the brake of the vehicle are both in a released state, judging whether the vehicle displaces;
if the vehicle is judged to be displaced, judging whether the vehicle slips or not according to the condition that whether the direction of the vehicle displacement is consistent with the current gear direction or not;
and if the direction of the vehicle displacement is inconsistent with the current gear direction, judging that the vehicle has a slope slipping phenomenon.
3. The method according to claim 1 or 2, wherein calculating a theoretical torque value for restraining the vehicle from rolling a slope from a given motor torque, a braking force and an acceleration before stopping comprises:
calculating a theoretical torque value T2 for restraining the vehicle from rolling down the slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
and the step of calculating the maximum braking force of the brake pedal of the vehicle according to the maximum braking force, wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force of the vehicle before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration of the vehicle before the vehicle stops, and L is a power transmission arm on the vehicle.
4. The method according to any one of claims 1-3, wherein controlling the motor torque of the vehicle based on the calculated theoretical torque value to achieve hill-holding of the vehicle comprises:
and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle to realize the slope parking of the vehicle.
5. A vehicle hill-holding control device characterized by comprising:
the judging unit is used for judging whether the vehicle slips down a slope or not when the vehicle stops in the driving process;
the calculating unit is used for calculating a theoretical torque value for restraining the vehicle from sliding down the slope according to the given motor torque, the brake force and the acceleration before parking if the judging unit judges that the vehicle has the phenomenon of sliding down the slope;
and the control unit is used for controlling the motor torque of the vehicle based on the theoretical torque value calculated by the calculation unit so as to realize the slope parking of the vehicle.
6. The apparatus according to claim 5, wherein the determination unit, when the vehicle is stopped while traveling, determines whether or not a hill-drop phenomenon occurs in the vehicle, includes:
when the accelerator and the brake of the vehicle are both in a released state, judging whether the vehicle displaces;
if the vehicle is judged to be displaced, judging whether the vehicle slips or not according to the condition that whether the direction of the vehicle displacement is consistent with the current gear direction or not;
and if the direction of the vehicle displacement is inconsistent with the current gear direction, judging that the vehicle has a slope slipping phenomenon.
7. The apparatus according to claim 5 or 6, wherein calculating a theoretical torque value for restraining the vehicle from rolling down the slope from a given motor torque, a braking force and an acceleration before stopping includes:
calculating a theoretical torque value T2 for restraining the vehicle from rolling down the slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
and the step of calculating the maximum braking force of the brake pedal of the vehicle according to the maximum braking force, wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force of the vehicle before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration of the vehicle before the vehicle stops, and L is a power transmission arm on the vehicle.
8. The apparatus according to any one of claims 5 to 7, wherein the control unit controls a motor torque of the vehicle based on the calculated theoretical torque value to realize hill-holding of the vehicle, includes:
and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle to realize the slope parking of the vehicle.
9. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
10. A motor controller comprising a processor, a memory and a computer program stored on the memory and operable on the processor to carry out the steps of the method of any one of claims 1 to 4 when the program is executed by the processor or comprising the vehicle hill-hold control device of any one of claims 5 to 8.
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Cited By (1)
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| CN114228509A (en) * | 2021-12-29 | 2022-03-25 | 臻驱科技（上海）有限公司 | Slope-parking control method and system for vehicle motor and vehicle |
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| CN113799620B (en) | 2023-05-23 |
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