CN114135666B - Parking method based on electronic P gear and electronic P gear control system - Google Patents
Parking method based on electronic P gear and electronic P gear control system Download PDFInfo
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- CN114135666B CN114135666B CN202010919035.0A CN202010919035A CN114135666B CN 114135666 B CN114135666 B CN 114135666B CN 202010919035 A CN202010919035 A CN 202010919035A CN 114135666 B CN114135666 B CN 114135666B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/34—Locking or disabling mechanisms
- F16H63/3416—Parking lock mechanisms or brakes in the transmission
- F16H63/3458—Parking lock mechanisms or brakes in the transmission with electric actuating means, e.g. shift by wire
- F16H63/3466—Parking lock mechanisms or brakes in the transmission with electric actuating means, e.g. shift by wire using electric motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/304—Constructional features of the final output mechanisms the final output mechanisms comprising elements moved by electrical or magnetic force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/34—Locking or disabling mechanisms
- F16H63/3408—Locking or disabling mechanisms the locking mechanism being moved by the final actuating mechanism
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
- F16H2061/1288—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is an actuator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
- Gear-Shifting Mechanisms (AREA)
Abstract
The invention discloses a parking method based on an electronic P gear and an electronic P gear control system, wherein the method comprises the following steps: when a parking command is received, controlling a P-gear motor to rotate along a vehicle locking direction until the rotation degree of the P-gear motor is within a locking degree range, so that the P-gear motor controls a P-gear parking mechanism to lock a gearbox or a driving motor of a vehicle; wherein the locking degree range is determined according to the locking dead point degree; the locking dead point degree is the maximum rotation degree of the P gear motor along the locking direction of the vehicle when the vehicle is in a static state. By implementing the embodiment of the invention, the locking of the gearbox of the traditional fuel oil vehicle or the driving motor of the new energy electric vehicle can be realized.
Description
Technical Field
The invention relates to the technical field of automobile electronics, in particular to a parking method based on an electronic P gear and an electronic P gear control system.
Background
Modern automobiles are increasingly widely applied to mechanical control and electronization, and with the high-speed development of new energy automobiles and the popularization and application of the intelligent driving field, parking safety is more and more important. The conventional parking system is EPB electronic parking. And through the EPB electronic parking system, the brake disc is locked by the calipers, so that parking is realized. However, this parking method cannot lock the transmission case of the conventional fuel vehicle or the drive motor of the new energy electric vehicle.
Disclosure of Invention
The embodiment of the invention provides a parking method based on an electronic P gear and an electronic P gear control system, which can realize locking of a driving motor of a gearbox or a new energy electric vehicle of a traditional fuel oil vehicle.
An embodiment of the invention provides a parking method based on an electronic P gear, which comprises the following steps: when a parking command is received, controlling a P-gear motor to rotate along a vehicle locking direction until the rotation degree of the P-gear motor is within a locking degree range, so that the P-gear motor controls a P-gear parking mechanism to lock a gearbox or a driving motor of a vehicle;
wherein the locking degree range is determined according to the locking dead point degree; the locking dead point degree is the maximum rotation degree of the P gear motor along the locking direction of the vehicle when the vehicle is in a static state.
In this embodiment, when the vehicle is stationary, the P-range motor is controlled to rotate in the direction in which the vehicle is locked, and then the maximum degree of rotation is taken as the degree of locking stop of the vehicle, so that adaptive learning of the locking stop of the vehicle is realized, and then the degree of rotation range of the driving motor when the vehicle is locked, that is, the above-described degree of locking range, is determined according to the degree of locking stop. When a parking command is received, the P-gear motor is controlled to rotate until the rotation degree of the P-gear motor is within the locking degree range, and the P-gear parking mechanism can lock the gearbox or the driving motor of the vehicle, so that the aim of locking the gearbox or the driving motor of the vehicle is fulfilled.
Further, the method further comprises the following steps: when an unlocking command is received, controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle; wherein the unlocking degree range is determined according to the unlocking dead point degree; the unlocking dead point degree is the maximum rotation degree of the P gear motor along the unlocking direction of the vehicle when the vehicle is in a static state.
In this embodiment, when the vehicle is stationary, the P-range motor is controlled to rotate in the vehicle unlocking direction, then the maximum rotation degree is taken as the unlocking dead point degree of the vehicle, the adaptive learning of the vehicle unlocking dead point is realized, and the rotation degree range of the driving motor when the vehicle is unlocked, namely the unlocking degree range, is determined according to the unlocking dead point degree. When an unlocking command is received, the P-gear motor is controlled to rotate until the rotation degree of the P-gear motor is within the unlocking degree range, and the P-gear parking mechanism can unlock the gearbox or the driving motor of the vehicle, so that the purpose of unlocking the gearbox or the driving motor of the vehicle is achieved.
Further, the lock-up point number is obtained by:
judging a vehicle speed signal after the KL15 of the vehicle is electrified, and then driving the P gear motor to continuously rotate along the locking direction of the vehicle when the vehicle speed is judged to be 0 until the motor cannot continuously rotate;
and taking the rotation degree when the P-gear motor stops rotating as the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle, taking the maximum rotation degree at the moment as the locking dead point degree, and storing the locking dead point degree in a memory.
Further, the method further comprises the following steps: and when the locking dead point degree is determined to exceed a first preset numerical range or the unlocking dead point degree is determined to exceed a second preset numerical range, performing out-of-tolerance early warning.
Because the manufacturing tolerance of the P-gear parking system mechanism, the assembly tolerance of the P-gear parking system and the control tolerance of the P-gear parking system exist in the actual manufacturing process, a reasonable numerical range of the degrees of the locking dead points, namely the first preset numerical range, is adopted, if the degrees of the locking dead points obtained through self-adaptive learning are in the first preset numerical range, the explanation is normal, otherwise, the explanation is adopted, the degree of the locking dead points of the vehicle is out of tolerance, and at the moment, out-of-tolerance early warning is carried out. And if the degree of the unlocking dead point obtained through self-adaptive learning is in the first preset numerical range, the explanation is normal, otherwise, the explanation is that the degree of the unlocking dead point of the vehicle is out of tolerance, and out-of-tolerance early warning is carried out at the moment.
Further, the method further comprises the following steps: controlling a P-gear sensor to detect the rotation degree of the P-gear motor in real time; if the rotation degree of the P-gear motor is kept unchanged within the preset time period and is not in the locking degree range or the unlocking degree range, determining that the P-gear motor has a spin blocking fault and performing fault early warning.
In the embodiment, the rotation degree of the P-gear motor is detected in real time through the P-gear motor, the state of the P-gear motor is detected, and early warning is carried out once the rotation blockage exists in the rotation process of the P-gear motor.
Based on the method item embodiments, the invention correspondingly provides a system item embodiment.
The embodiment of the invention provides an electronic P-gear control system, which comprises a P-gear motor controller and a P-gear motor;
the P-gear motor controller is used for controlling the P-gear motor to rotate along the locking direction of the vehicle when receiving a parking command until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock a gearbox or a driving motor of the vehicle; wherein the locking degree range is determined according to the locking dead point degree; the locking dead point degree is the maximum rotation degree of the P gear motor along the locking direction of the vehicle when the vehicle is in a static state.
Further, the P-gear motor controller is further configured to control the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle; wherein the unlocking degree range is determined according to the unlocking dead point degree; the unlocking dead point degree is the maximum rotation degree of the P gear motor along the unlocking direction of the vehicle when the vehicle is in a static state.
Further, the P-gear motor controller is further configured to perform out-of-tolerance early warning when it is determined that the degree of the locking dead point exceeds a first preset numerical range or when it is determined that the degree of the unlocking dead point exceeds a second preset numerical range.
Further, the P-gear sensor is configured to detect a rotation degree of the P-gear motor in real time, and transmit the detected rotation degree of the P-gear motor to the P-gear motor controller; and the P-gear motor controller is further used for determining that the P-gear motor has a spin blocking fault and performing fault early warning when detecting that the rotation degree of the P-gear motor is kept unchanged within a preset time period and the rotation degree of the P-gear motor is not within the locking degree range or the unlocking degree range.
Further, the P-gear motor controller, the P-gear motor and the P-gear sensor are integrated.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention discloses a parking method based on an electronic P gear and an electronic P gear control system, wherein when a vehicle is stationary, a P gear motor is controlled to rotate along the locking direction of the vehicle, then the maximum rotation degree is used as the locking dead point degree of the vehicle, the self-adaptive learning of the locking dead point of the vehicle is realized, and then the rotation degree range of a driving motor during the locking of the vehicle is determined according to the locking dead point degree, namely the locking degree range. When a parking command is received, the P-gear motor is controlled to rotate until the rotation degree of the P-gear motor is within the locking degree range, and the P-gear parking mechanism can lock the gearbox or the driving motor of the vehicle, so that the aim of locking the gearbox or the driving motor of the vehicle is fulfilled.
Drawings
Fig. 1 is a schematic flow chart of a parking method based on an electronic P gear according to a first embodiment of the present invention.
Fig. 2 is a schematic flow chart of a parking method based on an electronic P gear according to a second embodiment of the present invention.
Fig. 3 is a schematic flow chart of a parking method based on an electronic P gear according to a third embodiment of the present invention.
Fig. 4 is a schematic flow chart of a parking method based on an electronic P range according to a fourth embodiment of the present invention.
Fig. 5 is a logic diagram for controlling a rotation angle of a P-gear motor in a parking method based on an electronic P-gear according to a fourth embodiment of the present invention.
Fig. 6 is a system architecture diagram of a P-gear control system according to a fifth embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First embodiment:
as shown in fig. 1, a first embodiment of the present invention provides a parking method based on an electronic P-gear, including the following steps:
and step 101, when the vehicle is stationary, controlling the P-gear motor to rotate along the locking direction of the vehicle, and then taking the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle as the locking dead point degree of the vehicle.
And step S102, determining a locking degree range according to the locking dead point degree of the vehicle.
And step S103, when a parking command is received, controlling the P-gear motor to rotate along the locking direction of the vehicle until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock the gearbox or the driving motor of the vehicle.
For step S101, before the locking of the transmission or the driving motor of the vehicle is achieved, it is first necessary to determine the degree of the locking stop of the vehicle, that is, the degree of rotation of the P-gear motor when the transmission or the driving motor of the vehicle is locked. Therefore, adaptive learning of the degree of the lock-up point is required.
Specifically, the electronic P-gear motor controller judges a vehicle speed signal after KL15 is electrified, drives the P-gear parking motor to continuously rotate along the locking direction of the vehicle when the vehicle speed v=0 km/h until the vehicle cannot continuously rotate, and the final rotation degree is the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle, and takes the maximum rotation degree at the moment as the locking dead point degree. And stored in an EEPROM (electrically erasable programmable read only memory) to complete the self-adaptive learning of the vehicle locking dead point position.
It should be noted that, for a conventional fuel vehicle, the object of locking is the gearbox of the vehicle and for a new energy electric vehicle, the object of locking is the drive motor of the vehicle.
In step S102, since the P-range motor is not normally rotated to the locked limit position in order to prevent the transmission or the driving motor of the vehicle from being damaged during the actual locking process, the degree of electronic rotation of the P-range is usually controlled to be lower than the actual locking stop degree during the locking process. For this purpose, in the embodiment of the invention, a corresponding locking degree range is set according to the locking point degree. Assuming that the degree of locking dead center is B, the range of degrees of locking may be: b-theta 1 ～B-θ 2 . It is noted that θ 1 、θ 2 Not absolute values, but negative values.
For step S103, the locking dead point degree is still set as B, and the locking degree range is: b-theta 1 ～B-θ 2 As an example. When a parking command is received, the P-gear motor controller controls the P-gear motor to rotate along the locking direction of the vehicle, the P-gear motor is driven to move in the rotating process of the P-gear motor, and when the rotating degree of the P-gear motor reaches B-theta 1 ～B-θ 2 And stopping rotating, wherein the P-gear parking mechanism locks a gearbox or a driving motor of the vehicle.
According to the first embodiment of the invention, when a parking instruction is received, the gearbox or the driving motor of the vehicle can be locked according to the locking degree range.
On the basis of the first embodiment of the present invention, a second embodiment is correspondingly provided;
as shown in fig. 2, a second embodiment of the present invention provides a parking method based on an electronic P gear, including:
step S11, when the vehicle is stationary, controlling a P-gear motor to rotate along the locking direction of the vehicle, and then taking the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle as the locking dead point degree of the vehicle; when the vehicle is stationary, controlling a P gear motor to rotate along the unlocking direction of the vehicle, and then taking the maximum rotation degree of the P gear motor rotating along the unlocking direction of the vehicle as the unlocking dead point degree of the vehicle;
step S12, determining a locking degree range according to the degree of a locking stop point of the vehicle; and determining an unlocking degree range according to the unlocking dead point degree of the vehicle.
And step S13, when a parking command is received, controlling the P-gear motor to rotate along the locking direction of the vehicle until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock the gearbox or the driving motor of the vehicle.
Step S14, when an unlocking command is received, controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle;
in this embodiment, step S11 differs from step S101 in the first embodiment in that in step S11, in addition to the adaptive learning of the position of the vehicle lock-up dead point, the adaptive learning of the position of the vehicle unlock dead point is performed; specifically, the electronic P-gear motor controller judges a vehicle speed signal after the KL15 is electrified, drives the P-gear parking motor to continuously rotate along the unlocking direction of the vehicle when the vehicle speed v=0 km/h until the vehicle cannot continuously rotate, and the final rotation degree is the maximum rotation degree of the P-gear motor rotating along the unlocking direction of the vehicle, and takes the maximum rotation degree at the moment as an unlocking dead point degree. And stored in an EEPROM, thereby completing the self-adaptive learning of the vehicle locking dead point position. In step S11, the adaptive learning of the lock-up dead point position is the same as that in step S101, and will not be described here.
As for step S12, step S12 differs from step S102 in the first embodiment in that in step S12, the unlocking degree range is also determined from the unlocking dead point degree. Specifically, in the embodiment of the invention, the corresponding locking degree range is set according to the unlocking dead point degree. Assuming that the degree of the locking stop point is A, lockingThe range of degrees may be:
it is to be noted that->
Not absolute, but negative
The step S13 is identical to the step S103 in the first embodiment of the present invention, and will not be described herein.
For step S14, the unlocking dead point degree is a, and the unlocking degree range is:
as an example. When a parking command is received, the P-gear motor controller controls the P-gear motor to rotate along the unlocking direction of the vehicle, the P-gear motor is driven to move in the rotating process of the P-gear motor, and when the rotating degree of the P-gear motor is up to +.>
And (3) stopping rotating, and unlocking the gearbox or the driving motor of the vehicle by the P-gear parking mechanism.
A third embodiment is correspondingly provided on the basis of the second embodiment of the invention;
as shown in fig. 3, a third embodiment of the present invention provides a parking method based on an electronic P range, including:
step S11, when the vehicle is stationary, controlling a P-gear motor to rotate along the locking direction of the vehicle, and then taking the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle as the locking dead point degree of the vehicle; when the vehicle is stationary, controlling a P gear motor to rotate along the unlocking direction of the vehicle, and then taking the maximum rotation degree of the P gear motor rotating along the unlocking direction of the vehicle as the unlocking dead point degree of the vehicle;
step S111, judging whether the locking point degree exceeds a first preset numerical range, if so, performing out-of-tolerance early warning, and reading the locking point degree stored last time from a memory of the vehicle as the locking point degree at the moment; judging whether the unlocking dead point degree exceeds a second preset numerical range, if so, performing out-of-tolerance early warning, and reading the last stored unlocking dead point degree from a memory of the vehicle to serve as the unlocking dead point degree at the moment;
step S12, determining a locking degree range according to the degree of a locking stop point of the vehicle; and determining an unlocking degree range according to the unlocking dead point degree of the vehicle.
And step S13, when a parking command is received, controlling the P-gear motor to rotate along the locking direction of the vehicle until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock the gearbox or the driving motor of the vehicle.
Step S14, when an unlocking command is received, controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle;
the third embodiment of the present invention is different from the second embodiment of the present invention in that there are more steps S111.
In step S111, because there are manufacturing tolerance of the P-gear parking system mechanism, assembly tolerance of the P-gear parking system, and control tolerance of the P-gear parking system in the actual manufacturing process, there is a reasonable value range for the locking dead point degree and unlocking dead point degree, that is, the first preset value range and the second preset value range, respectively, and if the locking dead point degree obtained through adaptive learning is within the first preset value range, the unlocking dead point degree is normal within the second preset value range, otherwise, it is indicated that the position of the locking dead point of the vehicle is out of tolerance or the position of the unlocking dead point of the vehicle is out of tolerance, and at this time, out of tolerance early warning is performed.
Specifically, it is assumed that the normal value range (i.e., the first preset value range) of the unlocking dead point degree is: omega 1 ～ω 2 The method comprises the steps of carrying out a first treatment on the surface of the Degree of locking stopThe normal range value of (i.e. the second preset value range) is lambda 1 ～λ 2 The method comprises the steps of carrying out a first treatment on the surface of the Then when the obtained unlocking dead point degree A < omega 1 Or A > omega 2 Judging that the degree of the unlocking dead point is out of tolerance, and when the degree of the locking dead point B is less than lambda 1 Or A > lambda 2 And judging that the degree of the locking dead point is out of tolerance. When either the unlocking dead point degree or the locking dead point degree is out of tolerance, and performing out-of-tolerance early warning. And when the unlocking dead point degree is out of tolerance, the adaptive learning of the unlocking dead point degree is determined to fail, and the unlocking dead point degree successfully stored in the EEPROM last time is called as the unlocking dead point degree at the moment. And similarly, when the locking dead points are out of tolerance, the self-adaptive learning of the locking dead points is determined to fail, and the locking dead point degree successfully stored in the EEPROM last time is called as the locking dead point degree at the moment. And then performing the subsequent steps.
A fourth embodiment is correspondingly provided on the basis of the third embodiment of the present invention;
as shown in fig. 4, a fourth embodiment of the present invention provides a parking method based on an electronic P-gear, including:
step S11, when the vehicle is stationary, controlling a P-gear motor to rotate along the locking direction of the vehicle, and then taking the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle as the locking dead point degree of the vehicle; when the vehicle is stationary, controlling a P gear motor to rotate along the unlocking direction of the vehicle, and then taking the maximum rotation degree of the P gear motor rotating along the unlocking direction of the vehicle as the unlocking dead point degree of the vehicle;
step S111, judging whether the locking point degree exceeds a first preset numerical range, if so, performing out-of-tolerance early warning, and reading the locking point degree stored last time from a memory of the vehicle as the locking point degree at the moment; judging whether the unlocking dead point degree exceeds a second preset numerical range, if so, performing out-of-tolerance early warning, and reading the last stored unlocking dead point degree from a memory of the vehicle to serve as the unlocking dead point degree at the moment; if the degree of the locking dead point does not exceed the first preset numerical range, and the degree of the unlocking dead point does not exceed the second preset numerical range, the following steps are directly executed.
Step S12, determining a locking degree range according to the degree of a locking stop point of the vehicle; and determining an unlocking degree range according to the unlocking dead point degree of the vehicle.
And step S13, when a parking command is received, controlling the P-gear motor to rotate along the locking direction of the vehicle until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock the gearbox or the driving motor of the vehicle.
Step S14, when an unlocking command is received, controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle;
step S15, controlling a P-gear sensor to detect the rotation degree of the P-gear motor in real time; if the rotation degree of the P-gear motor is kept unchanged within the preset time period and is not in the locking degree range or the unlocking degree range, determining that the P-gear motor has a spin blocking fault and performing fault early warning.
Compared with the third embodiment of the present invention, the fourth embodiment of the present invention is newly added with step S15;
for step S15, during parking and unlocking of the vehicle, the rotation degree of the P-gear motor is detected in real time through the P-gear sensor, if the rotation degree of the P-gear motor remains unchanged in a period of time, but the rotation degree is not in the locking degree range or the unlocking degree range, it is indicated that the P-gear motor is blocked in the rotation process, unlocking or locking failure is finally caused, and once the situation occurs, the P-gear motor controller performs fault early warning.
Preferably, in this embodiment, considering the problem of the recognition accuracy of the P-gear sensor, the normal interval range for adjusting the rotation degree of the P-gear motor during unlocking and locking, that is, the locking degree range or the unlocking degree range is not used as the reference range for fault early warning;
specifically, when unlocking, the P gear motor detected by the P gear sensor can be used for controlling the motor to be in the power-on stateThe normal range of the rotation degree is defined as
It is to be noted that->
Not absolute, but negative;
during locking, the normal range of the rotation degree of the P-gear motor detected by the P-gear sensor can be set as B-theta 3 ～B-θ 4 The method comprises the steps of carrying out a first treatment on the surface of the It is noted that θ 3 、θ 4 Not absolute, but negative;
the rotation degree of the P-gear motor is detected in real time through the P-gear sensor in the locking or unlocking process, if the rotation degree of the P-gear motor is kept unchanged in a period of time, but the rotation degree is not
Range or B-theta 3 ～B-θ 4 And in the process of rotating the P-gear motor, the situation that the P-gear motor is blocked and rotated and finally the unlocking or locking fails is indicated, and once the situation occurs, the P-gear motor controller performs fault early warning.
In more detail, during the unlocking process, the rotation degree of the P-gear motor is detected in real time through the P-gear sensor, if the rotation degree of the P-gear motor is kept unchanged within a period of time, but the rotation degree is not
And judging the unlocking fault of the vehicle.
The rotation degree of the P-gear motor is detected in real time through a P-gear sensor in the locking process, if the rotation degree of the P-gear motor is kept unchanged in a period of time, but the rotation degree is not in B-theta 3 ～B-θ 4 And judging the unlocking fault of the vehicle.
The logic diagram of the control of the rotation angle of the P-gear motor in the parking method based on the electronic P-gear provided by the fourth embodiment of the invention is shown in fig. 5.
On the basis of the method item embodiment of the invention, a fifth embodiment of the invention correspondingly provides a system item embodiment;
as shown in fig. 5, a fifth embodiment of the present invention provides a system of a P-gear control system: the motor control system comprises a P-gear motor controller, a P-gear motor and a P-gear motor controller;
the P-gear motor controller is used for controlling the P-gear motor to rotate along the locking direction of the vehicle when receiving a parking command until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock a gearbox or a driving motor of the vehicle; wherein the locking degree range is determined according to the locking dead point degree; the locking dead point degree is the maximum rotation degree of the P gear motor along the locking direction of the vehicle when the vehicle is in a static state.
The P-gear motor controller is also used for controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle; wherein the unlocking degree range is determined according to the unlocking dead point degree; the unlocking dead point degree is the maximum rotation degree of the P gear motor along the unlocking direction of the vehicle when the vehicle is in a static state.
And the P gear motor controller is also used for performing out-of-tolerance early warning when the degree of the locking dead point exceeds a first preset numerical range or the degree of the unlocking dead point exceeds a second preset numerical range.
The P gear sensor is used for detecting the rotation degree of the P gear motor in real time and transmitting the detected rotation degree of the P gear motor to the P gear motor controller; and the P-gear motor controller is further used for determining that the P-gear motor has a spin blocking fault and performing fault early warning when detecting that the rotation degree of the P-gear motor is kept unchanged within a preset time period and the rotation degree of the P-gear motor is not within the locking degree range or the unlocking degree range.
Preferably, the P-gear motor controller, the P-gear motor and the P-gear sensor are integrated. The P-range park mechanism is integrated within the vehicle's gearbox or drive motor.
The working principle of the whole electronic P-gear control system is explained again as follows:
the P-gear motor controller performs self-adaptive angle learning after power-on initialization, takes a default P-gear state of the power-on initialization as a reference, simultaneously ensures that the self-adaptive angle learning of the unlocking dead point degree A and the locking dead point degree B of the P-gear parking mechanism by the P-gear motor under the working condition that the vehicle speed is effective and is 0km/h, stores the unlocking dead point degree A and the locking dead point degree B into an EEPROM if the learning is successful, and is convenient to call; while the adaptive learning state is defined as successful. If the range of the value A or the value B exceeds the range of the value B in the self-adaptive learning process, the self-adaptive angle learning value is abandoned, the unlocking dead point degree and the locking dead point degree stored in the EEPROM before the last power-off are called in the power-on cycle control, and the self-adaptive learning state is defined as failure.
After the upper system TCU/VCU detects that the whole vehicle has unlocking requirements, an unlocking instruction is sent to the P-gear motor controller, the P-gear motor controller carries out unlocking control based on the self-adaptive learning unlocking dead point degree A which is successfully stored, the sensor reads that the rotation degree of the P-gear motor is between A+phi 1 and A+phi 2, the unlocking is successful, the actual position state of the P-gear motor is recorded as an unlocking state, and the upper system TCU/VCU is fed back to be successfully unlocked; if the sensor reads that the position of the parking mechanism is out of tolerance, judging that the unlocking fails.
After the upper system TCU/VCU detects that the whole vehicle has parking requirements, the P-gear motor controller sends a locking instruction, the P-gear motor controller carries out locking control based on the self-adaptive learning locking dead point degree B which is successfully stored, the sensor reads that the rotation degree of the P-gear motor is between B-theta 1 and B-theta 2, the locking is successful, meanwhile, the actual position state of the P-gear motor is set to be a locking state, and the upper system TCU/VCU is fed back to be successfully locked; if the sensor reads out that the position of the parking mechanism is out of tolerance, judging that the locking fails.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (4)
1. An electronic P-gear based parking method, comprising:
when a parking command is received, controlling a P-gear motor to rotate along a vehicle locking direction until the rotation degree of the P-gear motor is within a locking degree range, so that the P-gear motor controls a P-gear parking mechanism to lock a gearbox or a driving motor of a vehicle;
wherein the locking degree range is determined according to the locking dead point degree; the locking dead point degree is the maximum rotation degree of the P gear motor rotating along the locking direction of the vehicle when the vehicle is in a static state;
when an unlocking command is received, controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle;
wherein the unlocking degree range is determined according to the unlocking dead point degree; the unlocking dead point degree is the maximum rotation degree of the P gear motor along the unlocking direction of the vehicle when the vehicle is in a static state;
when the degree of the locking dead point exceeds a first preset numerical range or the degree of the unlocking dead point exceeds a second preset threshold range, performing out-of-tolerance early warning;
controlling a P-gear sensor to detect the rotation degree of the P-gear motor in real time;
if the rotation degree of the P-gear motor is kept unchanged within the preset time period and is not in the locking degree range or the unlocking degree range, determining that the P-gear motor has a spin blocking fault and performing fault early warning.
2. The electronic P-range based parking method of claim 1, wherein the lock-up point degree is obtained by:
judging a vehicle speed signal after the KL15 of the vehicle is electrified, and then driving the P gear motor to continuously rotate along the locking direction of the vehicle when the vehicle speed is judged to be 0 until the motor cannot continuously rotate;
and taking the rotation degree when the P-gear motor stops rotating as the maximum rotation degree of the P-gear motor rotating along the locking direction of the vehicle, taking the maximum rotation degree at the moment as the locking dead point degree, and storing the locking dead point degree in a memory.
3. An electronic P-range control system, comprising: a P-gear motor controller, a P-gear motor and a P-gear sensor;
the P-gear motor controller is used for controlling the P-gear motor to rotate along the locking direction of the vehicle when receiving a parking command until the rotation degree of the P-gear motor is within the locking degree range, so that the P-gear motor controls the P-gear parking mechanism to lock a gearbox or a driving motor of the vehicle;
wherein the locking degree range is determined according to the locking dead point degree; the locking dead point degree is the maximum rotation degree of the P gear motor rotating along the locking direction of the vehicle when the vehicle is in a static state;
the P-gear motor controller is also used for controlling the P-gear motor to rotate along the unlocking direction of the vehicle until the rotation degree of the P-gear motor is within the unlocking degree range, so that the P-gear motor controls the P-gear parking mechanism to unlock a gearbox or a driving motor of the vehicle;
wherein the unlocking degree range is determined according to the unlocking dead point degree; the unlocking dead point degree is the maximum rotation degree of the P gear motor along the unlocking direction of the vehicle when the vehicle is in a static state;
the P gear motor controller is further used for performing out-of-tolerance early warning when the degree of the locking dead point exceeds a first preset numerical range or the degree of the unlocking dead point exceeds a second preset numerical range;
the P gear sensor is used for detecting the rotation degree of the P gear motor in real time and transmitting the detected rotation degree of the P gear motor to the P gear motor controller;
and the P-gear motor controller is further used for determining that the P-gear motor has a spin blocking fault and performing fault early warning when detecting that the rotation degree of the P-gear motor is kept unchanged within a preset time period and the rotation degree of the P-gear motor is not within the locking degree range or the unlocking degree range.
4. The electronic P-speed control system of claim 3, wherein said P-speed motor controller, P-speed motor, and said P-speed sensor are integrated.
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