CN114347802B - Active anti-slip control method for new energy vehicle - Google Patents
Active anti-slip control method for new energy vehicle Download PDFInfo
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- CN114347802B CN114347802B CN202210084782.6A CN202210084782A CN114347802B CN 114347802 B CN114347802 B CN 114347802B CN 202210084782 A CN202210084782 A CN 202210084782A CN 114347802 B CN114347802 B CN 114347802B
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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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- 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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Abstract
The invention relates to an active anti-slip control method based on gradient identification and vehicle weight estimation, which can apply enough motor torque to overcome gradient resistance before a vehicle starts, and simultaneously aims to prevent the problem of forward stroke caused by overlarge hill start auxiliary torque, the hill start auxiliary torque calculated through gradient detection values and vehicle mass estimation is reduced from the maximum driving torque, and an adaptive torque adjustment control algorithm is designed to ensure that the vehicle stably resides on a slope before starting. Therefore, the active anti-slip control method can control the slip distance of the vehicle under different slopes within 0-10cm, and meets the requirement of stable starting of the vehicle under road conditions with different slopes.
Description
Technical Field
The invention relates to the technical field of driving control of new energy vehicles, in particular to an active anti-slip control method of a new energy vehicle.
Background
At present, the anti-slip control of the new energy vehicle is usually completed by a motor controller, and the control strategy is that the motor controller actively enters a PI regulation mode after detecting the negative rotating speed of the motor, so that the rotating speed of the motor is kept at zero rotating speed. For example: the Chinese patent with publication number of CN 113306556A provides an auxiliary control system and a control method for preventing a pure electric automobile from sliding on a slope; the Chinese patent with publication number of CN108312895A provides a control method and device for preventing a vehicle from sliding and a pure electric vehicle; the Chinese patent with publication number of CN111619367A provides a control method for preventing a pure electric automobile from sliding. The above patents all judge that the vehicle has backward slipped by identifying the speed of the vehicle and the rotating speed of the motor, so as to trigger the anti-slip state, and the anti-slip is realized by loading torque by the motor.
The Chinese patent with the application publication number of CN 106945665A also discloses a control method and a control system for preventing the vehicle from sliding on the slope starting, wherein the method comprises the steps of calculating a second braking moment required by the vehicle from sliding according to the current gradient, the current vehicle weight and the first braking moment of the vehicle when the vehicle is detected to be in a starting state, and sending a sliding preventing instruction to an electronic braking module to enable the electronic braking module to brake the vehicle to generate the second braking moment; wherein the second braking torque is less than the first braking torque; when the accelerator signal and the vehicle speed signal are detected, a starting instruction is sent to the electronic braking module, so that the second braking moment generated by the electronic braking module on the vehicle is gradually reduced to zero, and the vehicle is driven to move in a set direction. However, since the second braking torque of the patent is a mechanical braking torque applied by an electronic stabilizing system or a mechanical braking device for braking an anti-lock braking system or driving an anti-slip system, which belongs to the mechanical braking locking of wheels to realize anti-slip slope, there is a requirement on vehicle hardware, and many vehicles are not equipped with similar electronic braking control systems, the patent has a certain limitation in use. Therefore, the active anti-slip control method for the new energy vehicle is provided.
Disclosure of Invention
The invention provides an active anti-slip control method for a new energy vehicle, which aims to overcome the defects that the existing vehicle has a backward slip distance of 10-30cm and the like because whether the existing vehicle is in a slip state or not is judged by detecting the speed or the rotating speed of a motor and then the anti-slip function is started.
The invention adopts the following technical scheme:
the active anti-slip control method for the new energy vehicle is characterized by comprising the following steps of:
(1) The vehicle is stopped stably for a certain time t, and the gradient value is sampled and detected;
(2) After a driver deeply steps on a brake to stop stably, the vehicle is in a forward gear and the hand brake is released, a gradient value detected by a gradient sensor is larger than a set threshold value, and a motor theoretical parking moment calculated based on the gradient detection value and the whole vehicle mass estimation is used for enabling the anti-slip function to be ready;
(3) When the driver starts the active anti-slip slope, the vehicle enters an active anti-slip slope starting state;
(4) Taking the motor theoretical hill-holding moment calculated based on the gradient detection value and the whole vehicle mass estimation as hill-start auxiliary torque, and simultaneously taking the motor theoretical hill-holding moment and the maximum driving torque to ensure that the driving torque command is slowly increased from zero to hill-start auxiliary torque by setting a limiting gradient K1, so that the vehicle enters an active anti-slip hill-start state; wherein K1 is the normal starting torque slope of the vehicle, and K1 is more than 10Nm/s;
(5) In the process that a driver releases a brake pedal to prepare starting, a vehicle slides backwards, a driving torque command is increased by a set limiting slope K2 on the basis of the auxiliary torque of the ramp, a current motor actual torque value is recorded until the starting of the backward sliding is reduced, and the current motor actual torque value is multiplied by an adjusting coefficient B to serve as a new auxiliary torque command of the ramp; wherein K2> K1>10Nm/s, 0< B <2;
(6) When a driver releases a brake pedal to prepare a starting process and does not step on an accelerator pedal, the vehicle runs forwards, the driving torque command is reduced by a set limiting slope K3 on the basis of the hill auxiliary torque, the current motor actual torque value is recorded until the forward running starts to be reduced, and the current motor actual torque value is multiplied by an adjusting coefficient B to be used as a new hill auxiliary torque command; wherein K3< -K1< -10Nm/s;
(7) And if the exit condition is met, the vehicle exits the active anti-slip state.
In a preferred embodiment, the step (1) is to sample and detect the gradient value by a gradient sensor, and continuously sample and average the value after the vehicle is stationary until the vehicle starts.
In a preferred embodiment, the whole vehicle mass estimation method in the step (2) is as follows: after the vehicle door is closed, sampling points of which the vehicle acceleration is larger than a set threshold value and the vehicle speed is larger than the set threshold value are selected, a vehicle weight estimated value is calculated through a vehicle dynamics equation, the variance of the estimated value is obtained by taking the data of the last n sampling points on a time sequence, and the variance is normalized; when the variance is smaller than a certain set threshold, the vehicle weight is considered to be credible, and the vehicle weight estimated value is taken as the final estimated result, wherein n is greater than 10.
In a preferred embodiment, in the step (4), when the active anti-slip slope is started, if the actual accelerator demand torque is less than or equal to the hill start assist torque, the hill start assist torque is still output; if the actual accelerator demand torque is greater than the hill start assist torque, the actual accelerator demand torque is increased to the set limit slope K1 on the basis of the hill start assist torque.
In a preferred embodiment, in order to increase the stability of the system control, the limiting slope K2 in the step (5) and the limiting slope K3 in the step (6) are both variable slopes, and the faster the vehicle speed increases, the larger the limiting slope and the slower the vehicle speed increases, the smaller the limiting slope.
In a preferred embodiment, the exit condition in the step (7) is that the vehicle starting speed is greater than a set threshold, or the starting driving distance is greater than a set threshold, or the vehicle is in a non-forward gear, or the active anti-slip slope is opened for more than a certain time, or the driver deeply depresses the brake pedal again in the vehicle starting process.
From the above description of the invention, it is clear that the invention has the following advantages over the prior art:
the invention adopts an active anti-slip control method based on gradient identification and vehicle weight estimation, can apply enough motor torque to overcome gradient resistance before the vehicle starts, and simultaneously aims to prevent the problem of forward stroke caused by overlarge hill start auxiliary torque, the hill start auxiliary torque calculated through gradient detection values and vehicle mass estimation is smaller than the maximum driving torque, and an adaptive torque adjustment control algorithm is designed to ensure that the vehicle stably resides on the hill before starting. Therefore, the active anti-slip control method can control the slip distance of the vehicle under different slopes within 0-10cm, and meets the requirement of stable starting of the vehicle under road conditions with different slopes.
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FIG. 1 is a flow chart of an embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described below with reference to the accompanying drawings. Numerous details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent to one skilled in the art that the present invention may be practiced without these details. Well-known components, methods and procedures are not described in detail.
The invention relates to a new energy vehicle active anti-slip control method based on gradient identification and vehicle weight estimation, which can apply enough motor torque to overcome gradient resistance before a vehicle starts and design a self-adaptive torque adjustment control algorithm to ensure that the vehicle stably resides on a slope before the vehicle starts.
The invention relates to a new energy vehicle, which is characterized in that a whole vehicle controller is used for detecting hard line signals such as gear signals, hand brake signals, brake pedal signals, accelerator pedal signals, active anti-slip switch signals and the like, receiving gradient signals sent by a gradient sensor through a CAN, and sending a motor torque instruction to a motor controller through the CAN, wherein the motor controller is used for feeding back the current actual torque of a motor.
Referring to fig. 1, the active anti-slip control method of the present invention comprises the following specific steps:
1. and (5) the vehicle is stopped stably for a certain time t, and the gradient value is sampled and detected.
The gradient value is mainly detected by sampling a gradient sensor, and is continuously sampled and averaged after the vehicle is stopped until the vehicle starts.
2. After a driver deeply steps on the brake and parks stably, the vehicle is in a forward gear and the hand brake is released, the gradient value detected by the gradient sensor is larger than a set threshold value, and the motor theoretical parking moment calculated based on the gradient detection value and the whole vehicle mass estimation enables the anti-slip function to be ready.
The whole vehicle quality estimation method comprises the following steps: after the vehicle door is closed, sampling points of which the vehicle acceleration is larger than a set threshold value and the vehicle speed is larger than the set threshold value are selected, a vehicle weight estimated value is calculated through a vehicle dynamics equation, the variance of the estimated value is obtained by taking the data of the last n sampling points on a time sequence, and the variance is normalized; when the variance is smaller than a certain set threshold, the vehicle weight is considered to be credible, and the vehicle weight estimated value is taken as the final estimated result, wherein n is greater than 10.
3. When the driver starts the active anti-slip slope, the vehicle enters an active anti-slip slope starting state.
4. Taking the motor theoretical hill-holding moment calculated based on the gradient detection value and the whole vehicle mass estimation as hill-start auxiliary torque, and simultaneously taking the motor theoretical hill-holding moment and the maximum driving torque to ensure that the driving torque command is slowly increased from zero to hill-start auxiliary torque by setting a limiting gradient K1, so that the vehicle enters an active anti-slip hill-start state; wherein K1 is the normal starting torque slope of the vehicle, and K1 is more than 10Nm/s.
When the active anti-slip slope is started, if the actual accelerator demand torque is smaller than or equal to the hill start auxiliary torque, the hill start auxiliary torque is still output; if the actual accelerator demand torque is greater than the hill start assist torque, the actual accelerator demand torque is increased to the set limit slope K1 on the basis of the hill start assist torque.
5. When a driver releases a brake pedal to prepare a starting process, a vehicle slides backwards and enters a torque increasing state, a driving torque command is increased by a set limiting slope K2 on the basis of the auxiliary torque of the ramp, a current motor actual torque value is recorded until the starting of the backward sliding is reduced, and the current motor actual torque value is multiplied by an adjusting coefficient B to serve as a new auxiliary torque command of the ramp; wherein K2> K1>10Nm/s, 0< B <2.
6. When a driver releases a brake pedal to prepare a starting process and does not step on an accelerator pedal, the vehicle runs forwards and enters a torque removing state, the driving torque command is reduced by a set limiting slope K3 on the basis of the hill auxiliary torque, the current motor actual torque value is recorded until the front running starts to be reduced, and the current motor actual torque value is multiplied by an adjusting coefficient B to serve as a new hill auxiliary torque command; wherein K3< -K1< -10Nm/s.
7. The starting speed of the vehicle is greater than a set threshold value, or the starting driving distance is greater than a set threshold value, or the vehicle is pulled up by a hand brake or is in a non-forward gear, or the active anti-slip slope is opened for more than a certain time, and the vehicle exits from the active anti-slip slope state.
In addition, in the starting process of the vehicle, if the driver deeply depresses the brake pedal again, the vehicle can also exit from the active anti-slip state.
In order to increase the stability of the system control, the limiting slope K2 of the step (5) and the limiting slope K3 of the step (6) are both variable slopes, and the faster the vehicle speed increases, the larger the limiting slope and the slower the vehicle speed increases, the smaller the limiting slope.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (6)
1. The active anti-slip control method for the new energy vehicle is characterized by comprising the following steps of:
(1) The vehicle is stopped stably for a certain time t, and the gradient value is sampled and detected;
(2) After a driver deeply steps on the brake to stop stably, the vehicle is in a forward gear and the hand brake is released, and the gradient value detected by the gradient sensor is larger than a set threshold value;
(3) When the driver starts the active anti-slip slope, the vehicle enters an active anti-slip slope starting state;
(4) Taking the motor theoretical hill-holding moment calculated based on the gradient detection value and the whole vehicle mass estimation as hill-start auxiliary torque, and simultaneously taking the motor theoretical hill-holding moment and the maximum driving torque to ensure that the driving torque command is slowly increased from zero to hill-start auxiliary torque by setting a limiting gradient K1, so that the vehicle enters an active anti-slip hill-start state; wherein K1 is the normal starting torque slope of the vehicle, and K1 is more than 10Nm/s;
(5) In the process that a driver releases a brake pedal to prepare starting, a vehicle slides backwards, a driving torque command is increased by a set limiting slope K2 on the basis of the auxiliary torque of the ramp, a current motor actual torque value is recorded until the starting of the backward sliding is reduced, and the current motor actual torque value is multiplied by an adjusting coefficient B to serve as a new auxiliary torque command of the ramp; wherein K2> K1>10Nm/s, 0< B <2;
(6) When a driver releases a brake pedal to prepare a starting process and does not step on an accelerator pedal, the vehicle runs forwards, the driving torque command is reduced by a set limiting slope K3 on the basis of the hill auxiliary torque, the current motor actual torque value is recorded until the forward running starts to be reduced, and the current motor actual torque value is multiplied by an adjusting coefficient B to be used as a new hill auxiliary torque command; wherein K3< -K1< -10Nm/s;
(7) And if the exit condition is met, the vehicle exits the active anti-slip state.
2. The active anti-slip control method for the new energy vehicle according to claim 1, wherein the method comprises the following steps: and (2) sampling and detecting the gradient value through a gradient sensor, and continuously sampling and averaging after the vehicle is stopped until the vehicle starts.
3. The active anti-slip control method of the new energy vehicle as claimed in claim 1, wherein the whole vehicle mass estimation method of the step (2) is as follows: after the vehicle door is closed, sampling points of which the vehicle acceleration is larger than a set threshold value and the vehicle speed is larger than the set threshold value are selected, a vehicle weight estimated value is calculated through a vehicle dynamics equation, the variance of the estimated value is obtained by taking the data of the last n sampling points on a time sequence, and the variance is normalized; when the variance is smaller than a certain set threshold, the vehicle weight is considered to be credible, and the vehicle weight estimated value is taken as the final estimated result, wherein n is greater than 10.
4. The active anti-slip control method for the new energy vehicle according to claim 1, wherein the method comprises the following steps: in the step (4), when the active anti-slip slope is started, if the actual accelerator demand torque is less than or equal to the hill start auxiliary torque, the hill start auxiliary torque is still output; if the actual accelerator demand torque is greater than the hill start assist torque, the actual accelerator demand torque is increased to the set limit slope K1 on the basis of the hill start assist torque.
5. The active anti-slip control method for the new energy vehicle according to claim 1, wherein the method comprises the following steps: the limiting slope K2 of the step (5) and the limiting slope K3 of the step (6) are both variable slopes, and the limiting slope is larger as the vehicle speed increases, and the limiting slope is smaller as the vehicle speed increases slower.
6. The active anti-slip control method for the new energy vehicle according to claim 1, wherein the method comprises the following steps: the exit condition of the step (7) is that the vehicle starting speed is greater than a set threshold value, or the starting driving distance is greater than a set threshold value, or the vehicle is pulled up by a hand brake or is in a non-forward gear, or the active anti-slip slope is opened for more than a certain time, or the driver deeply steps on a brake pedal again in the vehicle starting process.
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| CN115264049B (en) * | 2022-08-05 | 2023-10-31 | 盛瑞传动股份有限公司 | Automatic gearbox control method, device, electronic equipment and storage medium |
| CN115352457B (en) * | 2022-09-02 | 2024-06-18 | 潍柴动力股份有限公司 | Method and device for determining landslide state of vehicle, processor and MCU |
| CN116494980A (en) * | 2023-06-28 | 2023-07-28 | 盛瑞传动股份有限公司 | Vehicle anti-slip control method, device, equipment, readable storage medium and vehicle |
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