CN115095430A - Control method and device for hydrogen fuel automobile, hydrogen fuel automobile and storage medium - Google Patents
Control method and device for hydrogen fuel automobile, hydrogen fuel automobile and storage medium Download PDFInfo
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- CN115095430A CN115095430A CN202210734186.8A CN202210734186A CN115095430A CN 115095430 A CN115095430 A CN 115095430A CN 202210734186 A CN202210734186 A CN 202210734186A CN 115095430 A CN115095430 A CN 115095430A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D19/00—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D19/02—Controlling engines characterised by their use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures peculiar to engines working with gaseous fuels
- F02D19/025—Failure diagnosis or prevention; Safety measures; Testing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D41/0027—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures the fuel being gaseous
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
- F02D2200/501—Vehicle speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
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Abstract
The invention relates to the technical field of hydrogen fuel automobiles, and particularly discloses a control method and a control device of a hydrogen fuel automobile, the hydrogen fuel automobile and a storage medium, wherein the control method of the hydrogen fuel automobile estimates the driving direction of the automobile on the basis of the operation parameters by acquiring the operation parameters of the automobile, and if the automobile drives in the linear direction, the control method estimates whether the automobile is in an emergency braking state on the basis of the operation parameters; if the vehicle is in the sudden braking state, accumulating the duration time of the vehicle in the sudden braking state; calculating the acceleration change rate of the vehicle based on the duration and the difference between the acceleration when the vehicle enters the hard braking state and the acceleration when the vehicle exits the hard braking state; evaluating whether the vehicle is at risk of an accident based on the duration and the acceleration rate; if the vehicle has accident risk, close each bottleneck combination valve, can close each bottleneck combination valve before the accident takes place, stop further potential safety hazard, have higher protective effect.
Description
Technical Field
The invention relates to the technical field of hydrogen fuel automobiles, in particular to a control method and device of a hydrogen fuel automobile, the hydrogen fuel automobile and a storage medium.
Background
During the operation of the hydrogen fuel automobile, the whole automobile may collide with other vehicles or obstacles, turn over, rush out of a curve or turn over due to out-of-control speed at the curve, have major faults and fire, have insulation faults and other accidents according to the difference of drivers, operation conditions and the like. Different from a fuel vehicle, after a hydrogen fuel cell vehicle encounters a major fault, if a hydrogen system still supplies hydrogen normally, high-pressure hydrogen in a hydrogen storage bottle continues to enter a hydrogen transportation pipeline, and at the moment, the pipeline leaks to worsen an accident.
Therefore, in the prior art, a hydrogen safety control system for a hydrogen fuel automobile is provided, when a hydrogen supply system controller detects that the hydrogen concentration inside or outside the automobile is too high, an airbag controller detects that a collision occurs, a fuel cell controller detects that a serious fault occurs in a fuel cell system, and a vehicle controller detects that an electric leakage occurs in the vehicle or a high-voltage interlocking circuit fault occurs in the vehicle, a hydrogen bottle opening electromagnetic valve can be closed immediately to ensure the safety of the vehicle and a user, but only a collision sensor arranged at the airbag is used for detecting an impact force and judging whether the vehicle has an accident or not, and the detection mode is single, has delay and is weaker in protection effect.
Disclosure of Invention
The invention aims to: the control method and the control device for the hydrogen fuel automobile, the hydrogen fuel automobile and the storage medium are provided, and the problems that in the prior art, impact force is detected through a collision sensor arranged at an air bag, whether an accident happens to the automobile is judged, the detection mode has delay performance, and the protection effect is weak are solved.
The invention provides a control method of a hydrogen fuel automobile, which comprises a vehicle-mounted hydrogen storage system, wherein the vehicle-mounted hydrogen storage system comprises a plurality of hydrogen storage bottles, a plurality of bottleneck combination valves and main hydrogen valves, the bottleneck combination valves are connected with the hydrogen storage bottles in a one-to-one correspondence manner, the main hydrogen valves are respectively connected with the bottleneck combination valves through pipelines, the main hydrogen valves are connected with a fuel cell, and the control method of the hydrogen fuel automobile comprises the following steps:
acquiring running parameters of a vehicle, wherein the running parameters comprise the acceleration of the vehicle and the inclination angle of the vehicle relative to a road surface;
estimating a driving direction of a vehicle based on the operating parameters, the driving direction of the vehicle including a straight direction and a curve direction;
if the vehicle runs in the straight line direction, whether the vehicle is in a sudden braking state or not is evaluated based on the running parameters;
if the vehicle is in the sudden braking state, accumulating the duration time of the vehicle in the sudden braking state;
calculating an acceleration rate of change of the vehicle based on the duration and a difference between the acceleration at which the vehicle enters the hard braking state and the acceleration at which the vehicle exits the hard braking state;
evaluating whether the vehicle is at risk of an accident based on the duration and the acceleration rate;
and if the vehicle has accident risk, closing each bottle mouth combination valve.
As a preferable aspect of the control method for a hydrogen-fueled vehicle, the control method for a hydrogen-fueled vehicle further includes, in synchronization with the accumulation of the duration of the sudden braking state of the vehicle:
acquiring the real-time speed of the vehicle within a set time;
judging whether the speed of the vehicle is out of control based on the real-time speed of the vehicle within the set time;
if the speed of the vehicle is out of control;
closing each of the finish combining valves.
As a preferable aspect of the control method for a hydrogen fuel vehicle, the control method for a hydrogen fuel vehicle further includes, after closing each of the bottleneck combination valves:
acquiring the pressure on the body of the vehicle;
evaluating whether there is a collision of the vehicle based on the pressure;
and closing the main hydrogen valve if the vehicle collides.
As a preferred technical scheme of the control method of the hydrogen fuel automobile, if the vehicle does not collide;
acquiring the speed of a vehicle;
if the speed is not greater than the set speed;
then each of the finish combining valves is reopened.
As a preferable technical scheme of the control method of the hydrogen fuel automobile, if the automobile runs along the direction of a curve;
comparing the inclination angle with a set inclination angle;
if the inclination angle is larger than the set inclination angle;
and closing the main hydrogen valve and each bottleneck combination valve.
As a preferable aspect of the control method for a hydrogen fuel vehicle, the control method for a hydrogen fuel vehicle further includes, in synchronization with the comparison of the inclination angle with the set inclination angle:
acquiring a turning angle and a turning angle speed of a wheel;
and if the turning angle exceeds a set angle or the turning angle speed exceeds a set angular speed, closing the main hydrogen valve and each bottleneck combination valve.
The present invention also provides a control device for a hydrogen-fueled vehicle, including:
the parameter acquisition module is used for acquiring the running parameters of the vehicle;
a driving direction evaluation module for evaluating the driving direction of the vehicle based on the operation parameters;
the sudden braking state evaluation module is used for evaluating whether the vehicle is in a sudden braking state or not based on the operation parameters when the vehicle runs in a straight line direction;
the duration accumulation module is used for accumulating the duration of the vehicle in the sudden braking state when the vehicle is in the sudden braking state;
an acceleration rate determination unit for calculating an acceleration rate of the vehicle based on the duration and a difference between an acceleration at which the vehicle enters the hard braking state and an acceleration at which the vehicle exits the hard braking state;
the accident risk assessment module is used for assessing whether the vehicle has accident risk or not based on the duration and the acceleration change rate;
and the first execution unit is used for closing each bottle mouth combination valve when the vehicle has accident risk.
As a preferable aspect of the control device for a hydrogen-fueled vehicle, the control device for a hydrogen-fueled vehicle further includes:
the speed acquisition module is used for acquiring the real-time speed of the vehicle within set time;
the speed runaway judging unit is used for judging whether the speed runaway of the vehicle occurs or not based on the real-time speed of the vehicle within the set time;
and the second execution unit is used for closing each bottle mouth combination valve when the speed of the vehicle is out of control.
The invention also provides a hydrogen fuel automobile, which comprises a vehicle-mounted hydrogen storage system and also comprises:
a vehicle controller;
the acceleration sensor is used for detecting the acceleration of a vehicle and sending the detected acceleration to the driving controller;
the inclination angle sensor is used for detecting the inclination angle of the vehicle relative to the road surface and sending the detected inclination angle to the driving controller;
the pressure sensor is used for detecting the pressure applied to the vehicle body of the vehicle and sending the detected pressure to the driving controller;
the speed sensor is used for detecting the speed of a vehicle and sending the detected speed to the driving controller;
a memory for storing one or more programs;
when the one or more programs are executed by the traveling controller, the traveling controller is enabled to control the hydrogen-fueled vehicle to realize the control method of the hydrogen-fueled vehicle according to any one of the schemes.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a vehicle controller, realizes the control method of a hydrogen-fueled vehicle as set forth in any one of the above aspects.
The invention has the beneficial effects that:
the invention provides a control method and a control device of a hydrogen fuel automobile, the hydrogen fuel automobile and a storage medium, wherein the control method of the hydrogen fuel automobile estimates the running direction of the automobile on the basis of the running parameters by acquiring the running parameters of the automobile, and if the automobile runs in the straight line direction, whether the automobile is in a sudden braking state or not is estimated on the basis of the running parameters; if the vehicle is in the sudden braking state, accumulating the duration time of the vehicle in the sudden braking state; calculating the acceleration change rate of the vehicle based on the duration and the difference between the acceleration when the vehicle enters the hard braking state and the acceleration when the vehicle exits the hard braking state; evaluating whether the vehicle is at risk of an accident based on the duration and the acceleration rate; and if the vehicle has accident risks, closing each bottle mouth combination valve. Can close each bottleneck combination valve before the occurence of failure, avoid the occurence of failure back hydrogen storage bottle to continue to supply hydrogen, stop further potential safety hazard, have higher safeguard effect.
Drawings
FIG. 1 is a first flowchart of a method for controlling a hydrogen-fueled vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a second flowchart of a method for controlling a hydrogen-fueled vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a third method of controlling a hydrogen-fueled vehicle in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a control device of a hydrogen-fueled vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an on-board hydrogen storage system in an embodiment of the invention;
fig. 6 is a schematic structural diagram of a hydrogen-fueled vehicle according to an embodiment of the present invention.
In the figure:
110. a parameter acquisition module; 120. a driving direction evaluation module; 130. a sudden braking state evaluation module; 140. a duration accumulation module; 150. an acceleration change rate determination unit; 160. an accident risk assessment module; 170. a first execution unit;
1. a hydrogen gas discharge port; 2. bottle tail PRD; 3-hydrogen storage bottle; 4, a bottle mouth combination valve; 5-high pressure sensor; 6. a hydrogen supply filter; 7. a pressure reducing valve; 8. a medium pressure sensor; 9. an unloading valve; 10. a manual purge valve; 11. a primary hydrogen valve; 12. a low pressure sensor; 13. a fuel cell; 14. a hydrogenation filter; 15. a one-way valve; 16. a pressure gauge; 17. a hydrogenation port; 18. a driving controller; 19. an acceleration sensor; 20. a tilt sensor; 21. a pressure sensor; 22. a speed sensor; 23. a memory; 24. an impact sensor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
Example one
According to the hydrogen safety control system of the hydrogen fuel automobile provided in the prior art, when the hydrogen supply system controller detects that the hydrogen concentration inside or outside the automobile is too high, the safety airbag controller detects that collision occurs, the fuel cell controller detects that a serious fault occurs in a fuel cell system, and the vehicle controller detects that electric leakage occurs in the vehicle or a high-voltage interlocking circuit fault occurs in the vehicle, the hydrogen bottle opening electromagnetic valve can be closed immediately, the safety of the vehicle and a user is ensured, but only the collision sensor arranged at the safety airbag is used for detecting impact force and judging whether the vehicle has an accident or not, the detection mode is single, the delay is realized, and the protection effect is weaker.
In view of the above, the present embodiment provides a control method of a hydrogen-fueled vehicle to solve the above-described problems. The control method of the hydrogen fuel automobile can be implemented by a control device of the hydrogen fuel automobile, and the control device of the hydrogen fuel automobile can be realized in a software and/or hardware mode and is integrated in the hydrogen fuel automobile. The hydrogen fuel automobile comprises an on-vehicle hydrogen storage system, the on-vehicle hydrogen storage system comprises a plurality of hydrogen storage bottles, a plurality of bottleneck combination valves and main hydrogen valves, the bottleneck combination valves are connected with the hydrogen storage bottles in a one-to-one correspondence mode, the main hydrogen valves are respectively connected with the bottleneck combination valves through pipelines, the main hydrogen valves are connected with the fuel cell, and whether hydrogen is delivered to the fuel cell can be controlled through the main hydrogen valves.
Specifically, as shown in fig. 1, the control method of the hydrogen fuel automobile includes the following steps.
S1100: the operating parameters of the vehicle are acquired.
Wherein the operating parameters include acceleration of the vehicle and an inclination of the vehicle relative to a road surface. The acceleration of the vehicle may be detected by an acceleration sensor, such as a gyroscope or the like. The inclination of the vehicle may be detected by an inclination sensor.
S1200: the driving direction of the vehicle is estimated based on the operating parameters.
The driving direction of the vehicle includes a straight direction and a curve direction.
When the acceleration direction of the vehicle is consistent with the front-back direction of the vehicle, and the plane of the inclination angle of the vehicle relative to the road surface is parallel to the front-back direction of the vehicle, indicating that the vehicle runs along the front-back direction; if the acceleration direction of the vehicle is consistent with the left and right directions of the vehicle, and the plane of the inclination angle of the vehicle relative to the road surface is parallel to the left and right directions of the vehicle, the vehicle is indicated to run along the direction of the curve. It should be noted that the acceleration direction of the vehicle and the front-rear direction of the vehicle can be considered to be consistent as long as the included angle between the acceleration direction of the vehicle and the front-rear direction of the vehicle is within a set angle; the acceleration direction of the vehicle and the left-right direction of the vehicle can be considered to coincide as long as the angle between the acceleration direction of the vehicle and the left-right direction of the vehicle is within the set angle. Wherein the set angle can be set as required.
If the vehicle is traveling in the straight direction, S1300 is performed.
S1300: whether the vehicle is in a hard braking state is evaluated based on the operating parameters.
Specifically, it is determined that the vehicle is in a hard braking state only when the acceleration exceeds the set acceleration and the inclination exceeds the set inclination. Wherein the set acceleration and the set inclination angle can be set as desired.
And if the vehicle is in the sudden braking state, executing S1400, and if the vehicle is not in the sudden braking state, returning to the step S1100.
S1400: and accumulating the duration of the vehicle in the sudden braking state.
S1500: the acceleration rate of change of the vehicle is calculated based on the duration and the difference between the acceleration at which the vehicle enters the hard braking state and the acceleration at which the vehicle exits the hard braking state.
Specifically, the jerk is equal to the ratio of the difference between the acceleration at which the vehicle enters the hard braking state and the acceleration at which the vehicle exits the hard braking state to the duration.
S1600: and evaluating whether the vehicle has accident risk or not based on the duration and the acceleration change rate.
Specifically, when the duration exceeds a set duration, or the acceleration change rate exceeds a set acceleration change rate, it is determined that the vehicle is at risk of an accident. Wherein the set duration and the set jerk may be set as desired.
If the vehicle has the accident risk, executing the step S1700, and if the vehicle does not have the accident risk, returning to the step S1100.
S1700: and closing each bottle mouth combination valve.
When the accident risk of the vehicle is determined, the bottle mouth combination valves are closed, and hydrogen is not supplied to the hydrogen storage bottles, so that hydrogen leakage caused by the accident of the vehicle is prevented, and more serious potential safety hazard is caused. The mode of closing each bottle mouth combination valve is to cut off the power of the bottle mouth combination valve, and the bottle mouth combination valve is automatically closed after the power of the bottle mouth combination valve is cut off.
According to the control method of the hydrogen fuel automobile, the running direction of the automobile is evaluated based on the running parameters by acquiring the running parameters of the automobile, and if the automobile runs along the straight line direction, whether the automobile is in a sudden braking state or not is evaluated based on the running parameters; if the vehicle is in the sudden braking state, accumulating the duration time of the vehicle in the sudden braking state; calculating the acceleration change rate of the vehicle based on the duration and the difference between the acceleration when the vehicle enters the hard braking state and the acceleration when the vehicle exits the hard braking state; evaluating whether the vehicle is at risk of an accident based on the duration and the acceleration rate; and if the vehicle has accident risks, closing each bottle mouth combination valve. Can close each bottleneck combination valve before the occurence of failure, avoid the occurence of failure back hydrogen storage cylinder to continue to supply hydrogen, stop further potential safety hazard, have higher safeguard effect.
Example two
The present embodiment provides a control method of a hydrogen-fueled vehicle, which is further embodied on the basis of the first embodiment. As shown in fig. 2 and 3, the control method of the hydrogen fuel automobile includes the following steps.
S2100: the operating parameters of the vehicle are acquired.
S2200: the driving direction of the vehicle is estimated based on the operating parameters.
If the vehicle is traveling in the straight direction, S2300 is executed. If the vehicle is traveling in the curve direction, S3000 is executed.
S2300: whether the vehicle is in a hard braking state is evaluated based on the operating parameters.
If the vehicle is in a sudden braking state, the step S2400 is executed, and the step S2800 is executed, and if the vehicle is not in a sudden braking state, the process returns to the step S2100.
S2400: and accumulating the duration of the vehicle in the sudden braking state.
S2500: the acceleration rate of change of the vehicle is calculated based on the duration and the difference between the acceleration at which the vehicle enters the hard braking state and the acceleration at which the vehicle exits the hard braking state.
S2600: and evaluating whether the vehicle has accident risk or not based on the duration and the acceleration change rate.
If the vehicle has the accident risk, executing step S2700, and if the vehicle does not have the accident risk, returning to step S2100.
S2700: and closing each bottle mouth combination valve.
S2800: and acquiring the real-time speed of the vehicle within the set time.
The real-time speed of the vehicle may be detected by a speed sensor.
S2900: and judging whether the speed of the vehicle is out of control or not based on the real-time speed of the vehicle within the set time.
Specifically, when the real-time speed of the vehicle in the set time is reduced by a value smaller than the preset speed, or the real-time speed of the vehicle in the set time is in a rising trend, it indicates that the speed of the vehicle is out of control at the moment. When the real-time speed reduction value of the vehicle in the set time is not less than the set speed, the fact that the speed of the vehicle is out of control at the moment is indicated. Wherein, the preset speed and the set time can be set according to the requirement.
If the vehicle is out of control in speed, S2700 is executed, and if the vehicle is not out of control in speed, S2100 is executed.
Through the steps S2800 to S2900, when the vehicle is out of control, each bottle mouth combination valve can be closed, so that the hydrogen leakage caused by accidents is avoided, and secondary accidents are avoided.
S3000: and comparing the inclination angle with the set inclination angle.
If the inclination angle is larger than the set inclination angle; s3100 is executed, and if the tilt angle is not greater than the set tilt angle, S2100 is executed. Wherein, the size of the set inclination angle can be set according to the requirement.
When the inclination angle is larger than the set inclination angle, the vehicle is indicated to have the risk of rollover at the moment.
S3100: the main hydrogen valve and each port combination valve are closed.
Through the steps S3000 to S31000, the main hydrogen valve and each bottle mouth combination valve can be closed in advance when the vehicle is in a rollover risk, so that hydrogen leakage and secondary accidents caused by accidents are avoided.
It can be understood that, when the hydrogen fuel automobile turns, the wheels rotate around the wheel axle, centrifugal force is generated in the process, the faster the turning speed is, the larger the angular speed is, the larger the centrifugal force is, and once the centrifugal force is too large, the automobile is easy to rush out of a curve or sideslip.
Therefore, while step S3000 is performed, the following steps may also be performed.
S3110: and acquiring the turning angle and the turning angle speed of the wheel.
S3120: the magnitude of the turning angle and the set angle, and the magnitude of the turning angular velocity and the set angular velocity are compared.
If the turning angle exceeds the set angle or the turning angle speed exceeds the set angular speed, which indicates that the rotating speed exceeds the set angular speed at the moment, and the potential safety hazard exists, step S3100 is executed, and each bottle mouth combination valve can be closed before the safety problem caused by the overspeed turning of the vehicle. When the turning angle does not exceed the set angle and the turning angular velocity does not exceed the set angular velocity, S2100 is performed.
Through steps S3110 to S3120, when the vehicle rotational speed is able to be guaranteed to be overspeed, each bottleneck combination valve and main hydrogen valve are closed in time, so as to avoid hydrogen leakage after an accident occurs and cause a secondary accident.
Alternatively, the control method of the hydrogen fuel automobile further includes the following step after step S2700.
S3200: the pressure to which the body of the vehicle is subjected is acquired.
The pressure to which the vehicle body is subjected can be detected by a pressure sensor or a collision sensor.
S3300: whether the vehicle has a collision is evaluated based on the pressure.
Specifically, the detected pressure is compared with a set pressure, if the pressure is greater than the set pressure, it is indicated that the vehicle body is collided, and S3400 is executed; if the pressure is less than the set pressure, it indicates that the vehicle has not collided, and S3500 is executed.
S3400: the main hydrogen valve is closed.
When the main hydrogen valve is closed, the main hydrogen valve and each bottleneck combination valve are closed at the moment, the main hydrogen valve and each bottleneck combination valve form redundant protection, and hydrogen in a pipeline between each bottleneck combination valve and the main hydrogen valve can be prevented from being supplied to the fuel cell.
S3500: the speed of the vehicle is acquired.
The speed of the vehicle may be detected by a speed sensor.
S3600: and comparing the speed of the vehicle with the set speed.
If the speed of the vehicle is not greater than the set speed, executing S3700; if the speed of the vehicle is greater than the set speed, S3500 is executed. Wherein the set speed can be set as desired, such as 0.
S3700: and re-opening each bottle mouth combination valve.
After executing S3700, S2100 is executed.
Through steps S3200 to S3700, after each bottleneck combination valve is closed because the vehicle speed is out of control or the vehicle has an accident risk, the current state of the vehicle is determined by confirming whether the vehicle collides, if the vehicle collides, the main hydrogen valve needs to be further closed for redundant protection, and if the vehicle does not collide, after the speed of the vehicle is reduced to a set speed, each bottleneck combination valve is newly opened, and the vehicle can normally operate again.
Optionally, the control method of the hydrogen-fueled vehicle further includes:
and when the insulation performance of the whole vehicle is detected to be reduced to a set threshold value, closing each bottle mouth combination valve and the main hydrogen valve. When the insulation performance of the whole vehicle is detected to be reduced to a set threshold value, the hydrogen supply safety is affected at the moment.
Optionally, the control method of the hydrogen-fueled vehicle further includes:
and when the running parameters of the vehicle are acquired, judging whether the vehicle has a fault or not in real time, if so, confirming the fault grade based on the fault, and if the fault grade exceeds the set grade, closing each bottleneck combination valve and the main hydrogen valve. And the vehicle controller confirms the fault error report after receiving the fault code, and can inquire the fault grade of the fault error report based on the corresponding chart of the fault error report and the fault grade. Wherein the fault level can be set to be primary, secondary and tertiary. The setting level may be set to two levels.
EXAMPLE III
The present embodiment provides a control device of a hydrogen-fueled vehicle for executing the above-described control method of the hydrogen-fueled vehicle.
Specifically, as shown in fig. 4, the control apparatus of the hydrogen fuel automobile includes a parameter acquisition module 110, a driving direction evaluation module 120, a sudden braking state evaluation module 130, a duration accumulation module 140, an acceleration change rate determination unit 150, an accident risk evaluation module 160, and a first execution unit 170. The parameter acquiring module 110 is configured to acquire an operating parameter of a vehicle; a driving direction evaluation module 120 for evaluating a driving direction of the vehicle based on the operation parameters; when the vehicle is traveling in a straight direction, the hard braking state evaluation module 130 is configured to evaluate whether the vehicle is in a hard braking state based on the operating parameters; when the vehicle is in a sudden braking state, the duration accumulation module 140 is used for accumulating the duration of the vehicle in the sudden braking state; the acceleration change rate determination unit 150 is configured to calculate an acceleration change rate of the vehicle based on the duration and a difference between an acceleration at which the vehicle enters a hard braking state and an acceleration at which the vehicle exits the hard braking state; the accident risk assessment module 160 is used for assessing whether the vehicle has accident risk based on the duration and the acceleration rate; when the vehicle is in accident risk, the first execution unit 170 is used for closing each bottle mouth combination valve.
The control device of the hydrogen fuel automobile provided by the embodiment acquires the running parameters of the automobile through the parameter acquisition module 110; evaluating, by a driving direction evaluation module 120, a driving direction of the vehicle based on the operating parameters; when the vehicle is traveling in a straight direction, whether the vehicle is in a hard braking state is evaluated by the hard braking state evaluation module 130 based on the operation parameters; when the vehicle is in the sudden braking state, the duration time of the vehicle in the sudden braking state is accumulated through the duration time accumulation module 140; calculating an acceleration rate of the vehicle based on the duration and a difference between the acceleration when the vehicle enters the sudden braking state and the acceleration when the vehicle exits the sudden braking state by the acceleration rate determination unit 150; evaluating, by the accident risk evaluation module 160, whether the vehicle is at risk of an accident based on the duration and the acceleration rate; when the vehicle has accident risk, each bottle opening combination valve is closed through the first execution unit 170, each bottle opening combination valve can be closed before the accident happens, the hydrogen storage bottle is prevented from continuously supplying hydrogen after the accident happens, further potential safety hazards are avoided, and the protective effect is high.
Optionally, the control device of the hydrogen fuel automobile further comprises a speed acquisition module, a speed runaway judgment unit and a second execution unit. The speed acquisition module is used for acquiring the real-time speed of the vehicle within set time; the speed runaway judging unit is used for judging whether the speed runaway of the vehicle occurs on the basis of the real-time speed of the vehicle within the set time; and when the speed of the vehicle is out of control, the second execution unit is used for closing each bottle mouth combination valve. When the speed of the vehicle is out of control, the bottle mouth combination valves are closed in advance, so that the hydrogen leakage after an accident is avoided, and a more serious accident is caused.
Optionally, the control device of the hydrogen fuel automobile further includes a pressure acquisition module, a collision determination unit, and a third execution unit. The pressure acquisition module is used for acquiring the pressure on the body of the vehicle; the collision judging unit is used for evaluating whether the vehicle has collision or not based on the pressure; the third execution unit is used for closing the main hydrogen valve when the vehicle is in collision. When the speed of the vehicle is out of control or accident risks exist, if the vehicle collides, the main hydrogen valve is closed in time, the main hydrogen valve and each bottle mouth combination valve form redundancy protection, and hydrogen leakage is avoided.
Example four
The present embodiment provides a hydrogen-fueled vehicle that includes an onboard hydrogen storage system.
As shown in fig. 5, the on-vehicle hydrogen storage system includes a plurality of hydrogen supply branches and a hydrogen supply main branch. Wherein, the hydrogen supply branch comprises a hydrogen storage bottle 3, an output pipeline connected with the hydrogen storage bottle 3, a bottle mouth combination valve 4 connected with the output pipeline in series and a high-pressure sensor 5. The hydrogen supply branch also comprises a bottle tail PRD2 connected with the hydrogen storage bottle and a hydrogen discharge port 1 connected with a bottle tail PRD 2. The hydrogen supply main circuit comprises a main pipeline, a hydrogen supply filter 6, a pressure reducing valve 7, a medium pressure sensor 8, an unloading valve 9, a manual emptying valve 10, a main hydrogen valve 11 and a low pressure sensor 12, wherein the main pipeline is respectively connected with each output pipeline, and the hydrogen supply filter, the pressure reducing valve 7, the medium pressure sensor 8, the unloading valve 9, the manual emptying valve 10, the main hydrogen valve 11 and the low pressure sensor are connected in series with the main pipeline. The main line connects the fuel cell 13. The traveling controller 18 is connected with each bottleneck combination valve 4 and the main hydrogen valve 11 respectively.
Optionally, the vehicle-mounted hydrogen storage system further comprises a hydrogenation pipeline, wherein a hydrogenation port 17, a pressure gauge 16, a check valve 15 and a hydrogenation filter 14 are sequentially arranged on the hydrogenation pipeline, the hydrogenation filter 14 is communicated with the main pipeline, and the communication position is located between the output pipeline and the hydrogen supply filter 6.
The hydrogen fuel automobile also comprises an acceleration sensor 19, an inclination angle sensor 20, a pressure sensor 21, a speed sensor 22 and a memory 23. As shown in fig. 6, the bottleneck combination valve 4, the main hydrogen valve 11, the traveling controller 18, the acceleration sensor 19, the inclination sensor 20, the pressure sensor 21, the speed sensor 22, and the memory 23 may be connected by a bus. The acceleration sensor 19 is used for detecting the acceleration of the vehicle and sending the detected acceleration to the vehicle controller 18; the inclination angle sensor 20 is configured to detect an inclination angle of the vehicle with respect to a road surface, and send the detected inclination angle to the driving controller 18; the pressure sensor 21 is used for detecting the pressure applied to the vehicle body of the vehicle and sending the detected pressure to the vehicle controller 18; the speed sensor 22 is used to detect the speed of the vehicle and transmit the detected speed to the vehicle controller 18. Wherein the pressure sensor 21 may also be replaced by a collision sensor 24. Specifically, in the present embodiment, a plurality of pressure sensors 21 are respectively disposed on the left and right sides of the vehicle, and at least one collision sensor 24 is respectively disposed in the front-rear direction of the vehicle.
The memory 23 is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the hydrogen-fueled vehicle in the embodiment of the present invention. The traveling controller 18 executes various functional applications and data processing of the vehicle, that is, implements the control method of the hydrogen fuel automobile of the above-described embodiment, by running software programs, instructions, and modules stored in the memory 23.
The memory 23 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 23 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 23 may further include memory located remotely from the vehicle controller 18, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The vehicle provided by the fourth embodiment of the present invention is the same as the control method of the hydrogen-fueled vehicle provided by the above-mentioned embodiments, and the technical details that are not described in detail in the present embodiment can be referred to the above-mentioned embodiments, and the present embodiment has the same advantageous effects as the execution of the control method of the hydrogen-fueled vehicle.
EXAMPLE five
Fifth embodiment of the present invention further provides a storage medium having a computer program stored thereon, where the computer program is executed by a vehicle controller to implement the control method of the hydrogen-fueled vehicle according to the fifth embodiment of the present invention.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the operations in the control method of the hydrogen-fueled vehicle described above, and may also perform the relevant operations in the control device of the hydrogen-fueled vehicle provided by the embodiments of the present invention, and has the corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for controlling a hydrogen-fueled vehicle according to the embodiments of the present invention. It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A control method of a hydrogen fuel automobile comprises an on-board hydrogen storage system, wherein the on-board hydrogen storage system comprises a plurality of hydrogen storage bottles, a plurality of bottleneck combination valves which are in one-to-one correspondence connection with the hydrogen storage bottles, and main hydrogen valves which are respectively connected with the bottleneck combination valves through pipelines, and the main hydrogen valves are connected with a fuel cell, and is characterized in that the control method of the hydrogen fuel automobile comprises the following steps:
acquiring running parameters of a vehicle, wherein the running parameters comprise the acceleration of the vehicle and the inclination angle of the vehicle relative to a road surface;
estimating a driving direction of a vehicle based on the operating parameters, the driving direction of the vehicle including a straight direction and a curve direction;
if the vehicle runs in the straight line direction, whether the vehicle is in a sudden braking state or not is evaluated based on the running parameters;
if the vehicle is in the sudden braking state, accumulating the duration time of the vehicle in the sudden braking state;
calculating an acceleration rate of change of the vehicle based on the duration and a difference between the acceleration at which the vehicle enters the hard braking state and the acceleration at which the vehicle exits the hard braking state;
evaluating whether the vehicle is at risk of an accident based on the duration and the acceleration rate;
and if the vehicle has accident risk, closing each bottle mouth combination valve.
2. The control method of a hydrogen-fueled vehicle according to claim 1, further comprising, in synchronization with accumulating the duration of the vehicle in a hard-braking state:
acquiring the real-time speed of the vehicle within a set time;
judging whether the speed of the vehicle is out of control based on the real-time speed of the vehicle within the set time;
if the speed of the vehicle is out of control;
closing each of the finish combining valves.
3. The control method of a hydrogen-fueled vehicle according to claim 2, further comprising, after closing each of the bottleneck combination valves:
acquiring the pressure applied to the body of the vehicle;
evaluating whether there is a collision of the vehicle based on the pressure;
and closing the main hydrogen valve if the vehicle collides.
4. The control method of a hydrogen-fueled vehicle according to claim 3, wherein if the vehicle does not collide;
acquiring the speed of a vehicle;
if the speed is not greater than the set speed;
then each of the finish combining valves is reopened.
5. The control method of a hydrogen-fueled vehicle according to claim 1, wherein if the vehicle is traveling in a curve direction;
comparing the inclination angle with a set inclination angle;
if the inclination angle is larger than the set inclination angle;
and closing the main hydrogen valve and each bottleneck combination valve.
6. The control method of a hydrogen-fueled vehicle according to claim 5, further comprising, in synchronization with the comparison of the inclination angle with the magnitude of the set inclination angle:
acquiring a turning angle and a turning angle speed of a wheel;
and if the turning angle exceeds a set angle or the turning angle speed exceeds a set angular speed, closing the main hydrogen valve and each bottleneck combination valve.
7. A control device for a hydrogen-fueled vehicle, characterized by comprising:
the parameter acquisition module is used for acquiring the running parameters of the vehicle;
a driving direction evaluation module for evaluating a driving direction of the vehicle based on the operation parameter;
the sudden braking state evaluation module is used for evaluating whether the vehicle is in a sudden braking state or not based on the operation parameters when the vehicle runs in a straight line direction;
the duration accumulation module is used for accumulating the duration of the vehicle in the sudden braking state when the vehicle is in the sudden braking state;
an acceleration rate determination unit for calculating an acceleration rate of the vehicle based on the duration and a difference between an acceleration at which the vehicle enters the hard braking state and an acceleration at which the vehicle exits the hard braking state;
the accident risk assessment module is used for assessing whether the vehicle has accident risk or not based on the duration and the acceleration change rate;
and the first execution unit is used for closing each bottle mouth combination valve when the vehicle has accident risks.
8. The control device for a hydrogen-fueled vehicle according to claim 7, further comprising:
the speed acquisition module is used for acquiring the real-time speed of the vehicle within set time;
the speed runaway judging unit is used for judging whether the speed runaway of the vehicle occurs or not based on the real-time speed of the vehicle within the set time;
and the second execution unit is used for closing each bottle mouth combination valve when the speed of the vehicle is out of control.
9. A hydrogen fuel automobile comprises a vehicle-mounted hydrogen storage system, and is characterized by further comprising:
a driving controller;
the acceleration sensor is used for detecting the acceleration of a vehicle and sending the detected acceleration to the driving controller;
the inclination angle sensor is used for detecting the inclination angle of the vehicle relative to the road surface and sending the detected inclination angle to the driving controller;
the pressure sensor is used for detecting the pressure applied to the vehicle body of the vehicle and sending the detected pressure to the driving controller;
the speed sensor is used for detecting the speed of a vehicle and sending the detected speed to the driving controller;
a memory for storing one or more programs;
the one or more programs, when executed by the traveling controller, cause the traveling controller to control a hydrogen-fueled vehicle to implement the control method of the hydrogen-fueled vehicle according to any one of claims 1 to 6.
10. A storage medium on which a computer program is stored, characterized in that the program, when executed by a vehicle controller, implements a control method of a hydrogen-fueled vehicle according to any one of claims 1 to 6.
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