CN115447401A - New energy vehicle anti-slope-sliding control method and system - Google Patents
New energy vehicle anti-slope-sliding control method and system Download PDFInfo
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- CN115447401A CN115447401A CN202211181245.XA CN202211181245A CN115447401A CN 115447401 A CN115447401 A CN 115447401A CN 202211181245 A CN202211181245 A CN 202211181245A CN 115447401 A CN115447401 A CN 115447401A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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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)
- Power Engineering (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a slope slipping prevention control method and system for a new energy vehicle, wherein the slope slipping prevention control method for the new energy vehicle comprises the following steps: judging that the vehicle is in a hill-holding condition according to the running duration of the driving motor in the set rotating speed range; when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle control unit does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle control unit sends a motor slope parking mode instruction to enter a slope parking mode; in the hill-holding mode, whether the hill-holding mode is exited or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque. The slope sensor and the hill start assisting system are replaced by a control logic mode, and the safety of the vehicle is improved in a low-cost mode.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method and a system for controlling a new energy vehicle to slide away.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
A part of new energy vehicles are limited by the cost, a slope sensor cannot be installed, such as a pure electric bus, so that the slope of a slope cannot be accurately judged, most of the pure electric buses are not provided with a slope starting auxiliary system at present, when the vehicles are started on the slope, in the process that a driver leaves a brake pedal and steps on an accelerator pedal, the vehicles slide backwards to different degrees, and safety accidents are easily caused.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an anti-slope-sliding control method and system for a new energy vehicle, which replace a slope sensor and a hill start auxiliary system in a control logic mode and improve the safety of the vehicle in a low-cost mode.
In order to achieve the purpose, the invention adopts the following technical scheme:
the first aspect of the invention provides a method for controlling a new energy vehicle to slide down a slope, comprising the steps of:
judging that the vehicle is in a hill-holding condition according to the running duration of the driving motor in the set rotating speed range;
when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle controller does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle controller sends a motor slope parking mode instruction to enter a slope parking mode;
in the hill-holding mode, whether the hill-holding mode is exited or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque.
The vehicle control unit only sends the motor hill-holding mode instruction under the hill-holding condition, and does not send the motor hill-holding mode instruction under other modes.
According to the duration time of the driving motor in the set rotating speed range, the vehicle is judged to be in the slope-parking condition, and the method specifically comprises the following steps: when the time that the motor rotating speed is within the set rotating speed range exceeds the set duration, mode =1, otherwise, mode =0 and Mode =1 indicates that the vehicle is in the hill-holding condition.
The determination condition that the vehicle enters the hill-holding mode includes a condition that the vehicle is in a high-pressure state and enters the hill-holding mode in a forward gear, and a condition that the vehicle is in a high-pressure state and enters the hill-holding mode in a reverse gear.
The conditions that the vehicle is in a high-pressure state and enters the hill-holding mode in a forward gear are as follows: the finished vehicle controller receives the Mode =1, the finished vehicle Ready signal and the forward gear signal, detects that the rotating speed of the motor is within a first set rotating speed range, and at the moment, the finished vehicle controller does not receive the brake pedal opening degree signal and the hand brake pull-up signal, and then the finished vehicle controller sends a motor hill-holding Mode instruction to enter a hill-holding Mode.
The conditions under which the vehicle is in a high-pressure state and enters the hill-holding mode in the reverse gear are as follows: and the vehicle controller receives the Mode =1, the vehicle Ready signal and the reverse gear signal, detects that the rotating speed of the motor is within a second set rotating speed range, and sends a motor hill-holding Mode instruction to enter a hill-holding Mode if the vehicle controller does not receive the brake pedal opening degree signal and the hand brake pull-up signal.
Whether the slope stopping mode exits is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening signal of the brake pedal and the magnitude relation between the requested torque and the slope stopping torque, and the method specifically comprises the following steps:
conditions for a vehicle high pressure state and exiting hill hold mode in drive forward:
in the slope stopping mode, when the vehicle controller detects that the absolute value of the rotating speed of the driving motor is not less than a set value, a command of exiting the slope stopping mode is sent out;
in the slope parking mode, when the vehicle control unit receives a hand brake signal, the vehicle control unit sends a command of exiting the slope parking mode;
in the hill-holding mode, when the vehicle controller receives a brake pedal opening degree signal, the vehicle controller sends a command of exiting the hill-holding mode;
in the hill-holding mode, when the vehicle controller calculates that the sent request torque is not less than the hill-holding torque of the driving motor according to the opening value of the accelerator, the vehicle controller sends a command of exiting the hill-holding mode;
conditions for a high vehicle pressure state and exiting hill holding mode in reverse:
in the slope stopping mode, when the vehicle controller detects that the absolute value of the rotating speed of the driving motor is not less than a set value, the vehicle controller sends a command of exiting the slope stopping mode;
in the slope parking mode, when the vehicle control unit receives a hand brake signal, the vehicle control unit sends a command of exiting the slope parking mode;
in the hill-holding mode, when the vehicle controller receives a brake pedal opening degree signal, the vehicle controller sends a command of exiting the hill-holding mode;
in the hill-holding mode, when the vehicle controller calculates and sends a request torque smaller than the hill-holding torque of the driving motor according to the opening degree value of the accelerator, the vehicle controller sends a command of exiting the hill-holding mode.
A second aspect of the present invention provides an anti-creep control system for a new energy vehicle, including:
a hill hold determination module configured to: when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle control unit does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle control unit sends a motor slope parking mode instruction to enter a slope parking mode;
a hill hold entry module configured to: in the hill-holding mode, whether the hill-holding mode exits is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque.
A hill hold exit module configured to: the vehicle control unit only sends a motor hill-holding mode instruction under the hill-holding condition, and does not send the motor hill-holding mode instruction under other modes.
A third aspect of the invention provides a controller that executes the above-described hill-drop prevention control method for a new energy vehicle.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
1. whether the vehicle is on a slope or not is judged through the rotating speed value of the motor, after the vehicle on the slope enters the slope slipping prevention function, the driver can loosen the brake pedal to keep the vehicle in a stopped state, the vehicle can start stably by stepping on the accelerator, the failure rate and the accident rate in the vehicle operation period are reduced, and better driving experience is brought to passengers while the safety is improved.
2. According to the motor rotating speed value, the traditional function of preventing the forward gear from sliding down to the uphill is designed, the function of preventing the reverse gear from sliding down to the uphill is added, and the problem that the whole vehicle swings due to the fact that the vehicle sideslips and mistakenly enters a hill-holding mode due to wet road slipping is solved.
3. The function of preventing the vehicle from sliding down the slope is realized by controlling the driving mode of the motor, and the function can be realized on all new energy buses.
4. The slope sensor and the hill start assisting system are replaced by a control logic mode, and the safety of the vehicle is improved in a low-cost mode.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
Fig. 1 is a schematic flow chart of an anti-slope-slipping control process provided by one or more embodiments of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background art, the pure electric motor coach is limited in cost, cannot be provided with a gradient sensor, cannot accurately judge the gradient of the ramp, and most of the pure electric motor coaches are not provided with a ramp starting auxiliary system at present, so that when the vehicle starts on the ramp, the vehicle slips backwards to different degrees in the process that the foot of a driver leaves a brake pedal and steps on an accelerator pedal, and safety accidents are easily caused.
The method comprises the steps of judging whether a vehicle is on a slope or not through a motor rotating speed value received by a vehicle controller, designing a traditional slope slipping prevention function of D-gear slope starting according to the motor rotating speed value, adding an R-gear slope starting slope slipping prevention function, solving the problem that the vehicle slips and enters a slope parking mode by mistake due to road wet slipping to cause the tail flicking of the vehicle, realizing the vehicle slope slipping prevention function by controlling a driving mode of a motor, and realizing the function on all new energy buses, so that a control logic mode replaces a slope sensor and a slope starting auxiliary system, and the safety of the vehicle is improved in a low-cost mode.
The first embodiment is as follows:
as shown in fig. 1, an anti-creep control method for a new energy vehicle includes:
judging that the vehicle is in a hill-holding condition according to the running duration of the driving motor in the set rotating speed range;
when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle controller does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle controller sends a motor slope parking mode instruction to enter a slope parking mode;
in the hill-holding mode, whether the hill-holding mode is exited or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque.
The vehicle control unit only sends the motor hill-holding mode instruction under the hill-holding condition, and does not send the motor hill-holding mode instruction under other modes.
According to the method, the vehicle controller firstly judges whether the vehicle is on the slope or not according to the rotating speed value of the motor, when the vehicle on the slope enters the slope slipping prevention function, the driver can release the brake pedal to keep the vehicle in a stop state, and the vehicle can start stably by stepping on the accelerator, so that the failure rate and the accident rate in the vehicle operation period are reduced, the safety is improved, and meanwhile, the comfortable driving experience is brought to passengers.
Specifically, the method comprises the following steps:
(1) Hill holding mode determination
In order to prevent the problem that the vehicle slips on a wet and slippery road to cause the vehicle to mistakenly enter a hill-holding Mode to cause the tail flick of the whole vehicle, the whole vehicle controller needs to judge a motor rotating speed value sent by a message, if the motor rotating speed is within +/-120 rpm, timing is started, when the time of the motor rotating speed within +/-120 rpm exceeds 0.5s, mode =1, and otherwise, mode =0. And only when the Mode =1 is adopted, the vehicle control unit can send a motor hill-holding Mode instruction, otherwise, the vehicle control unit does not send the motor hill-holding Mode instruction.
(2) Entering into a hill-holding mode
Condition for vehicle Ready (high pressure) state and entering hill-holding mode under D gear:
the finished vehicle controller receives the Mode =1, the finished vehicle Ready signal and the D-gear signal, detects that the rotating speed of the motor is in a range from more than-100 rpm to less than-15 rpm, and sends a motor hill-holding Mode instruction if the finished vehicle controller does not receive the brake pedal opening degree signal and the hand brake pull-up signal.
The conditions that the finished automobile is in Ready state and enters a hill-holding mode under the R gear are as follows:
the finished vehicle controller receives a Mode =1 finished vehicle Ready signal and an R gear signal, detects that the rotating speed of the motor is in a range from more than 15rpm to less than 100rpm, and does not receive a brake pedal opening degree signal and a hand brake pull-up signal at the moment, and then sends a motor hill-holding Mode instruction.
In this embodiment, the positive and negative values of the rotation speed of the motor refer to positive rotation and negative rotation, and respectively correspond to a D gear (forward gear) and an R gear (reverse gear), and the specific corresponding relationship is set according to different vehicle types.
(3) Exit from hill-holding mode
And (3) condition that the finished automobile Ready state exits the hill-holding mode in the D gear:
the driving motor monitors the rotating speed value of the motor in real time, and when the vehicle control unit detects that the absolute value of the rotating speed is larger than 100rpm in the hill-holding mode, the vehicle control unit sends an instruction of exiting the hill-holding mode;
in the slope parking mode, when the vehicle control unit receives a hand brake signal, the vehicle control unit sends a command of exiting the slope parking mode;
in the hill-holding mode, when the vehicle controller receives a brake pedal opening degree signal, the vehicle controller sends a command of exiting the hill-holding mode;
in the hill-holding mode, when the vehicle controller calculates and sends out a request torque (driving is positive torque) which is larger than the hill-holding torque of the driving motor according to the opening value of the accelerator, the vehicle controller sends out an instruction of exiting the hill-holding mode;
and (3) condition that the finished automobile Ready state exits the hill-holding mode under the R gear:
the driving motor monitors the rotating speed value of the motor in real time, and when the vehicle controller detects that the absolute value of the rotating speed is larger than 100rpm in the slope parking mode, the vehicle controller sends a command of forcibly exiting the slope parking mode;
in the slope parking mode, when the vehicle control unit receives a hand brake signal, the vehicle control unit sends a command of exiting the slope parking mode;
in the hill-holding mode, when the vehicle controller receives a brake pedal opening degree signal, the vehicle controller sends a command of exiting the hill-holding mode;
in the hill-holding mode, when the vehicle control unit calculates the sent request torque (negative torque for backing up) to be less than the hill-holding torque of the driving motor according to the opening value of the accelerator, the vehicle control unit sends an instruction of exiting the hill-holding mode.
The technical innovation of preventing the vehicle from sliding off the slope is realized through different control logics on the basis of not changing the original vehicle configuration, the technology does not need to install a slope sensor and a hill starting auxiliary system, whether the vehicle is on the slope or not is judged through the rotating speed value of the motor, after the vehicle on the slope enters the function of preventing sliding off the slope, the failure rate and the accident rate in the vehicle operation period can be reduced, and the comfortable experience is brought to a driver and passengers on the basis of improving the safety.
Example two:
an anti-creep control system of a new energy vehicle, comprising:
a hill-holding determination module configured to: when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle controller does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle controller sends a motor slope parking mode instruction to enter a slope parking mode;
a hill hold entry module configured to: in the hill-holding mode, whether the hill-holding mode is exited or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque.
A hill hold exit module configured to: the vehicle control unit only sends the motor hill-holding mode instruction under the hill-holding condition, and does not send the motor hill-holding mode instruction under other modes.
The system realizes the technical innovation of preventing the vehicle from sliding down the slope through different control logics on the basis of not changing the configuration of the original vehicle, the technology does not need to install a slope sensor and a hill starting auxiliary system, but judges whether the vehicle is on the slope or not through the rotating speed value of the motor, after the vehicle on the slope enters the function of preventing the vehicle from sliding down the slope, the failure rate and the accident rate in the operation period of the vehicle can be reduced, and the comfortable experience is brought to a driver and passengers on the basis of improving the safety.
Example three:
a controller is provided with the control system in the second embodiment and executes the control method in the first embodiment.
The technical innovation of preventing the vehicle from sliding down the slope is realized through different control logics on the basis of not changing the configuration of the original vehicle, the technology does not need to install a slope sensor and a hill starting auxiliary system, whether the vehicle is on the slope or not is judged through the rotating speed value of the motor, after the vehicle on the slope enters the function of preventing the vehicle from sliding down the slope, the failure rate and the accident rate in the operation period of the vehicle can be reduced, and the comfortable experience is brought to a driver and passengers on the basis of improving the safety.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An anti-slope-sliding control method of a new energy vehicle is characterized by comprising the following steps: the method comprises the following steps:
judging that the vehicle is in a hill-holding condition according to the running duration of the driving motor in the set rotating speed range;
when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle controller does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle controller sends a motor slope parking mode instruction to enter a slope parking mode;
in the hill-holding mode, whether the hill-holding mode is exited or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque.
2. The anti-creep control method of the new energy vehicle according to claim 1, characterized in that: the vehicle control unit only sends a motor hill-holding mode instruction under the hill-holding condition, and does not send the motor hill-holding mode instruction under other modes.
3. The anti-creep control method of the new energy vehicle according to claim 1, characterized in that: according to the duration time of the driving motor in the set rotating speed range, the vehicle is judged to be in the slope-parking condition, and the method specifically comprises the following steps:
when the time that the motor rotating speed is within the set rotating speed range exceeds the set duration, mode =1, otherwise, mode =0 and Mode =1 indicate that the vehicle is in the hill-holding condition.
4. The anti-creep control method of the new energy vehicle according to claim 1, characterized in that: the determination condition that the vehicle enters the hill-holding mode includes a condition that the vehicle is in a high-pressure state and enters the hill-holding mode in a forward gear, and a condition that the vehicle is in a high-pressure state and enters the hill-holding mode in a reverse gear.
5. The anti-creep control method of the new energy vehicle according to claim 4, characterized in that: the conditions that the vehicle is in a high-pressure state and enters the hill-holding mode in a forward gear are as follows:
the finished vehicle controller receives the Mode =1, the finished vehicle Ready signal and the forward gear signal, detects that the rotating speed of the motor is within a first set rotating speed range, and at the moment, the finished vehicle controller does not receive the brake pedal opening degree signal and the hand brake pull-up signal, and then the finished vehicle controller sends a motor hill-holding Mode instruction to enter a hill-holding Mode.
6. The anti-creep control method of the new energy vehicle according to claim 4, characterized in that: the conditions under which the vehicle is in a high-pressure state and enters the hill-holding mode in reverse gear are as follows:
and the vehicle controller receives the Mode =1, the vehicle Ready signal and the reverse gear signal, detects that the rotating speed of the motor is within a second set rotating speed range, and sends a motor hill-holding Mode instruction to enter a hill-holding Mode if the vehicle controller does not receive the brake pedal opening degree signal and the hand brake pull-up signal.
7. The anti-creep control method of the new energy vehicle according to claim 1, characterized in that: whether to withdraw from the mode of staying on the slope according to driving motor rotational speed absolute value, manual brake signal, brake pedal aperture signal and the big or small relation of request moment of torsion and the moment of staying on the slope respectively, include, the vehicle high pressure state and the condition of withdrawing from the mode of staying on the slope under the preceding gear specifically do:
in the slope stopping mode, when the vehicle controller detects that the absolute value of the rotating speed of the driving motor is not less than a set value, a command of exiting the slope stopping mode is sent out;
in the slope parking mode, when the vehicle control unit receives a hand brake signal, the vehicle control unit sends a command of exiting the slope parking mode;
in the hill-holding mode, when the vehicle controller receives a brake pedal opening degree signal, the vehicle controller sends a command of exiting the hill-holding mode;
in the hill-holding mode, when the vehicle controller calculates that the sent request torque is not less than the hill-holding torque of the driving motor according to the opening value of the accelerator, the vehicle controller sends a command of exiting the hill-holding mode;
8. the anti-creep control method of the new energy vehicle according to claim 1, characterized in that: whether the vehicle exits the hill-holding mode or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque, and the conditions that the vehicle exits the hill-holding mode in a high-pressure state and in a reverse gear are further included, and the method specifically comprises the following steps:
in the slope stopping mode, when the vehicle controller detects that the absolute value of the rotating speed of the driving motor is not smaller than a set value, the vehicle controller sends a command of exiting the slope stopping mode;
in the slope parking mode, when the vehicle control unit receives a hand brake signal, the vehicle control unit sends a command of exiting the slope parking mode;
in the hill-holding mode, when the vehicle controller receives a brake pedal opening degree signal, the vehicle controller sends a command of exiting the hill-holding mode;
in the hill-holding mode, when the vehicle controller calculates and sends a request torque smaller than the hill-holding torque of the driving motor according to the opening degree value of the accelerator, the vehicle controller sends a command of exiting the hill-holding mode.
9. The utility model provides a new forms of energy vehicle prevents swift current slope control system which characterized in that: comprises that
A hill hold determination module configured to: when the vehicle is in a slope parking condition and in a high-pressure state, the rotating speed of the driving motor is within a set rotating speed range, and the vehicle control unit does not receive a brake pedal opening degree signal and a hand brake pull-up signal, the vehicle control unit sends a motor slope parking mode instruction to enter a slope parking mode;
a hill hold entry module configured to: in the hill-holding mode, whether the hill-holding mode is exited or not is judged according to the absolute value of the rotating speed of the driving motor, the hand brake signal, the opening degree signal of the brake pedal and the magnitude relation between the requested torque and the hill-holding torque.
A hill hold exit module configured to: the vehicle control unit only sends the motor hill-holding mode instruction under the hill-holding condition, and does not send the motor hill-holding mode instruction under other modes.
10. A controller, characterized by: the new energy vehicle landslide prevention control method according to any one of claims 1-8 is performed.
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| CN202211181245.XA CN115447401A (en) | 2022-09-27 | 2022-09-27 | New energy vehicle anti-slope-sliding control method and system |
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| CN202211181245.XA CN115447401A (en) | 2022-09-27 | 2022-09-27 | New energy vehicle anti-slope-sliding control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330994A (en) * | 2023-05-26 | 2023-06-27 | 江铃汽车股份有限公司 | Electric automobile uphill auxiliary control method and system, storage medium and electric automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330994A (en) * | 2023-05-26 | 2023-06-27 | 江铃汽车股份有限公司 | Electric automobile uphill auxiliary control method and system, storage medium and electric automobile |
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