CN116238344A - Automatic slope parking method for new energy electric automobile - Google Patents
Automatic slope parking method for new energy electric automobile Download PDFInfo
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- CN116238344A CN116238344A CN202310130231.3A CN202310130231A CN116238344A CN 116238344 A CN116238344 A CN 116238344A CN 202310130231 A CN202310130231 A CN 202310130231A CN 116238344 A CN116238344 A CN 116238344A
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- parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic slope parking method of a new energy electric automobile, which comprises the following steps: (1) entering an automatic slope parking: when the vehicle is in a forward gear and has no braking signal, and the rotating speed of the motor is between-180 rpm and-20 rpm; or when the vehicle is in a reverse gear and has no brake signal, and the motor rotation speed is 20 rpm-180 rpm; the VCU directly sends a parking instruction to the MCU to be 1, the MCU enters the rotation speed control after receiving the instruction, the PI adjusts and outputs the parking torque, and the vehicle enters the automatic parking mode. According to the invention, the vehicle inclination angle is not required to be carried out by an additional device to assist in judging the hill-holding function, and the automatic hill-holding function can be realized by using electric devices and mechanical hardware such as a gear shifter, an accelerator pedal, a brake pedal, a driving motor, a motor controller, a whole vehicle controller and the like of the vehicle, so that the cost for realizing the automatic hill-holding function is reduced.
Description
Technical Field
The invention relates to the technical field of new energy electric vehicles, in particular to an automatic slope parking method of a new energy electric vehicle.
Background
The rapid development of the automobile industry brings great convenience to people, but petroleum resources are increasingly reduced and are not renewable, and environmental pollution is increasingly serious. The Chinese electric power resources are rich, and under the initiative of the country, a series of policies for encouraging and popularizing the development of new energy automobiles are brought out, and the technology of the new energy electric automobiles is rapidly developed.
With the rapid development of society, various vehicles on roads are more and more, so that the roads are crowded, and various difficulties are brought to the running of the vehicles. The electric automobile adopts motor drive, and it can not keep idle speed like traditional engine, especially when the vehicle is on the ramp, the condition of swift current slope when taking place ramp parking and starting easily, and the operation requirement is higher to the driver, and the security is poor. On this basis, an automatic hill-holding strategy for the electric vehicle has been developed.
Disclosure of Invention
The invention aims to provide an automatic slope parking method for a new energy electric automobile, which solves the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an automatic slope parking method of a new energy electric automobile comprises the following steps:
(1) Entering an automatic slope parking mode:
when the vehicle is in a forward gear and has no braking signal, and the rotating speed of the motor is between-180 rpm and-20 rpm;
or when the vehicle is in a reverse gear and has no brake signal, and the motor rotation speed is 20 rpm-180 rpm;
the VCU directly sends a parking instruction 1 to the MCU, the MCU enters into the rotation speed control after receiving the instruction, PI adjusts and outputs the parking torque, and the vehicle enters into the automatic parking;
(2) And (5) exiting automatic slope parking:
when the given torque calculated by the VCU accelerator pedal is larger than the hill-holding torque fed back by the MCU or a brake signal exists, the VCU sends out a hill-holding exit instruction of 0;
when the motor rotating speed is less than-280 rpm or greater than 40rpm in the forward gear, the VCU exits from the automatic hill-holding mode, and the VCU sends out an instruction of exiting from the hill-holding mode to be 0;
when the motor rotating speed is more than 280rpm or less than-40 rpm in the reverse gear, the automatic hill-holding mode is to be exited, and the VCU sends out an instruction of 0 for exiting the hill-holding mode;
after exiting the hill-holding mode, the VCU sends a hill-holding instruction to the MCU of 0;
when the motor rotates at a speed lower than-280 rpm in the forward gear and exits from the parking slope;
or when the motor rotates more than 280rpm and exits from the hill-holding mode in the reverse gear, the VCU can switch the gear into neutral at the moment and send a feedback torque request to the MCU;
the VCU exits from the parking after confirming that the MCU enters the parking state for 5 seconds, the VCU sends a parking instruction to the MCU to be 0, enters the parking again after a period of delay, and sends a parking instruction to the MCU to be 1, and completely exits from the parking after parking for a plurality of times.
Further, in the step (2), the delay time is 20ms.
Further, the number of times of hill holding is 3.
Further, in the step (1), the vehicle is not actively entering the parking slope when the vehicle is in a braking state, the vehicle accelerator pedal has an opening signal or the vehicle is in a neutral gear.
Further, the vehicle is in a forward gear, the motor speed is not in a range of-180 rpm to-20 rpm, the vehicle is in a reverse gear, and the vehicle does not actively enter the parking slope when the motor speed is not in a range of 20rpm to 180 rpm.
Further, in the step (2), in the parking state, the vehicle enters a braking state again, and when the vehicle is maintained for 1 second, the vehicle actively exits from the parking state when the vehicle enters the parking state;
when the vehicle accelerator pedal has an opening signal and the VCU request torque is larger than the parking torque, the vehicle can actively exit from the parking when the vehicle enters the parking;
in the hill-holding state, when gear switching occurs, the hill-holding state can be actively exited when the hill has been entered.
Further, in the step (2), when the vehicle does not actively exit the parking slope, the single parking time of the vehicle reaches 5 seconds, and the number of continuous parking times reaches 3, and the vehicle actively exits the parking slope when the vehicle has entered the parking slope.
Further, in the step (2), when the vehicle is in a forward gear and the motor speed is less than-280 rpm or greater than 40rpm, the vehicle actively exits from the parking slope when the vehicle enters the parking slope;
when the vehicle is in a reverse gear and the motor speed is greater than 280rpm or less than-40 rpm, the vehicle can actively exit the parking slope when the vehicle enters the parking slope.
Compared with the prior art, the invention has the beneficial effects that:
the vehicle inclination angle is not required to be carried out by an additional device to assist in judging the hill-holding function, and the automatic hill-holding function can be realized by using electric devices and mechanical hardware such as a gear shifter, an accelerator pedal, a brake pedal, a driving motor, a motor controller, a whole vehicle controller and the like of the vehicle, so that the cost for realizing the automatic hill-holding function is reduced;
the automatic parking is carried out for 5 seconds for a single time and 3 times in total, so that the problem of locked-rotor overtemperature damage of key devices such as a driving motor and a motor controller caused by long-time parking can be avoided, and meanwhile, a driver can be timely reminded that a vehicle is sliding, the driver can timely intervene in the vehicle control, and the potential safety hazard of driving is avoided;
the function of the scheme is quick and simple, the sliding distance of a standing slope is shortened, the sliding speed is reduced, the scheme has a good protection function, the driving experience is improved, and the driving potential safety hazard is reduced.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1, please refer to fig. 1-2:
an automatic slope parking method of a new energy electric automobile adopts a mode that a whole vehicle controller and a motor controller are cooperatively carried out at present to realize automatic slope parking of the electric automobile.
The method comprises the following specific steps:
(1) Entering an automatic hill-holding mode
When the vehicle is in a forward gear and no brake signal (BreakPaddelStatus) exists, and the motor rotating speed is between-180 rpm and-20 rpm; or when the vehicle is in a reverse gear and no brake signal (BreakPaddelStatus) exists, and the motor speed is 20 rpm-180 rpm; the VCU directly sends a parking instruction (parkingBreakReq) to the MCU to be 1, the MCU enters the rotation speed control after receiving the instruction, the PI adjusts and outputs the parking torque, and the vehicle enters the automatic parking mode.
(2) Automatic exit slope parking
When the given torque calculated by the VCU accelerator pedal is larger than the hill-holding torque fed back by the MCU or a brake signal (BreakPaddelStatus) exists, the VCU sends out a hill-holding exit command (ParkingBreakReq) to be 0. In forward gear, when the motor speed is less than-280 rpm or greater than 40rpm, the automatic hill-holding command is also exited, and the VCU sends out a hill-holding command of 0. In the reverse gear, when the motor rotation speed is greater than 280rpm or less than-40 rpm, the automatic hill-holding is also stopped, and the VCU sends out a hill-holding stopping instruction of 0. After exiting the hill-holding mode, the VCU sends a hill-holding instruction (parkingBreakReq) to the MCU of 0.
When the motor rotates at a speed lower than-280 rpm in the forward gear and exits from the parking slope; or when the motor rotates at a speed greater than 280rpm and exits from the parking slope, the VCU can switch the gear into neutral at the moment and send a feedback torque request (MotorTorTorReq) to the MCU, so that the potential safety hazard of vehicle running caused by motor damage due to too fast vehicle sliding speed is prevented.
The VCU exits from the parking slope after confirming that the MCU enters the parking slope state (parkingBreakStatus) for 5 seconds, the VCU sends a parking slope (parkingBreakReq) instruction to the MCU to be 0, enters the parking slope again after 20ms, and sends a parking slope instruction (parkingBreakReq) to the MCU to be 1, and the parking slope completely exits from the parking slope after the parking slope number reaches 3.
The vehicle does not actively enter the parking hill under the following conditions:
(1) The vehicle is in a braking state (breakpaddielstatus=1);
(2) When the accelerator pedal of the vehicle has an opening signal (accelerationPedalValue > 0);
(3) When the vehicle is in neutral;
(4) When the vehicle is in a forward gear and the motor rotation speed is not in a range of-180 rpm to-20 rpm;
(5) When the vehicle is in a reverse gear and the motor rotation speed is not in a range of 20 rpm-180 rpm;
the vehicle will actively exit the hill hold when it has entered the hill hold under the following conditions:
(1) In the hill-holding state, the vehicle reenters the braking state (breakpaddielstatus=1) and remains for 1 second;
(2) When the accelerator pedal of the vehicle has an opening signal (accelerationPedalValue > 0) and the VCU request torque (MotorTorque req) is larger than the hill-holding torque;
(3) When gear switching occurs in a hill-holding state;
(4) When the vehicle does not actively exit the parking slope, the single time of parking slope reaches 5 seconds, and the continuous time of parking slope reaches 3 times;
(5) When the temperature of the driving motor and the motor controller exceeds an over-temperature limit threshold or other devices have serious faults;
(6) When the vehicle is in a forward gear and the motor rotation speed is less than-280 rpm or more than 40 rpm;
(7) When the vehicle is in the reverse gear and the motor speed is greater than 280rpm or less than-40 rpm.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The automatic slope parking method of the new energy electric automobile is characterized by comprising the following steps of:
(1) Entering an automatic slope parking mode:
when the vehicle is in a forward gear and has no braking signal, and the rotating speed of the motor is between-180 rpm and-20 rpm;
or when the vehicle is in a reverse gear and has no brake signal, and the motor rotation speed is 20 rpm-180 rpm;
the VCU directly sends a parking instruction 1 to the MCU, the MCU enters into the rotation speed control after receiving the instruction, PI adjusts and outputs the parking torque, and the vehicle enters into the automatic parking;
(2) And (5) exiting automatic slope parking:
when the given torque calculated by the VCU accelerator pedal is larger than the hill-holding torque fed back by the MCU or a brake signal exists, the VCU sends out a hill-holding exit instruction of 0;
when the motor rotating speed is less than-280 rpm or greater than 40rpm in the forward gear, the VCU exits from the automatic hill-holding mode, and the VCU sends out an instruction of exiting from the hill-holding mode to be 0;
when the motor rotating speed is more than 280rpm or less than-40 rpm in the reverse gear, the automatic hill-holding mode is to be exited, and the VCU sends out an instruction of 0 for exiting the hill-holding mode;
after exiting the hill-holding mode, the VCU sends a hill-holding instruction to the MCU of 0;
when the motor rotates at a speed lower than-280 rpm in the forward gear and exits from the parking slope;
or when the motor rotates more than 280rpm and exits from the hill-holding mode in the reverse gear, the VCU can switch the gear into neutral at the moment and send a feedback torque request to the MCU;
the VCU exits from the parking after confirming that the MCU enters the parking state for 5 seconds, the VCU sends a parking instruction to the MCU to be 0, enters the parking again after a period of delay, and sends a parking instruction to the MCU to be 1, and completely exits from the parking after parking for a plurality of times.
2. The automatic hill-holding method of a new energy electric vehicle of claim 1, wherein in the step (2), the delay time is 20ms.
3. The automatic hill-holding method for the new energy electric automobile of claim 1, wherein the number of times of hill holding is 3.
4. The method for automatically parking an electric vehicle with new energy according to claim 1, wherein in the step (1), the vehicle is not actively parked when the vehicle is in a braking state, when the vehicle accelerator pedal has an opening signal, or when the vehicle is in a neutral position.
5. The automatic hill-holding method of a new energy electric vehicle according to claim 1, wherein the vehicle is in a forward gear, the motor speed is not in a range of-180 rpm to-20 rpm, the vehicle is in a reverse gear, and the motor speed is not in a range of 20rpm to 180rpm, and the vehicle does not actively enter the hill-holding mode.
6. The method for automatically parking an electric vehicle with new energy according to claim 1, wherein in the step (2), the vehicle enters a braking state again in a parking state and actively exits from the parking state when the vehicle enters the parking state for 1 second;
when the vehicle accelerator pedal has an opening signal and the VCU request torque is larger than the parking torque, the vehicle can actively exit from the parking when the vehicle enters the parking;
in the hill-holding state, when gear switching occurs, the hill-holding state can be actively exited when the hill has been entered.
7. The method for automatically parking a new energy electric vehicle according to claim 1, wherein in the step (2), when the vehicle does not actively exit the parking, the vehicle actively exits the parking when the vehicle is parked for 5 seconds for a single time and the number of times of parking continuously reaches 3.
8. The method for automatically parking a new energy electric vehicle according to claim 1, wherein in the step (2), when the vehicle is in a forward gear and the motor speed is less than-280 rpm or greater than 40rpm, the vehicle actively exits from the parking position when the vehicle has entered the parking position;
when the vehicle is in a reverse gear and the motor speed is greater than 280rpm or less than-40 rpm, the vehicle can actively exit the parking slope when the vehicle enters the parking slope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310130231.3A CN116238344A (en) | 2023-02-17 | 2023-02-17 | Automatic slope parking method for new energy electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310130231.3A CN116238344A (en) | 2023-02-17 | 2023-02-17 | Automatic slope parking method for new energy electric automobile |
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| Publication Number | Publication Date |
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| CN116238344A true CN116238344A (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310130231.3A Pending CN116238344A (en) | 2023-02-17 | 2023-02-17 | Automatic slope parking method for new energy electric automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148181A (en) * | 2021-11-26 | 2022-03-08 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle slope slipping prevention method and system based on rotating speed ring and position ring |
-
2023
- 2023-02-17 CN CN202310130231.3A patent/CN116238344A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148181A (en) * | 2021-11-26 | 2022-03-08 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle slope slipping prevention method and system based on rotating speed ring and position ring |
| CN114148181B (en) * | 2021-11-26 | 2024-02-02 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle anti-slip method and system based on rotating speed ring and position ring |
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