CN114454727A - Method for controlling climbing and crawling of pure electric vehicle - Google Patents
Method for controlling climbing and crawling of pure electric vehicle Download PDFInfo
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- CN114454727A CN114454727A CN202210055787.6A CN202210055787A CN114454727A CN 114454727 A CN114454727 A CN 114454727A CN 202210055787 A CN202210055787 A CN 202210055787A CN 114454727 A CN114454727 A CN 114454727A
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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
- B60L15/2063—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 creeping
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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
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
A pure electric vehicle uphill crawling control method includes the steps of firstly adjusting motor torque to be output as first target torque when an uphill crawling control access condition is met, then controlling the motor torque to rise to second target torque when a braking signal is not detected, then controlling the motor torque to rise to third target torque when an accelerator signal is not detected and negative rotating speed exists, and the rising rate of the third target torque is larger than that of the second target torque. The method simulates the starting state of the traditional gasoline car, the vehicle can be started by slightly loosening the brake pedal on a small slope, and the vehicle can be braked by slightly stepping on the brake pedal, so that the problem that the vehicle slips backwards when the brake is loosened during starting on a small slope is solved, the vehicle cannot slip backwards too fast on a large slope, the vehicle cannot jump forwards during starting on a flat road, and safety accidents are avoided.
Description
Technical Field
The invention belongs to the technical field of electric automobiles, and particularly relates to an uphill crawling control method for a pure electric automobile, which is suitable for preventing backward slipping during vehicle hill starting and forward slipping during flat road starting.
Background
The electric automobile is a green vehicle driven by a motor and powered by a vehicle-mounted power battery, has the advantages of small pollution, low noise, energy conservation and environmental protection, is particularly far lower in use cost under a low-speed working condition than a traditional fuel oil vehicle, is very suitable for urban traffic transportation and driving school training, and can greatly reduce daily use cost and pollution emission. The conventional electric automobile is provided with a slope slipping prevention function, but in an actual driving scene, the function can be started only by sliding the automobile one distance after another, driving experience can be influenced by sliding the automobile one distance after another and then temporarily stopping the automobile on a slope when starting the automobile on a slope, meanwhile, the risk of traffic accidents can be increased by sliding the automobile back, in the driving test process, the student test unqualified test can be judged once the automobile slides back, the test score of the student is influenced, and if the initial starting torque is too large, the automobile can leap forward suddenly when starting on a flat road, and the driving experience is influenced. Therefore, there are problems of forward movement during flat road starting and backward slip during hill starting.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a pure electric vehicle uphill crawling control method which enables a vehicle not to slide backwards in hill starting and not to jump forwards in flat road starting.
In order to achieve the above purpose, the invention provides the following technical scheme:
a pure electric vehicle uphill crawling control method comprises the following steps in sequence:
s1, when the vehicle meets the condition of uphill crawling control admission, the vehicle controller adjusts the motor torque to a first target torque;
s2, the vehicle control unit judges whether a braking signal from a brake pedal is effective, if so, the motor is controlled to keep the current torque output, and then the step S3 is carried out, if not, the motor torque is controlled to rise to a second target torque, and then the step S4 is carried out, wherein the second target torque is larger than the first target torque;
s3, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the step returns to S2, and if not, the step goes to S6;
s4, the vehicle control unit judges whether an accelerator signal from an accelerator pedal is effective, if so, the motor is controlled to respond to the accelerator signal to output corresponding torque, and if not, the vehicle control unit enters step S5;
s5, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the torque of the motor is controlled to rise to a third target torque and then the step S4 is returned, and if not, the step S6 is executed;
and S6, continuously detecting the current vehicle speed by the vehicle control unit and keeping the vehicle speed at the target creep vehicle speed by adjusting the motor speed.
In step S5, the third target torque is greater than the second target torque, and the rate of rise of the third target torque is greater than the rate of rise of the second target torque.
In the uphill crawling control process, when the vehicle controller detects that an accelerator signal from an accelerator pedal and a braking signal from a brake pedal are effective at the same time, the vehicle controller responds to the braking signal preferentially and controls the motor to stop outputting torque, and vehicle braking is achieved.
In step S1, the motor may be braked with the brake pedal while outputting the first target torque.
In step S6, the vehicle controller continuously detects the current vehicle speed, the current rotational speed of the motor, and the torque, and adjusts the rotational speed of the motor through a PID algorithm to maintain the vehicle speed at the target creep vehicle speed.
In the uphill crawling control process, the vehicle control unit receives a motor rotating speed signal, a motor torque signal and a current vehicle speed signal through a CAN bus.
In step S1, the uphill crawling control admission condition is that the current gear signal is a D gear.
In the uphill crawling control process, the vehicle control unit acquires an accelerator signal of an accelerator pedal, a brake signal of a brake pedal and a current gear signal through a hard wire.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a pure electric vehicle uphill crawling control method, which comprises the steps of firstly adjusting the motor torque to a first target torque to be output when the uphill crawling control access condition is met, then controlling the motor torque to rise to a second target torque when a brake signal is not detected. Therefore, the invention realizes that the vehicle does not slide backwards in hill starting and does not slide forwards in flat road starting.
2. The invention relates to a pure electric vehicle uphill crawling control method, which comprises the steps of controlling the motor torque to rise to a second target torque, controlling the motor torque to rise to a third target torque when an accelerator signal is not detected and negative rotating speed exists, wherein the third target torque is larger than the second target torque, and the rising rate of the third target torque is larger than that of the second target torque. Therefore, the present invention can further prevent the vehicle from rolling backward.
3. In the method for controlling the pure electric vehicle to creep on the uphill road, when the vehicle controller detects that an accelerator signal from an accelerator pedal and a brake signal from a brake pedal are effective at the same time, the motor is controlled to stop outputting the torque to realize vehicle braking. Therefore, the invention ensures the driving safety of the vehicle.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
Referring to fig. 1, a pure electric vehicle uphill crawling control method sequentially comprises the following steps:
s1, when the vehicle meets the condition of uphill crawling control admission, the vehicle controller adjusts the motor torque to a first target torque;
s2, the vehicle control unit judges whether a braking signal from a brake pedal is effective, if so, the motor is controlled to keep the current torque output, and then the step S3 is carried out, if not, the motor torque is controlled to rise to a second target torque, and then the step S4 is carried out, wherein the second target torque is larger than the first target torque;
s3, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the step returns to S2, and if not, the step goes to S6;
s4, the vehicle control unit judges whether an accelerator signal from an accelerator pedal is effective, if so, the motor is controlled to respond to the accelerator signal to output corresponding torque, and if not, the vehicle control unit enters step S5;
s5, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the torque of the motor is controlled to rise to a third target torque and then the step S4 is returned, and if not, the step S6 is executed;
and S6, continuously detecting the current vehicle speed by the vehicle control unit and keeping the vehicle speed at the target creep vehicle speed by adjusting the motor speed.
In step S2, the second target torque is greater than the first target torque, and in step S5, the third target torque is greater than the second target torque, and the rate of rise of the third target torque is greater than the rate of rise of the second target torque.
In the uphill crawling control process, when the vehicle controller detects that an accelerator signal from an accelerator pedal and a braking signal from a brake pedal are effective at the same time, the vehicle controller responds to the braking signal preferentially and controls the motor to stop outputting torque, and vehicle braking is achieved.
In step S1, the motor may be braked with the brake pedal while outputting the first target torque.
In step S6, the vehicle controller continuously detects the current vehicle speed, the current rotational speed of the motor, and the torque, and adjusts the rotational speed of the motor through a PID algorithm to maintain the vehicle speed at the target creep vehicle speed.
In the uphill crawling control process, the vehicle control unit receives a motor rotating speed signal, a motor torque signal and a current vehicle speed signal through a CAN bus.
In step S1, the uphill crawling control admission condition is that the current gear signal is a D gear.
In the uphill crawling control process, the vehicle control unit acquires an accelerator signal of an accelerator pedal, a brake signal of a brake pedal and a current gear signal through a hard wire.
The principle of the invention is illustrated as follows:
in the starting process of the pure electric vehicle uphill crawling control method, the vehicle controller gradually adjusts the target torque value of the motor by adopting a special torque distribution mode according to the state of a brake pedal, the state of an accelerator pedal and the state of the rotating speed of the motor so as to provide constant small torque output, slowly increased medium torque output and rapidly increased large torque output, so that the electric vehicle cannot jump forward or rapidly slide backward under different conditions, the driving safety is improved, and the risk of traffic accidents is reduced.
Example 1:
referring to fig. 1, the method for controlling the pure electric vehicle to climb the slope and creep specifically comprises the following steps:
s1, when the vehicle meets an uphill crawling control admission condition, the vehicle controller adjusts the torque of the motor to a first target torque, and when the motor outputs the first target torque, the motor can brake through a brake pedal, wherein the uphill crawling control admission condition is that a current gear signal is a D gear;
s2, the vehicle control unit judges whether a braking signal from a brake pedal is effective, if so, the motor is controlled to keep the current torque output, and then the step S3 is carried out, if not, the motor torque is controlled to rise to a second target torque, and then the step S4 is carried out, wherein the second target torque is larger than the first target torque;
s3, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the step returns to S2, and if not, the step goes to S6;
s4, the vehicle control unit judges whether an accelerator signal from an accelerator pedal is effective, if so, the motor is controlled to respond to the accelerator signal to output corresponding torque, and if not, the vehicle control unit enters step S5;
s5, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the motor torque is controlled to rise to a third target torque and then the step S4 is returned, if not, the step S6 is carried out, wherein the third target torque is larger than the second target torque, and the rising rate of the third target torque is larger than that of the second target torque;
and S6, continuously detecting the current vehicle speed, the current rotating speed and the torque of the motor by the vehicle control unit, and adjusting the rotating speed of the motor through a PID algorithm to maintain the vehicle speed at the target crawling vehicle speed.
Example 2:
the difference from example 1 is that:
in the uphill crawling control process, the vehicle controller receives a motor rotating speed signal, a motor torque signal and a current vehicle speed signal through the CAN bus, acquires an accelerator signal of an accelerator pedal, a brake signal of a brake pedal and a current gear signal through a hard wire, and preferentially responds to the brake signal and controls the motor to stop outputting the torque when the vehicle controller detects that the accelerator signal from the accelerator pedal and the brake signal from the brake pedal are effective simultaneously, so that vehicle braking is realized.
Claims (8)
1. A pure electric vehicle uphill crawling control method is characterized by comprising the following steps:
the method is sequentially carried out according to the following steps:
s1, when the vehicle meets the condition of uphill crawling control admission, the vehicle controller adjusts the motor torque to a first target torque;
s2, the vehicle control unit judges whether a braking signal from a brake pedal is effective, if so, the motor is controlled to keep the current torque output, and then the step S3 is carried out, if not, the motor torque is controlled to rise to a second target torque, and then the step S4 is carried out, wherein the second target torque is larger than the first target torque;
s3, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the step returns to S2, and if not, the step goes to S6;
s4, the vehicle control unit judges whether an accelerator signal from an accelerator pedal is effective, if so, the motor is controlled to respond to the accelerator signal to output corresponding torque, and if not, the vehicle control unit enters step S5;
s5, the vehicle control unit detects the actual rotating speed state of the motor and judges whether the motor has a negative rotating speed, if yes, the torque of the motor is controlled to rise to a third target torque and then the step S4 is returned, and if not, the step S6 is executed;
and S6, continuously detecting the current vehicle speed by the vehicle control unit and keeping the vehicle speed at the target creep vehicle speed by adjusting the motor speed.
2. The pure electric vehicle uphill crawling control method according to claim 1 or 2, wherein the method comprises the following steps:
in step S5, the third target torque is greater than the second target torque, and the rate of rise of the third target torque is greater than the rate of rise of the second target torque.
3. The pure electric vehicle uphill crawling control method according to claim 1 or 2, wherein the method comprises the following steps:
in the uphill crawling control process, when the vehicle controller detects that an accelerator signal from an accelerator pedal and a braking signal from a brake pedal are effective at the same time, the vehicle controller responds to the braking signal preferentially and controls the motor to stop outputting torque, and vehicle braking is achieved.
4. The pure electric vehicle uphill crawling control method according to claim 1 or 2, wherein the method comprises the following steps:
in step S1, the motor may be braked with the brake pedal while outputting the first target torque.
5. The pure electric vehicle uphill crawling control method according to claim 1 or 2, wherein the method comprises the following steps:
in step S6, the vehicle controller continuously detects the current vehicle speed, the current rotational speed of the motor, and the torque, and adjusts the rotational speed of the motor through a PID algorithm to maintain the vehicle speed at the target creep vehicle speed.
6. The pure electric vehicle uphill crawling control method according to claim 1 or 2, wherein the method comprises the following steps:
in the uphill crawling control process, the vehicle control unit receives a motor rotating speed signal, a motor torque signal and a current vehicle speed signal through a CAN bus.
7. The pure electric vehicle uphill crawling control method according to claim 1 or 2, wherein the method comprises the following steps:
in step S1, the uphill crawling control admission condition is that the current gear signal is a D gear.
8. The pure electric vehicle uphill crawling control method according to claim 7, characterized in that:
in the uphill crawling control process, the vehicle control unit acquires an accelerator signal of an accelerator pedal, a brake signal of a brake pedal and a current gear signal through a hard wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210055787.6A CN114454727A (en) | 2022-01-18 | 2022-01-18 | Method for controlling climbing and crawling of pure electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210055787.6A CN114454727A (en) | 2022-01-18 | 2022-01-18 | Method for controlling climbing and crawling of pure electric vehicle |
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| CN114454727A true CN114454727A (en) | 2022-05-10 |
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| CN202210055787.6A Pending CN114454727A (en) | 2022-01-18 | 2022-01-18 | Method for controlling climbing and crawling of pure electric vehicle |
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2022
- 2022-01-18 CN CN202210055787.6A patent/CN114454727A/en active Pending
Patent Citations (8)
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| US20130197733A1 (en) * | 2010-10-26 | 2013-08-01 | Qingwen Zeng | Control method for idling anti-rollback of pure electric vehicle |
| CN103121450A (en) * | 2011-11-18 | 2013-05-29 | 北汽福田汽车股份有限公司 | Ramp way control method of pure electric vehicle |
| CN103879306A (en) * | 2014-04-09 | 2014-06-25 | 奇瑞汽车股份有限公司 | Automobile ramp auxiliary system and control method thereof |
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