CN112644499B - Control method for realizing reversing, constant-speed and crawling in whole vehicle controller of new energy vehicle - Google Patents
Control method for realizing reversing, constant-speed and crawling in whole vehicle controller of new energy vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Controls For Constant Speed Travelling (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a control method for realizing reversing and crawling at a constant speed in a vehicle controller of a new energy automobile, which comprises the following steps: 1) designing a reverse crawling torque compensation multiplying factor value table based on a vehicle speed difference and a speed change period of a reverse crawling target vehicle speed and an actual vehicle speed of a vehicle, and obtaining a reverse crawling torque compensation multiplying factor value through table look-up; 2) calculating a reverse crawling torque output value; 3) and calibrating real vehicle parameters by using the obtained backing creep torque output value, correcting a backing creep torque compensation multiplying factor value according to the real vehicle parameter calibration result, and calculating the current backing creep torque output value by using the corrected torque compensation multiplying factor value. The method can ensure that the vehicle can reach the specified speed limit value under various road conditions, and simultaneously, the vehicle speed is limited under the specified backing and crawling limit vehicle speed, so that the vehicle safety is ensured; and the possibility of accidents caused by the fact that the vehicle speed is too fast due to unreasonable deep stepping of the accelerator of the driver is reduced.
Description
Technical Field
The invention relates to a control method for realizing the backing and crawling speed stability of a new energy automobile, in particular to a control method for realizing the backing and crawling function at a constant speed by a vehicle controller in the new energy automobile.
Background
The new energy automobile has a speed limit when backing a car and crawling, and in order to realize the crawling backing car speed limit function, the general method of the whole automobile controller is as follows: the required torque for realizing the target vehicle speed of the vehicle under a certain working condition is obtained by a calibration means, the vehicle control unit sends the torque to the motor controller, and the motor executes output according to the required torque to realize the functions of backing and crawling speed limiting. However, the torque calibration data under a single working condition is difficult to ensure the stability of the vehicle speed under other working conditions, for example, when the vehicle runs up a slope during backing up, the original output torque is not enough to enable the vehicle to reach the target vehicle speed due to the increase of the resistance, so that the vehicle speed is reduced and even the vehicle is stopped.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method for realizing reversing and crawling at a constant speed in a vehicle controller of a new energy automobile. The control method can ensure that the vehicle controller can ensure that the vehicle backing and creeping speed of the vehicle is stable no matter in the working condition of an unobstructed flat road or a slope or other obstructed roads; the vehicle speed can be limited under the specified backing and crawling limit vehicle speed, and the safety of the vehicle is ensured; the possibility of accidents caused by the fact that the accelerator of the driver is not stepped on reasonably deeply can be reduced.
In order to solve the technical problems, the invention provides a control method for realizing reverse constant-speed crawling in a whole vehicle controller of a new energy vehicle, which mainly comprises the steps of designing a reverse crawling torque compensation multiplying power value table, calculating the difference value between the current vehicle speed and the target vehicle speed, dividing the difference value into N intervals, calculating a speed change period counting value, obtaining a torque compensation multiplying power value through the vehicle speed difference value and the period counting table, multiplying the torque compensation multiplying power value by the rated torque value to obtain a corresponding torque output value under the current vehicle speed, so that when the rated reverse torque is not enough to enable the vehicle to reach the target vehicle speed, the whole vehicle controller calculates to obtain a reverse crawling torque compensation multiplying power value larger than 1, the larger the speed difference is, the larger the multiplying power value is, the larger the multiplying power is multiplied by the rated torque to actively increase the torque to ensure that the vehicle reaches the set crawling vehicle speed, and the larger the speed difference is, the faster the vehicle speed is promoted, the smaller the speed difference is, the smaller the torque value is, and the slower the vehicle speed is promoted; when the vehicle speed exceeds the target vehicle speed, the vehicle control unit calculates a reverse crawling torque compensation rate value smaller than 1, the smaller the rate value is, the smaller the speed difference is, the torque is actively reduced by multiplying the compensation rate by the rated torque, the smaller the speed difference is, the smaller the torque value is, the faster the vehicle speed is reduced, the larger the speed difference is, the larger the torque value is, the slower the vehicle speed is reduced, and the vehicle is ensured to be stabilized at the target vehicle speed.
The method comprises the following steps:
step one, designing a reverse crawling torque compensation multiplying power value table based on a vehicle speed difference and a speed change period of a reverse crawling target vehicle speed and an actual vehicle speed of a vehicle, and obtaining a reverse crawling torque compensation multiplying power value T through table lookupm；
Step two, calculating a reverse crawling torque output value Tp＝T0*TmWherein, T0For a nominal reverse creep torque value, T0The numerical value of (2) is determined according to vehicle type parameters of the vehicle;
step three, utilizing the obtained reverse crawling torque output value TpCarrying out real vehicle parameter calibration, and compensating the backing creep torque multiplying factor value T according to the real vehicle parameter calibration resultmMaking correction to obtain corrected torque compensation multiplying factor value Tm’Calculating to obtain the current reverse creeping torque output value Tp’＝T0*TmAnd the vehicle can realize reversing, constant speed and crawling.
Further, the invention relates to a control method for realizing reversing creep at a constant speed, wherein the control method comprises the following steps:
step one, dividing the calculated speed difference value into N speed difference intervals, increasing or decreasing a set period count value into M counting intervals according to the step length of 1s according to the positive and negative of the speed difference value, and when the rated reverse crawling torque is not enough to enable the vehicle to reach the reverse crawling target speed, compensating the reverse crawling torque by a factor value Tm< 1, and the greater the speed difference, TmThe larger the value, the slower the vehicle speed is decelerated; when the rated reverse creeping torque makes the vehicle speed exceed the target vehicle speed, the reverse creeping torque compensation multiplying factor value Tm> 1, and the smaller the speed difference, TmThe smaller the value, the faster the vehicle speed decelerates. The specific contents are as follows:
1) calculating the vehicle speed difference Sd: setting the speed of a backing crawling target as StThe actual speed of the vehicle collected by the vehicle control unit is S5 km/hrThe speed difference S between the backing crawling target speed and the actual speed of the vehicled，Sd＝St-Sr，Sd、StAnd SrThe unit of (a) is km/h, the speed difference SdIn the range of-2To +5km/h, divided into N speed difference sections at intervals of 1km/h, N being 8, and the speed difference Sd<The speed difference interval 1 is equal to-2, and the speed difference is-2<Sd<The speed difference interval 2 is set as-1, and the speed difference is-1<Sd<The speed difference interval 3 is equal to 0, and the vehicle speed difference is 0<Sd<The speed difference interval 4 is set as 1, and the vehicle speed difference 1 is set as<Sd<2 is a speed difference interval 5, and the speed difference is 2<Sd<The speed difference interval 6 is set as 3, and the speed difference 3 is set as 3<Sd<The speed difference interval 7 is set as 4, and the speed difference 4 is set as 4<Sd<5 is a speed difference interval 8;
2) setting a shift cycle count value tcAnd 0 is not less than tc≤tmaxWherein, tmaxIs a constant value, tmaxThe value is 5, which represents the theoretical maximum time set by accelerating the vehicle speed from 0km/h to the maximum backing and crawling vehicle speed; when S isdAt > 0, tcAccumulating according to the increment of 1s every period until tc＝tmaxUntil the end; when S isdWhen t is less than or equal to 0, tcDecreasing by 1s every cycle until tcUntil 0 is obtained; will tcSetting M counting intervals, M equals 6, tc0 is the counting interval 1, tc1 is the counting interval 2, tc2 is the counting interval 3, tc3 is the counting interval 4, tc4 is the counting interval 5, tc5 is a counting interval 6;
3) setting a compensation torque multiplying power value table, wherein the abscissa is the vehicle speed difference SdThe ordinate is the count value t of the speed change periodcCorresponding reverse creep torque compensation multiplying factor value TmAs shown in table 1.
TABLE 1 backing creep torque compensation multiplier value Tm
In the third step, the actual vehicle parameters are calibrated: a calibration engineer carries out a backing crawling experiment, in the process of controlling the backing crawling of the vehicle, the vehicle is driven to run according to the obtained backing crawling torque output value, and if the change value of the vehicle speed exceeds (+/-3 km/h)/s, the vehicle speed is correctedThe backing creep torque compensation multiplying power value T obtained by the table lookupmCorrecting the reversing creep torque compensation multiplying factor value Tm’＝Tm+/- (0.1-0.2) and T is more than or equal to 0m’≤2。
Compared with the prior art, the invention has the beneficial effects that:
(1) the vehicle controller can ensure the stable speed of the vehicle during backing and creeping no matter under the working condition of an unobstructed flat road or under the working condition of a slope or other obstructed roads, and the problems of speed reduction caused by insufficient output driving torque due to increased resistance and speed exceeding limit speed caused by overhigh output driving torque due to reduced resistance can be avoided;
(2) the vehicle speed can be limited under the specified backing and crawling limit vehicle speed, and the safety of the vehicle is ensured;
(3) when a driver runs an obstacle in backing, the driver does not need to step on the accelerator pedal, so that the possibility of accidents caused by the fact that the accelerator of the driver is not stepped on unreasonably fast is reduced.
Detailed Description
The invention will now be further illustrated with reference to specific examples, which are not intended to limit the invention in any way.
The design idea of the invention is that the reversing creep torque output value of the vehicle under the current working condition is obtained by actively increasing or decreasing the torque under different working conditions; when the rated backing torque is not enough to enable the vehicle to reach the target vehicle speed, the vehicle control unit obtains a backing creep torque compensation factor value (larger than 1) through calculation, the rated torque is multiplied by the compensation factor to actively increase the torque to ensure that the vehicle reaches the set creep vehicle speed, when the vehicle speed exceeds the target vehicle speed, the backing creep torque compensation factor value (smaller than 1) is obtained through calculation, the rated torque is multiplied by the compensation factor to actively reduce the torque, and the vehicle is ensured to be stabilized at the target vehicle speed. The vehicle controller can ensure the stable speed of the vehicle during backing and creeping no matter on an unobstructed flat road or a slope or other obstacle road conditions; the vehicle speed can be limited under the specified backing and crawling limit vehicle speed, and the safety of the vehicle is ensured; the possibility of accidents caused by the fact that the accelerator of the driver is not stepped on reasonably deeply can be reduced.
Example (b): taking a new energy logistics vehicle as an example, the reverse crawling torque value T of the vehicle when the vehicle is in no-load on a flat road surface0A reverse creeping target vehicle speed S of 43Nm (maximum output torque not exceeding 86Nm)t5m/S, the torque calculation period is 1S, and the period count value tcAdding 1 per second, accelerating to the theoretical maximum time t set by the maximum reversing crawling speedmaxIs 5 (i.e. t)cWhen the sum is 5, the sum is not increased any more)
The method comprises the following steps: determining the reverse creep torque compensation factor value, comprising:
1-1) calculating the vehicle speed difference: according to Sd＝St-Sr，StDividing the vehicle speed difference into 8 speed difference sections by taking 1km/h as a group: as shown on the abscissa of table 1.
1-2) setting a count value t of a shift cyclecBecause of tmax(ii) 5; then 0 is less than or equal to tcLess than or equal to 5, when S isdT > 0c＝tc+1, up to tc5 km/h; when S isdT is less than or equal to 0c＝tc-1, up to tcUntil 0 is obtained; setting tmaxAnd 5, correspondingly setting 6 counting intervals as shown by the ordinate of the table 1.
1-3) setting a two-dimensional compensation torque multiplying power value table, wherein the abscissa is the difference S between the backing creep target vehicle speed and the backing creep actual vehicle speeddThe ordinate is the count value t of the speed change periodc(ii) a According to different vehicle speed differences SdValue and different count periods tcThe value lookup table may obtain the corresponding torque compensation factor value, such as the values corresponding to the abscissa and ordinate in table 1.
Step two: determining reverse creep torque output value Tp：
Because of T043 according to Tp＝T0*TmReverse creeping torque output value T can be obtainedp＝43*Tm。
From the above, the cycle is according to the formula Sd＝St-SrAnd Tp＝T0*TmCalculating a speed change period count value tcAnd a vehicle speed difference SdAccording to tcAnd SdLooking up a table 1 to obtain a reverse creep torque compensation multiplying power value TmFinal formula Tp＝T0*TmObtaining a reverse creeping torque output value TpWherein, T0For a nominal reverse creep torque value, T0Is determined according to the model parameters of the vehicle, in the embodiment, T0＝43Nm。
The vehicle speed changes in the next cycle, and if the vehicle speed increases, the speed difference SdDecreasing, the torque compensation factor value T can be seen from Table 1mDecrease, torque output value TpDecrease, and the faster the vehicle speed increases, the torque output value TpThe more reduction; if the vehicle speed decreases, the speed difference SdIncreasing, the torque compensation multiplying factor value T can be seen through the tablemIncrease, torque output value TpThe torque output value T is increased and the faster the vehicle speed is reducedpThe more the increase.
Calculating each period through the steps to obtain a new torque output value TpThe vehicle speed is cyclically adjusted to continuously adjust the torque value output value according to the vehicle speed until the vehicle speed is different from the vehicle speed SdAnd is reduced to about 0 km/h.
Step three, real vehicle parameter calibration:
according to different specific vehicle types, a calibration engineer is required to calibrate actual vehicle parameters of the specific vehicle type on the premise of the compensation torque multiplying power value table provided by the invention, the calibration engineer performs a backing crawling experiment, and in the process of controlling the backing crawling of the vehicle, if the compensation torque multiplying power value selected from 1 in the table through the corresponding relation between the vehicle speed difference value and the cycle count value exceeds (+ -3 km/h)/s in the using process, 0Nm is taken as the lower torque limit, and 2 times T/h is taken as the lower torque limitpThe torque compensation factor value T is the upper limit of the torque, and the original selected reverse creep torque compensation factor value T is used on the premise that the upper limit and the lower limit of the torque are not exceededmCorrecting the reversing creep torque compensation multiplying factor value Tm’＝Tm+/- (0.1-0.2) and T is more than or equal to 0m’≤2。I.e. at a selected reverse creep torque compensation multiplier value TmIs increased or decreased by 0.1 to 0.2 to maintain smooth vehicle operation, for example: t is tcWhen the vehicle speed is 0, the actual vehicle speed is 0, and the target vehicle speed is 5km/h, in which case SdT, obtained by table look-up, 5mIs 1.7 according to Tp＝43*TmT at this time can be obtainedpWhen the actual speed of the vehicle is 4km/h after 1S, the vehicle is accelerated too fast, and S is required to be adjusted according to the power output of the vehicle which is 73.1Nmd＝5，tcT corresponding when equal to 0mThe value is reduced from 1.7 to 1.6 or 1.5, and the finally determined reverse creep torque compensation multiplying factor value Tm’＝Tm- (0.1-0.2) 1.7- (0.1-0.2) 1.6 or 1.5, and then calculating according to the reverse crawling torque compensation rate value of 1.5 or 1.6 to obtain the current reverse crawling torque output value Tp’＝43*Tm’64.5-68.6 Nm, so that the situation that the vehicle is accelerated or decelerated suddenly can be avoided.
Although the present invention has been described above, the present invention is not limited to the above-mentioned embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit of the present invention, which falls within the protection of the present invention.
Claims (2)
1. A control method for realizing reversing, constant-speed crawling in a vehicle controller of a new energy automobile is characterized by comprising the following steps of:
step one, designing a reverse crawling torque compensation multiplying power value table based on a vehicle speed difference and a speed change period of a reverse crawling target vehicle speed and an actual vehicle speed of a vehicle, and obtaining a reverse crawling torque compensation multiplying power value T through table lookupm(ii) a The specific contents are as follows:
1) calculating the vehicle speed difference Sd: setting the speed of a backing crawling target as St=5km/h, and the actual vehicle speed collected by the vehicle control unit is SrThe speed difference S between the backing crawling target speed and the actual speed of the vehicled，Sd=St-Sr，Sd、StAnd SrThe unit of (a) is km/h, the speed difference SdIs-2 to +5km/h, is divided into N speed difference intervals according to the interval of 1km/h, N =8 and the speed difference Sd<The speed difference interval 1 and the speed difference-2 are set as the number-2<Sd<The speed difference interval 2 is set as the speed difference-1<Sd<A speed difference interval 3 of =0 and a vehicle speed difference 0<Sd<=1 is a speed difference interval 4, and the vehicle speed difference is 1<Sd<A speed difference interval 5 and a speed difference 2 of =2<Sd<A speed difference interval 6 and a speed difference 3 of =3<Sd<A speed difference interval 7 and a speed difference 4 of =4<Sd<=5 is a speed difference interval 8;
2) setting a shift cycle count value tcAnd 0 is not less than tc≤tmaxWherein, tmaxIs a constant value, tmaxThe value is 5, which represents the theoretical maximum time set by accelerating the vehicle speed from 0km/h to the maximum backing and crawling vehicle speed;
when S isdAt > 0, tcAccumulating according to the increment of 1s every period until tc=tmaxUntil the end;
when S isdWhen t is less than or equal to 0, tcDecreasing by 1s every cycle until tcUntil = 0;
will tcSetting M counting intervals, M =6, tcNumber of interval 1, t =0cNumber of units of "= 1" =2, tcNumber of "= 2" counting interval 3, tcNumber of "= 3" counting interval 4, tcNumber of "= 4" counting interval 5, tc=5 is a counting interval 6;
3) setting a compensation torque multiplying power value table, wherein the abscissa is the vehicle speed difference SdThe ordinate is the count value t of the speed change periodcCorresponding reverse creep torque compensation multiplying factor value TmThe following were used:
the counting interval is 1, the speed difference intervals are 1, 2, 3, 4, 5, 6, 7 and 8 respectively, and the compensation torque multiplying power values are 0, 0.8, 1, 1.1, 1.2, 1.4, 1.5 and 1.7 respectively;
the counting interval is 2, the speed difference intervals are 1, 2, 3, 4, 5, 6, 7 and 8 respectively, and the compensation torque multiplying power values are 0, 0.8, 1, 1.3, 1.4, 1.5, 1.6 and 1.8 respectively;
a counting interval 3, speed difference intervals are respectively 1, 2, 3, 4, 5, 6, 7 and 8, and compensation torque multiplying power values are respectively 0, 0.8, 1, 1.4, 1.5, 1.6, 1.7 and 1.9;
counting interval 4, speed difference intervals are 1, 2, 3, 4, 5, 6, 7 and 8 respectively, and compensation torque multiplying power values are 0, 0.8, 1, 1.6, 1.7, 1.8 and 2 respectively;
a counting interval 5, speed difference intervals are respectively 1, 2, 3, 4, 5, 6, 7 and 8, and compensation torque multiplying power values are respectively 0, 0.8, 1, 1.8, 2 and 2;
the counting interval is 6, the speed difference intervals are 1, 2, 3, 4, 5, 6, 7 and 8 respectively, and the compensation torque multiplying power values are 0, 0.8, 1, 2 and 2 respectively;
step two, calculating a reverse crawling torque output value Tp= T0*TmWherein, T0For a nominal reverse creep torque value, T0The numerical value of (2) is determined according to vehicle type parameters of the vehicle;
step three, utilizing the obtained reverse crawling torque output value TpCarrying out real vehicle parameter calibration, wherein the real vehicle parameter calibration comprises the following steps: a calibration engineer carries out a reverse crawling experiment, in the process of controlling the reverse crawling of the vehicle, the vehicle is driven to run according to the obtained reverse crawling torque output value, and if the change value of the vehicle speed exceeds (+/-3 km/h)/s, a reverse crawling torque compensation multiplying factor value T obtained by looking up a table is used for the reverse crawling torquemCorrecting the reversing creep torque compensation multiplying factor value Tm’=Tm+/- (0.1-0.2) and T is more than or equal to 0m’≤2；
Compensating the multiplying factor value T of the backing creep torque according to the result of the real vehicle parameter calibrationmCorrecting the torque compensation multiplying power value to be Tm’Calculating to obtain the current reverse creep torque output value Tp’= T0*Tm’So that the vehicle can realize reversing, constant speed and crawling.
2. The control method for realizing reverse crawling at a constant speed according to claim 1, wherein in the first step, the calculated vehicle speed difference value is divided into N speed difference intervals,according to the positive and negative of the vehicle speed difference value, the set cycle count value is gradually increased or gradually decreased into M counting intervals according to the step length of 1s, and when the rated reverse crawling torque is not enough to enable the vehicle to reach the reverse crawling target vehicle speed, the reverse crawling torque compensation rate value T is obtainedm< 1, and the greater the speed difference, TmThe larger the value, the slower the vehicle speed is decelerated; when the rated reverse creeping torque makes the vehicle speed exceed the target vehicle speed, the reverse creeping torque compensation multiplying factor value Tm> 1, and the smaller the speed difference, TmThe smaller the value, the faster the vehicle speed decelerates.
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| KR20150143921A (en) * | 2014-06-13 | 2015-12-24 | 현대자동차주식회사 | Method for controlling creep torque of motor driven vehicle |
| KR101542988B1 (en) * | 2014-07-08 | 2015-08-07 | 현대자동차 주식회사 | Method for controlling hybrid electric vehicle using driving tendency of driver |
| CN107839688A (en) * | 2017-10-19 | 2018-03-27 | 吉林大学 | A kind of electric automobile crawling method for controlling driving speed |
| CN109131330A (en) * | 2018-09-25 | 2019-01-04 | 吉林大学 | A kind of adaptive crawling control method of electric car |
| CN112109711A (en) * | 2020-09-14 | 2020-12-22 | 恒大新能源汽车投资控股集团有限公司 | Vehicle creep control method and device, electronic equipment and storage medium |
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