阅读说明：本技术 一种驻车控制方法、装置及电动汽车 (Parking control method and device and electric automobile ) 是由 战平 代康伟 梁海强 于 2019-02-28 设计创作，主要内容包括：本发明提供一种驻车控制方法、装置及电动汽车,涉及整车控制技术领域,所述方法包括：获取整车控制器发送的当前需求扭矩和汽车的驾驶模式；若所述驾驶模式为单踏板模式且所述当前需求扭矩为负扭矩,则在响应所述当前需求扭矩时,间隔第一预设时长获取第一电机转速；根据所述第一电机转速,控制所述汽车驻车。本发明的方案,通过采用速度闭环控制方法,使汽车的电机转速为零,实现汽车的驻车,避免出现车辆后溜的问题,提高了驾驶安全性和驾驶员的驾车便利性。(The invention provides a parking control method, a parking control device and an electric automobile, and relates to the technical field of vehicle control, wherein the method comprises the following steps: acquiring the current required torque and the driving mode of the automobile sent by the whole automobile controller; if the driving mode is a single-pedal mode and the current required torque is negative torque, acquiring the rotating speed of a first motor at intervals of a first preset time length when responding to the current required torque; and controlling the automobile to park according to the first motor rotating speed. According to the scheme, the speed closed-loop control method is adopted, so that the rotating speed of the motor of the automobile is zero, the parking of the automobile is realized, the problem of backward slip of the automobile is avoided, and the driving safety and the driving convenience of a driver are improved.)

1. A parking control method is applied to a motor controller and is characterized by comprising the following steps:

acquiring the current required torque and the driving mode of the automobile sent by the whole automobile controller;

if the driving mode is a single-pedal mode and the current required torque is negative torque, acquiring the rotating speed of a first motor at intervals of a first preset time length when responding to the current required torque;

and controlling the automobile to park according to the first motor rotating speed.

2. The parking control method according to claim 1, wherein the step of controlling the parking of the vehicle according to the first motor speed includes:

adjusting the working mode of a motor controller according to the rotating speed of the first motor; wherein the operating modes include: a torque mode and a speed mode;

when the working mode is a speed mode, acquiring the rotating speed of a second motor at intervals of a second preset time length;

determining a second output torque of the motor controller according to a first output torque when the motor controller is switched from a torque mode to a speed mode and the currently acquired rotating speed of the second motor;

and regulating the rotating speed of the motor by outputting the current output torque to the motor so as to park the automobile.

3. The parking control method of claim 2, wherein the step of adjusting the operation mode of the motor controller according to the first motor rotation speed includes:

and when the working mode of the motor controller is a torque mode and the currently acquired first motor rotating speed is less than a preset calibration rotating speed, adjusting the working mode of the motor controller to be a speed mode.

4. The parking control method according to claim 2, wherein the step of determining the second output torque of the motor controller based on the first output torque when the motor controller is switched from the torque mode to the speed mode and the currently acquired second motor rotation speed includes:

calculating the current adjusting torque of the automobile by adopting a proportional integral derivative algorithm according to the currently acquired rotating speed of the second motor and a prestored target rotating speed of the speed mode;

and determining a second output torque of the motor controller according to the first output torque and the current adjusting torque, wherein the second output torque is the sum of the first output torque and the current adjusting torque.

5. The parking control method according to claim 2, characterized in that after the step of controlling the vehicle to park according to the first motor rotation speed, the method further comprises:

and when the working mode is a speed mode, if the current required torque sent by the vehicle controller is received to be larger than the second output torque currently output by the motor controller, the driving mode sent by the vehicle controller is received to be a non-single-pedal mode, or the current zero-torque fault of the motor system is detected, the working mode of the motor controller is controlled to be adjusted from the speed mode to a torque mode.

6. A parking control device is applied to a motor controller and is characterized by comprising:

the first acquisition module is used for acquiring the current required torque sent by the vehicle controller and the driving mode of the vehicle;

the second obtaining module is used for obtaining the rotating speed of the first motor at intervals of a first preset time length when responding to the current required torque if the driving mode is the single-pedal mode and the current required torque is negative torque;

and the first control module is used for controlling the automobile to park according to the rotating speed of the first motor.

7. An electric vehicle characterized by comprising the parking control apparatus according to claim 6.

8. An electric vehicle, comprising: processor, memory and computer program stored on and executable on the memory, which computer program, when executed by the processor, carries out the steps of the parking control method according to any of claims 1 to 5.

9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the parking control method according to any one of claims 1 to 5.

Technical Field

The invention belongs to the technical field of vehicle control, and particularly relates to a parking control method and device and an electric vehicle.

Background

Disclosure of Invention

The embodiment of the invention aims to provide a parking control method and device and an electric automobile, so as to solve the problems that in the prior art, when the automobile is parked on a slope road, the automobile tends to slide backwards, and the driving safety and the convenience of operation of a driver are not facilitated.

In order to achieve the above object, the present invention provides a parking control method including:

acquiring the current required torque and the driving mode of the automobile sent by the whole automobile controller;

if the driving mode is a single-pedal mode and the current required torque is negative torque, acquiring the rotating speed of a first motor at intervals of a first preset time length when responding to the current required torque;

and controlling the automobile to park according to the first motor rotating speed.

Wherein, according to the first motor speed, the step of controlling the automobile parking comprises the following steps:

adjusting the working mode of a motor controller according to the rotating speed of the first motor; wherein the operating modes include: a torque mode and a speed mode;

when the working mode is a speed mode, acquiring the rotating speed of a second motor at intervals of a second preset time length;

determining a second output torque of the motor controller according to a first output torque when the motor controller is switched from a torque mode to a speed mode and the currently acquired rotating speed of the second motor;

and regulating the rotating speed of the motor by outputting the current output torque to the motor so as to park the automobile.

Wherein, according to the first motor rotational speed, the step of adjusting the mode of operation of the motor controller includes:

and when the working mode of the motor controller is a torque mode and the currently acquired first motor rotating speed is less than a preset calibration rotating speed, adjusting the working mode of the motor controller to be a speed mode.

Wherein, the step of determining the second output torque of the motor controller according to the first output torque when the motor controller is switched from the torque mode to the speed mode and the currently acquired second motor speed comprises:

calculating the current adjusting torque of the automobile by adopting a proportional integral derivative algorithm according to the currently acquired rotating speed of the second motor and a prestored target rotating speed of the speed mode;

and determining a second output torque of the motor controller according to the first output torque and the current adjusting torque, wherein the second output torque is the sum of the first output torque and the current adjusting torque.

Wherein, after the step of controlling the vehicle to park according to the first motor speed, the method further comprises:

and when the working mode is a speed mode, if the current required torque sent by the vehicle controller is received to be larger than the second output torque currently output by the motor controller, the driving mode sent by the vehicle controller is received to be a non-single-pedal mode, or the current zero-torque fault of the motor system is detected, the working mode of the motor controller is controlled to be adjusted from the speed mode to a torque mode.

The embodiment of the invention also provides a parking control device, which is applied to a motor controller and comprises the following components:

the first acquisition module is used for acquiring the current required torque sent by the vehicle controller and the driving mode of the vehicle;

the second obtaining module is used for obtaining the rotating speed of the first motor at intervals of a first preset time length when responding to the current required torque if the driving mode is the single-pedal mode and the current required torque is negative torque;

and the first control module is used for controlling the automobile to park according to the rotating speed of the first motor.

Wherein the first control module comprises:

the first adjusting submodule is used for adjusting the working mode of the motor controller according to the rotating speed of the first motor; wherein the operating modes include: a torque mode and a speed mode;

the obtaining submodule is used for obtaining the rotating speed of a second motor at intervals of a second preset time when the working mode is the speed mode;

the determining submodule is used for determining a second output torque of the motor controller according to a first output torque when the motor controller is switched from a torque mode to a speed mode and the currently acquired rotating speed of the second motor;

and the second adjusting submodule is used for adjusting the rotating speed of the motor by outputting the current output torque to the motor so as to park the automobile.

Wherein the first adjusting submodule comprises:

and the adjusting unit is used for adjusting the working mode of the motor controller to be a speed mode when the working mode of the motor controller is a torque mode and the currently acquired first motor rotating speed is less than a preset calibration rotating speed.

Wherein the determining sub-module includes:

the calculating unit is used for calculating the current adjusting torque of the automobile by adopting a proportional integral derivative algorithm according to the currently acquired rotating speed of the second motor and a prestored target rotating speed of the speed mode;

and the determining unit is used for determining a second output torque of the motor controller according to the first output torque and the current adjusting torque, wherein the second output torque is the sum of the first output torque and the current adjusting torque.

Wherein the apparatus further comprises:

and the second control module is used for controlling the working mode of the motor controller to be adjusted from the speed mode to the torque mode if the current required torque sent by the vehicle controller is received to be larger than the second output torque currently output by the motor controller, and the driving mode sent by the vehicle controller is received to be the non-single-pedal mode or the current zero-torque fault of the motor system is detected.

The embodiment of the invention also provides an electric automobile which comprises the parking control device.

An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on and executable on the memory, which computer program, when executed by the processor, carries out the steps of the parking control method as described above.

Embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of the parking control method as described above.

The technical scheme of the invention at least has the following beneficial effects:

according to the invention, the automobile is parked by controlling the rotating speed of the motor of the automobile to be zero in the parking process when the automobile is in the single-pedal mode according to the rotating speed of the first motor of the automobile, so that the problem that the automobile slips backwards after the automobile is braked and stopped because the motor controller is in the torque mode in the prior art is avoided, and the driving safety and the operation convenience of a driver are improved.

Drawings

FIG. 1 is a schematic diagram of the basic steps of a parking brake method of an embodiment of the present invention;

fig. 2 is a schematic diagram of the basic composition of the parking brake device of the embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

The embodiment of the invention provides a parking control method and device and an electric automobile, aiming at the problems that in the prior art, after a motor controller is in a torque mode to control an automobile to brake and stop, the phenomenon that the automobile slips backwards is generated, and the driving safety and the convenience of operation of a driver are not facilitated.

As shown in fig. 1, an embodiment of the present invention provides a parking control method including:

step S101: and acquiring the current required torque sent by the vehicle controller and the driving mode of the vehicle.

The motor Controller is connected with a vehicle Controller through a Controller Area Network (CAN) bus, and receives message information sent by the vehicle Controller through the CAN bus, wherein the message information may include the current required torque and the driving mode of the vehicle.

Here, it should be noted that, the vehicle controller may receive, in real time, information of a current gear of the vehicle, a signal indicating whether a brake pedal is stepped or not, an accelerator pedal signal, a vehicle speed signal, a signal indicating whether a crawling function is on or not, and a single-pedal mode switch signal; when the brake pedal is stepped on, the signal received by the vehicle control unit is at a high level, and when the brake pedal is not stepped on, the signal received by the vehicle control unit is at a low level.

When the vehicle control unit receives a low level signal that the brake pedal is not stepped on, the gear information is a forward gear, the crawling function is off, and the single-pedal mode switch signal is in an on state, the current driving mode of the vehicle is determined to be a single-pedal mode, wherein the single-pedal mode is that the vehicle is controlled to accelerate or brake only by adjusting the opening degree of an accelerator pedal.

After the driving mode is determined to be the single-pedal mode, the vehicle controller determines whether the current required torque of the vehicle is a positive required torque or a negative required torque according to the opening degree of an accelerator pedal, wherein when the opening degree of the accelerator pedal is greater than or equal to zero and less than or equal to a preset opening degree of the accelerator pedal, the current required torque is determined to be the negative required torque, and otherwise, the current required torque is determined to be the positive required torque.

After the required torque is determined to be the positive required torque or the negative required torque, the vehicle control unit further determines a required torque value according to the current vehicle speed, and finally sends the current required torque and a signal representing the driving mode of the vehicle to the motor controller through the CAN bus.

Step S102: and if the driving mode is the single pedal mode and the current required torque is negative torque, acquiring the rotating speed of the first motor at intervals of a first preset time length when responding to the current required torque.

Step S103: and controlling the automobile to park according to the first motor rotating speed.

According to the embodiment of the invention, when the automobile is in a single-pedal mode and braking is required currently, the motor controller responds to the received current required torque and outputs a torque control instruction to the motor, so that the motor is gradually decelerated, and the automobile is decelerated; meanwhile, the motor controller collects the current rotating speed of the motor in real time, so that the automobile is parked by controlling the current rotating speed of the motor to reach zero. According to the theoretical knowledge of the automobile, when the current rotating speed of the motor reaches zero, the speed of the automobile is also zero, so that the phenomenon that the automobile slips backwards is avoided, and the safety of the automobile and the driving convenience of a driver are improved.

Specifically, step S103 is to control the parking of the vehicle according to the first motor speed, and specifically includes:

firstly, adjusting the working mode of a motor controller according to the rotating speed of the first motor; wherein the operating modes include: a torque mode and a speed mode.

Here, it should be noted that the default operation mode of the motor controller is a torque mode, that is: and the motor controller responds to the required torque sent by the vehicle control unit, so that the output torque of the motor is adjusted, and the acceleration or deceleration of the vehicle is realized. In this step, after the motor controller receives the negative demand torque sent by the vehicle controller, the vehicle controller firstly works in a torque mode, responds to the negative demand torque, decelerates the vehicle, and collects the rotating speed of the first motor in real time, so that the working mode of the vehicle controller is adjusted according to the rotating speed of the first motor, the parking is finally realized by controlling the rotating speed of the motor, and the phenomenon of vehicle sliding after parking is avoided.

More specifically, the method comprises the following steps: and when the working mode of the motor controller is a torque mode and the currently acquired first motor rotating speed is less than a preset calibration rotating speed, adjusting the working mode of the motor controller to be a speed mode. In this step, when it is detected that the first motor rotation speed is less than the preset calibration rotation speed, the motor controller may determine that the current demand of the user is parking, and in order to avoid backward slip of the parked vehicle, the operating mode of the motor controller may be adjusted to a speed mode. Specifically, the speed mode is that the automobile is controlled to park when the rotating speed of the motor reaches zero by adjusting the rotating speed of the motor, and when the motor controller is in the speed mode, the motor controller does not respond to a torque demand sent by a whole vehicle controller any more, and only adopts a closed-loop control method to adjust the torque output to the motor according to the rotating speed of the motor; compared with the control of the automobile parking in the torque mode, the control of the automobile parking in the speed mode has the advantages that the phenomenon that the automobile slips backwards is avoided, and the driving safety is improved.

Secondly, when the working mode is a speed mode, acquiring the rotating speed of a second motor at intervals of a second preset time length; and determining a second output torque of the motor controller according to the first output torque when the motor controller is switched from the torque mode to the speed mode and the currently acquired rotating speed of the second motor.

In the step, the second output torque of the motor controller is determined through the first output torque and the currently acquired second motor rotating speed, so that the rotating speed of the motor is gradually reduced, and the phenomenon of sudden braking is avoided, so that the riding comfort of a driver and passengers is reduced.

And then, outputting the current output torque to a motor, and adjusting the rotating speed of the motor to park the automobile.

In the step, the automobile is parked by adjusting the rotating speed of the motor, so that the automobile is kept still, the automobile can be prevented from slipping backwards even if the automobile is out of a slope at the moment, and the driving safety and reliability are improved.

More specifically, the step of determining the second output torque of the motor controller according to the first output torque when the motor controller is switched from the torque mode to the speed mode and the currently acquired second motor rotation speed comprises:

and calculating the current adjusting torque of the automobile by adopting a proportional integral derivative algorithm according to the currently acquired rotating speed of the second motor and a prestored target rotating speed of the speed mode.

Here, the target rotation speed of the speed pattern stored in advance is the rotation speed of the motor that stops the vehicle, and specifically, the target rotation speed is zero.

In the step, the current adjusting torque of the automobile is calculated by adopting a proportional-integral-derivative algorithm, so that the required torque output to the motor by the motor controller is gradually adjusted on the basis of meeting the riding comfort and safety of drivers and passengers, and the rotating speed of the motor is gradually reduced.

And determining a second output torque of the motor controller according to the first output torque and the current adjusting torque, wherein the second output torque is the sum of the first output torque and the current adjusting torque.

The second output torque in this step is the output torque calculated through closed-loop control on the basis of the first output torque, so that the torque output to the motor by the vehicle control unit is gradually reduced on the basis of the first output torque, the rotating speed of the motor is gradually reduced until the rotating speed is zero, the parking of the vehicle is finally realized, and the vehicle is prevented from slipping backwards.

Further, in step S103, the parking of the vehicle is controlled according to the first motor speed, and then the method further includes: and when the working mode is a speed mode, if the current required torque sent by the vehicle controller is received to be larger than the second output torque currently output by the motor controller, the driving mode sent by the vehicle controller is received to be a non-single-pedal mode, or the current zero-torque fault of the motor system is detected, the working mode of the motor controller is controlled to be adjusted from the speed mode to a torque mode.

When the motor controller is in a speed mode, the motor controller calculates the adjusting torque of the motor controller on the basis of the first output torque by using a proportional integral derivative algorithm according to the collected second motor rotating speed, finally determines the current second output torque, and finally adjusts the rotating speed of the motor according to the second output torque to realize parking. Thus, in speed mode, the motor controller is no longer responsive to the requested torque sent by the vehicle control unit. However, if the required torque sent by the vehicle controller is greater than the second output torque currently output by the motor controller, the motor controller determines that the driver currently has an acceleration requirement, and therefore exits the speed mode and enters the torque mode, so as to respond to the current required torque sent by the vehicle controller.

In addition, when the motor controller is in the speed mode, if the motor controller receives a signal of a non-pedal mode, it is determined that the current driver participates in vehicle control, and the motor controller also exits the speed mode and responds to the required torque sent by the vehicle controller.

When the motor controller is in a speed mode, the motor controller can also monitor the working state of a motor system in real time, wherein when the motor system is monitored to have serious faults which cause incapability of outputting torque, such as overhigh temperature, overcurrent or motor faults and the like, the motor controller also exits the speed mode, enters a torque mode and responds to the required torque sent by the whole vehicle controller. Wherein, the demand torque that vehicle control unit sent should be zero this moment, promptly: and stopping the motor system (comprising a motor controller, a motor and the like).

According to the parking control method provided by the embodiment of the invention, in the process of responding to the negative torque requirement sent by the vehicle controller, the motor controller adjusts the working mode according to the collected first motor rotating speed, so that the motor is adjusted to the speed mode after being decelerated to a certain rotating speed, the required torque sent by the vehicle controller is not responded, and the speed closed-loop control is realized by utilizing a proportional integral derivative algorithm according to the rotating speed of the motor, so that the rotating speed of the motor is reduced to zero, the parking is realized, the backward slip of the parked vehicle is prevented, and the driving safety and the operation convenience of a driver are improved. In addition, the embodiment of the invention can be realized only by software, thereby avoiding increasing the hardware cost.

As shown in fig. 2, an embodiment of the present invention further provides a parking control apparatus applied to a motor controller, the parking control apparatus including:

a first obtaining module 201, configured to obtain a current required torque sent by a vehicle controller and a driving mode of an automobile;

a second obtaining module 202, configured to obtain a first motor rotation speed at a first preset time interval when responding to the current required torque if the driving mode is the single-pedal mode and the current required torque is a negative torque;

and the first control module 203 is used for controlling the automobile to park according to the rotating speed of the first motor.

In the parking brake device according to the embodiment of the present invention, the first control module 203 includes:

the first adjusting submodule is used for adjusting the working mode of the motor controller according to the rotating speed of the first motor; wherein the operating modes include: a torque mode and a speed mode;

the obtaining submodule is used for obtaining the rotating speed of a second motor at intervals of a second preset time when the working mode is the speed mode;

the determining submodule is used for determining a second output torque of the motor controller according to a first output torque when the motor controller is switched from a torque mode to a speed mode and the currently acquired rotating speed of the second motor;

and the second adjusting submodule is used for adjusting the rotating speed of the motor by outputting the current output torque to the motor so as to park the automobile.

In the parking control apparatus according to the embodiment of the present invention, the first adjustment submodule includes:

and the adjusting unit is used for adjusting the working mode of the motor controller to be a speed mode when the working mode of the motor controller is a torque mode and the currently acquired first motor rotating speed is less than a preset calibration rotating speed.

In the parking control apparatus according to the embodiment of the present invention, the determination submodule includes:

the calculating unit is used for calculating the current adjusting torque of the automobile by adopting a proportional integral derivative algorithm according to the currently acquired rotating speed of the second motor and a prestored target rotating speed of the speed mode;

and the determining unit is used for determining a second output torque of the motor controller according to the first output torque and the current adjusting torque, wherein the second output torque is the sum of the first output torque and the current adjusting torque.

The parking control apparatus according to the embodiment of the present invention further includes:

and the second control module is used for controlling the working mode of the motor controller to be adjusted from the speed mode to the torque mode if the current required torque sent by the vehicle controller is received to be larger than the second output torque currently output by the motor controller, and the driving mode sent by the vehicle controller is received to be the non-single-pedal mode or the current zero-torque fault of the motor system is detected.

According to the parking brake device provided by the embodiment of the invention, when the automobile is in the single-pedal mode and the current required torque is negative torque, the automobile is parked by adjusting the motor rotating speed of the automobile when the motor rotating speed is controlled to be zero, the phenomenon that the automobile is easy to slip backwards when a motor controller of the automobile is in the torque mode is avoided, and the driving safety and the driving convenience of a driver are improved.

The embodiment of the invention also provides an electric automobile which comprises the parking control device.

An embodiment of the present invention further provides an electric vehicle, including: the parking control method comprises a processor, a memory and a computer program which is stored on the memory and can be run on the processor, wherein when the computer program is executed by the processor, each process of the parking control method embodiment can be realized, the same technical effect can be achieved, and in order to avoid repetition, the details are not repeated.

Embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of the parking control method as described above.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.