阅读说明：本技术 纯电动汽车防溜坡控制方法及控制系统 (Slope-sliding-prevention control method and control system for pure electric vehicle ) 是由 周正伟 于 2020-05-11 设计创作，主要内容包括：本发明公开了一种纯电动汽车防溜坡控制方法及控制系统,其中,纯电动汽车防溜坡控制方法包括以下步骤：S1：获取车辆的运行参数,判断所述车辆所处的特殊工况,其中,所述特殊工况包括车辆起步、踏板输入不足和动力丢失；S2：根据所述特殊工况获取相应的运行参数,并执行相应的控制方法,从而可以针对车辆起步阶段、驾驶员松开加速踏板、踏板故障造成踏板输入不足,以及整车故障导致动力丢失时可以采取不同的控制方法,防止车辆后溜引起的安全隐患。(The invention discloses a slope slipping prevention control method and a control system for a pure electric vehicle, wherein the slope slipping prevention control method for the pure electric vehicle comprises the following steps: s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss; s2: and acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method, so that different control methods can be adopted when power is lost due to vehicle starting stage, accelerator pedal release by a driver, pedal failure and vehicle failure, and potential safety hazards caused by vehicle backward slip are prevented.)

1. A pure electric vehicle anti-slope-slipping control method is characterized by comprising the following steps:

s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss;

s2: acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method;

wherein

If in step S1, when the special condition is that the vehicle starts, the obtained operation parameters are: a gear signal, a brake pedal opening degree signal, an accelerator pedal opening degree signal of the vehicle, and the control method in the step S2 is:

if the accelerator opening signal is smaller than the minimum threshold value of the accelerator opening signal within a preset time period, controlling the automatic parking mode of the vehicle to be maintained, and exiting the automatic parking mode when the accelerator opening signal is larger than the minimum threshold value of the accelerator opening signal;

if in step S1, when the special condition is that the pedal input is insufficient, the obtained operation parameters are: an accelerator pedal opening degree signal, a brake pedal opening degree signal, a vehicle speed, a motor output torque, a motor rotation direction, the gear signal, a gradient signal of the vehicle, and the control method in the step S2 is:

when the accelerator pedal opening signal is smaller than a minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than a vehicle speed minimum threshold, the vehicle enters a creep mode: wherein

If the gradient signal is smaller than the minimum threshold value of the gradient signal, controlling the rotation direction of the motor to be consistent with the gear signal;

if the gradient signal is larger than the maximum threshold value of the gradient signal, controlling the rotation direction of the motor to be opposite to the gear signal, outputting the torque by the motor, and adjusting the output torque of the motor through a torque controller;

if in step S1, when it is obtained that the special operating condition is the power loss, the obtained operating parameters are: a gear signal of the vehicle, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state, and a vehicle fault state, and the control method in step S2 is:

starting an i-boost system or a vacuum pump of the vehicle to work to generate master cylinder pressure; or

And starting an electronic parking brake system of the vehicle, and switching the gear signal to a P gear.

2. The pure electric vehicle anti-slope-slipping control method according to claim 1, wherein when the obtained gear signal of the vehicle is changed from a parking gear to a driving gear or a reverse gear, it is determined that the special working condition is vehicle starting.

3. The pure electric vehicle anti-slope-slipping control method according to claim 2, wherein when it is acquired that an accelerator pedal opening signal of the vehicle is zero, or an accelerator pedal response torque corresponding to the accelerator pedal opening signal cannot balance a gravity component torque or an accelerator pedal fault, it is determined that the pedal input is insufficient under the special working condition.

4. The pure electric vehicle anti-slope-slipping control method according to claim 3, wherein when the fact that the pedal input is insufficient under the special working condition of the vehicle is obtained, if the time for adjusting the output torque of the motor through the torque controller exceeds a calibrated time period, an electronic parking brake system of the vehicle is started, and the gear signal is switched to a P gear; wherein

The calibration time is not more than 120 seconds.

5. The pure electric vehicle anti-slope-slipping control method according to claim 1, wherein when the motor working state of the vehicle is obtained as a motor shutdown state or a complete vehicle fault state, it is determined that the special working condition is power loss.

6. The utility model provides a pure electric vehicles prevents swift current slope control system which characterized in that includes: the vehicle parameter acquisition module and the controller are in communication connection; wherein

The vehicle parameter acquisition module acquires the running parameters of the vehicle and sends the running parameters to the controller;

the controller receives the running parameters of the vehicle, judges the special working conditions of the vehicle, and executes a corresponding control method according to the special working conditions, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss.

7. The pure electric vehicle anti-slope-slipping control system of claim 6, wherein if the vehicle working condition is the vehicle starting, the operating parameter signals acquired by the vehicle parameter acquisition module are: a gear signal, a brake pedal opening signal and an accelerator pedal opening signal; the control method executed by the controller is as follows:

the controller controls the automatic parking mode of the vehicle to be maintained if the accelerator opening signal is less than a minimum threshold value of the accelerator opening signal within a preset time period, and controls the vehicle to exit the automatic parking mode when the accelerator opening signal is greater than the minimum threshold value of the accelerator opening signal.

8. The pure electric vehicle anti-creep control system according to claim 6, wherein if the vehicle operating condition is insufficient pedal input, the operating parameter signal obtained by the vehicle parameter obtaining module is: an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor rotation direction and a gear signal; the control method executed by the controller is as follows:

when the accelerator pedal opening signal is smaller than an accelerator pedal threshold value and the vehicle speed is smaller than a vehicle speed minimum threshold value, the vehicle enters a crawling mode: wherein

If the gradient signal is smaller than the minimum threshold value of the gradient signal, the controller controls the rotation direction of the motor to be consistent with the gear signal;

if the gradient signal is larger than the maximum gradient signal threshold value, the controller controls the motor to rotate in the direction opposite to the gear signal, the motor outputs torque, and the torque controller is controlled to be activated to adjust the output torque of the motor;

if the time for controlling and activating the torque controller by the controller exceeds the standard time length, the controller controls the electronic parking brake system to clamp and controls the gear signal to be switched to the P gear; the calibration time length is not more than 120 s.

9. The pure electric vehicle anti-creep control system according to claim 6, wherein if the vehicle operating condition is the loss of power, the operating parameter signal obtained by the vehicle parameter obtaining module is: the control system comprises a gear signal, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a vehicle fault state; the control method executed by the controller is as follows:

the controller activates the i-boost system/vacuum pump of the vehicle to generate master cylinder pressure, or

And starting an electronic parking brake system of the vehicle, and switching the gear signal into a P gear.

10. The pure electric vehicle anti-creep control system of claim 9, wherein the controller is an onboard controller of the vehicle, and the onboard controller controls gears, a motor, the i-boost system, the vacuum pump, and the electronic parking brake system of the vehicle through a CAN bus.

Technical Field

The invention relates to the technical field of automobile backward slip prevention control, in particular to a slope slip prevention control method and a slope slip prevention control system for a pure electric automobile.

Background

At present, with the rapid development of society and the rapid progress of science and technology, the whole society has greater and greater requirements on energy and higher attention on environment, new energy technology is pushed, and the trend is great, so that the development of the traditional automobile faces huge challenges, and meanwhile, new energy automobiles, particularly pure electric automobiles, are great opportunities for development. At present, electric vehicles, especially pure electric vehicles, are good for automobile manufacturers and consumers and become a hotspot for automobile development, so that higher requirements on the perfection degree, safety, reliability and the like of functions are provided.

Considering the cost of the whole pure electric vehicle, the vehicle is rarely provided with a gradient sensor, so that the gradient of the ramp cannot be accurately judged. When the vehicle starts on a slope, under the condition of no slope assistance, the vehicle can slide backwards to different degrees in the process from the step of leaving the brake pedal to the step of stepping on the accelerator pedal, and safety accidents (particularly novice drivers) are easily caused. In the process of vehicle climbing, if the driver loosens an accelerator pedal, the pedal fails to cause insufficient pedal input and the whole vehicle fails to cause power loss, the vehicle also needs to prevent backward sliding in consideration of safety, so that the safety of the driver and passengers is protected, and safety accidents are avoided. Meanwhile, in order to better interact with the ADAS and realize automatic driving, the vehicle needs to be prevented from rolling backwards.

Disclosure of Invention

The invention aims to solve the problems that in the process of climbing a vehicle in the prior art, pedal input is insufficient due to the fact that a driver looses an accelerator pedal and a pedal fault occurs, and the vehicle cannot be effectively prevented from slipping backwards when power is lost due to a whole vehicle fault. The invention provides a slope slipping prevention control method for a pure electric vehicle, which can adopt different control methods aiming at insufficient pedal input caused by pedal failure when a driver looses an accelerator pedal and power is lost due to vehicle failure, and prevent potential safety hazards caused by vehicle slipping backward.

In order to solve the technical problem, the embodiment of the invention discloses an electric automobile slope slipping prevention control method, which comprises the following steps: s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss;

s2: acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method;

if in step S1, when the special condition is vehicle start, the obtained operation parameters are: a gear signal of the vehicle, a brake pedal opening degree signal, an accelerator pedal opening degree signal, and the control method in step S2 is:

if the accelerator opening signal is smaller than the minimum threshold value of the accelerator opening signal within the preset time length, controlling the automatic parking mode of the vehicle to be maintained, and exiting the automatic parking mode when the accelerator opening signal is larger than the minimum threshold value of the accelerator opening signal;

if in step S1, it is obtained that the special condition is insufficient pedal input, the obtained operation parameters are: an accelerator pedal opening degree signal, a brake pedal opening degree signal, a vehicle speed, a motor output torque, a motor rotation direction, a gear position signal, a gradient signal of the vehicle, and the control method in step S2 is:

when the accelerator pedal opening signal is smaller than the minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than the minimum threshold of the vehicle speed, the vehicle enters a crawling mode: wherein

If the gradient signal is smaller than the minimum threshold value of the gradient signal, controlling the rotation direction of the motor to be consistent with the gear signal;

if the gradient signal is greater than the maximum threshold value of the gradient signal, controlling the rotation direction of the motor to be opposite to the gear signal, outputting the torque by the motor, and adjusting the output torque of the motor by a torque controller;

if in step S1, when the special condition is power loss, the obtained operation parameters are: a gear signal of the vehicle, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a vehicle fault state, and the control method in the step S2 is as follows:

starting an i-boost system and/or a vacuum pump of the vehicle to work to generate the master cylinder pressure; or

And starting an electronic parking brake system of the vehicle, and switching the gear signal to the P gear.

By adopting the technical scheme, the invention provides the anti-slope-slipping control method for the pure electric vehicle, which can adopt different control methods aiming at the problems that the pedal input is insufficient due to the fact that a driver looses an accelerator pedal and the pedal fails, and the power is lost due to the failure of the whole vehicle, so that the potential safety hazard caused by backward slipping of the vehicle is prevented.

According to another specific embodiment of the invention, when the acquired gear signal of the vehicle is changed from the parking gear to the driving gear or the reverse gear, the pure electric vehicle anti-slope-slipping control method disclosed by the other specific embodiment of the invention judges that the special working condition is vehicle starting.

According to another specific embodiment of the invention, in the anti-slope-slipping control method for the pure electric vehicle disclosed by the another specific embodiment of the invention, when the obtained accelerator pedal opening signal of the vehicle is zero or the corresponding torque of the accelerator pedal corresponding to the accelerator pedal opening signal cannot balance the gravity component torque or the accelerator pedal fault, it is determined that the pedal input is insufficient under the special working condition.

According to another specific embodiment of the invention, the pure electric vehicle anti-creep control method disclosed by another specific embodiment of the invention is characterized in that when the special working condition of the vehicle is insufficient pedal input, if the time for adjusting the output torque of the motor through the torque controller exceeds a calibration time period, an electronic parking brake system of the vehicle is started, and a gear signal is switched to a P gear; wherein the calibration time length is not more than 120 seconds.

According to another specific embodiment of the invention, in the pure electric vehicle anti-slope-slipping control method disclosed by another specific embodiment of the invention, when the obtained motor working state of the vehicle is a motor shutdown state or a complete vehicle fault state, it is determined that the special working condition is power loss.

The invention also provides a slope slipping prevention control system of the pure electric vehicle, which comprises the following components: the vehicle parameter acquisition module and the controller are in communication connection; wherein

The vehicle parameter acquisition module acquires the operating parameters of the vehicle and sends the operating parameters to the controller;

the controller receives the running parameters of the vehicle, judges the special working conditions of the vehicle and executes a corresponding control method according to the special working conditions, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss.

According to another specific embodiment of the present invention, in the pure electric vehicle anti-creep control system disclosed in another specific embodiment of the present invention, if the vehicle working condition is vehicle start, the operation parameter signal acquired by the vehicle parameter acquisition module is: a gear signal, a brake pedal opening signal and an accelerator pedal opening signal; the control method executed by the controller comprises the following steps:

the controller controls the automatic parking mode of the vehicle to be maintained if the brake pedal opening signal is less than a minimum threshold value of the brake pedal opening signal for a preset period of time, and controls the vehicle to exit the automatic parking mode when the accelerator pedal opening signal is greater than the minimum threshold value of the accelerator pedal opening signal.

According to another specific embodiment of the present invention, in the pure electric vehicle anti-creep control system disclosed in another specific embodiment of the present invention, if the vehicle operating condition is insufficient pedal input, the operating parameter signal acquired by the vehicle parameter acquiring module is: an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor rotation direction and a gear signal; the control method executed by the controller comprises the following steps:

when the accelerator pedal opening signal is smaller than the minimum threshold of the accelerator pedal opening signal and the vehicle speed is smaller than the minimum threshold of the vehicle speed, the vehicle enters a crawling mode: wherein

If the gradient signal is smaller than the minimum threshold value of the gradient signal, the controller controls the rotation direction of the motor to be consistent with the gear signal;

if the gradient signal is greater than the maximum threshold value of the gradient signal, the controller controls the rotation direction of the motor to be opposite to the gear signal, the motor outputs torque, and the torque controller is controlled to be activated to adjust the output torque of the motor;

if the time for controlling and activating the torque controller by the controller exceeds the standard time length, the controller controls the electronic parking brake system to clamp and controls the gear signal to be switched to the P gear; the calibration time is not more than 120 s.

According to another specific embodiment of the present invention, in the pure electric vehicle anti-creep control system disclosed in another specific embodiment of the present invention, if the vehicle operating condition is power loss, the operating parameter signal acquired by the vehicle parameter acquiring module is: the control system comprises a gear signal, an accelerator pedal opening signal, a brake pedal opening signal, a vehicle speed, a motor output torque, a motor working state, a battery working state and a vehicle fault state; the control method executed by the controller comprises the following steps:

the controller starts a telemechanical brake system and/or a vacuum brake servo system of the vehicle; or

The controller starts the i-boost system/vacuum pump of the vehicle to work, generates the master cylinder pressure,

or starting an electronic parking brake system of the vehicle and switching the gear signal to the P gear.

According to another embodiment of the invention, the controller is an on-board controller of the vehicle, and the on-board controller controls the gear, the motor, the i-boost system, the vacuum pump and the electronic parking brake system of the vehicle through the CAN bus.

By adopting the technical scheme, the invention provides the slope slipping prevention control system for the pure electric vehicle, which can adopt different control methods aiming at the problems that the pedal input is insufficient due to the fact that a driver looses an accelerator pedal and the pedal fails, and the power is lost due to the failure of the whole vehicle, so that the potential safety hazard caused by backward slipping of the vehicle is prevented.

The invention has the beneficial effects that:

the invention provides a slope slipping prevention control method for a pure electric vehicle, which comprises the following steps: s1: acquiring running parameters of a vehicle, and judging special working conditions of the vehicle, wherein the special working conditions comprise vehicle starting, insufficient pedal input and power loss; s2: and acquiring corresponding operating parameters according to the special working conditions, and executing a corresponding control method, so that different control methods can be adopted when power is lost due to vehicle starting stage, accelerator pedal release by a driver, pedal failure and vehicle failure, and potential safety hazards caused by vehicle backward slip are prevented.

Drawings

Fig. 1 is a schematic flow chart of a method for controlling a pure electric vehicle to slide away in an anti-slope manner according to embodiment 1 of the present invention;

fig. 2 is a schematic circuit structure diagram of a pure electric vehicle anti-creep control system provided in embodiment 2 of the present invention.

Description of reference numerals:

100. a vehicle parameter acquisition module; 200. a controller; 300. a torque controller; 400. an electronic parking brake system; 500. i-boost system; 600. a vacuum pump.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.

The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.