阅读说明：本技术 一种能量回收工况的控制方法、装置及电动汽车 (Control method and device for energy recovery working condition and electric automobile ) 是由 刘彪 代康伟 梁海强 易迪华 刘成祺 于 2019-08-28 设计创作，主要内容包括：本发明提供一种能量回收工况的控制方法、装置及电动汽车,涉及汽车安全技术领域,所述方法包括：在获取到制动防抱死系统被触发的信号时,采集电动汽车的制动踏板开度；根据相邻两次获取到所述制动防抱死系统被触发的信号的时间间隔,以及所述制动踏板开度,确定当前是否需要控制所述电动汽车退出能量回收工况；在确定当前需要控制所述电动汽车退出能量回收工况后,控制所述电动汽车在下电前持续退出能量回收工况本发明的方案降低了电动汽车轮胎的损耗,避免了制动防抱死系统的频繁触发,提高了车辆行驶的安全性。(The invention provides a control method and a control device for energy recovery working conditions and an electric automobile, and relates to the technical field of automobile safety, wherein the method comprises the following steps: acquiring the opening degree of a brake pedal of the electric automobile when a signal that an anti-lock brake system is triggered is acquired; determining whether the electric automobile needs to be controlled to exit from an energy recovery working condition at present according to the time interval of acquiring the triggered signal of the anti-lock brake system twice and the opening degree of the brake pedal; after the fact that the electric automobile needs to be controlled to exit the energy recovery working condition at present is determined, the electric automobile is controlled to continuously exit the energy recovery working condition before power-off, loss of the electric automobile tire is reduced, frequent triggering of an anti-lock braking system is avoided, and safety of vehicle running is improved.)

1. A method for controlling energy recovery conditions, comprising:

acquiring the opening degree of a brake pedal of the electric automobile when a signal that an anti-lock brake system is triggered is acquired;

determining whether the electric automobile needs to be controlled to exit from an energy recovery working condition at present according to the time interval of acquiring the triggered signal of the anti-lock brake system twice and the opening degree of the brake pedal;

and after determining that the electric automobile needs to be controlled to exit the energy recovery working condition at present, controlling the electric automobile to continuously exit the energy recovery working condition before powering off.

2. The method for controlling the energy recovery condition according to claim 1, wherein the step of determining whether the electric vehicle needs to be controlled to exit the energy recovery condition currently according to the time interval between two adjacent times of acquiring the signal that the anti-lock braking system is triggered and the opening degree of the brake pedal comprises the following steps:

and if the time interval is less than the preset time length and the collected brake pedal opening degree is less than a first preset opening degree, determining that the electric automobile needs to exit the energy recovery working condition at present.

3. The method for controlling the energy recovery operation according to claim 1, wherein the step of controlling the electric vehicle to continuously exit the energy recovery operation before powering down comprises:

acquiring the opening degree of a brake pedal and the opening degree of an accelerator pedal in real time;

and controlling the electric automobile to continuously exit from an energy recovery working condition before powering off according to the currently acquired opening degree of the brake pedal and/or the opening degree of the accelerator pedal.

4. The method for controlling the energy recovery condition according to claim 3, wherein the step of controlling the electric vehicle to continuously exit the energy recovery condition before powering down according to the currently acquired brake pedal opening and/or accelerator pedal opening comprises the following steps:

when the brake pedal opening degree collected at present is equal to the second preset opening degree and the accelerator pedal opening degree is equal to the third preset opening degree, or when the brake pedal opening degree collected at present is greater than the second preset opening degree, a preset target torque request is sent to a motor controller, and the electric automobile is made to continuously exit from the energy recovery working condition before powering off.

5. A control apparatus for energy recovery conditions, comprising:

the acquisition module is used for acquiring the opening degree of a brake pedal of the electric automobile when acquiring a signal that the anti-lock braking system is triggered;

the determining module is used for determining whether the electric automobile needs to be controlled to exit from an energy recovery working condition or not according to the time interval of acquiring the triggered signal of the anti-lock braking system twice and the opening degree of the brake pedal;

and the control module is used for controlling the electric automobile to continuously exit the energy recovery working condition before powering off after determining that the electric automobile needs to be controlled to exit the energy recovery working condition currently.

6. The control device of energy recovery conditions according to claim 5, wherein the determining module is specifically configured to:

and if the time interval is less than the preset time length and the collected brake pedal opening degree is less than a first preset opening degree, determining that the electric automobile needs to exit the energy recovery working condition at present.

7. The control apparatus for energy recovery conditions of claim 5, wherein the control module comprises:

the acquisition submodule is used for acquiring the opening degree of the brake pedal and the opening degree of the accelerator pedal in real time;

and the control submodule is used for controlling the electric automobile to continuously exit from an energy recovery working condition before powering off according to the currently acquired brake pedal opening and/or accelerator pedal opening.

8. The control device for energy recovery conditions of claim 7, wherein the control submodule is specifically configured to:

when the brake pedal opening degree collected at present is equal to the second preset opening degree and the accelerator pedal opening degree is equal to the third preset opening degree, or when the brake pedal opening degree collected at present is greater than the second preset opening degree, a preset target torque request is sent to a motor controller, and the electric automobile is made to continuously exit from the energy recovery working condition before powering off.

9. An electric vehicle, characterized by comprising control means of the energy recovery regime according to any one of claims 5 to 8.

10. An electric vehicle, comprising: processor, memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling energy recovery conditions according to any one of claims 1 to 4.

11. 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 method for controlling energy recovery conditions according to any one of claims 1 to 4.

Technical Field

The invention belongs to the technical field of automobile safety, and particularly relates to a control method and device for energy recovery working conditions and an electric automobile.

Background

Generally, electric vehicles have an energy recovery function, that is, when a brake pedal is pressed or the vehicle slides without pressing the brake pedal, a motor and an inverter convert kinetic energy of the vehicle into electric energy to charge a power battery or supply power to electric equipment. At this time, the motor generates a braking force to decelerate the vehicle. If the automobile runs on a low-adhesion road surface, the braking force generated by energy recovery is superposed on the hydraulic braking force of the wheels, the wheels are easy to be locked and slip, the loss of tires is increased, and great potential safety hazards are brought to the running of the automobile. Vehicles today are basically equipped with anti-lock braking systems, which if activated frequently also result in very poor vehicle driveability.

Disclosure of Invention

The embodiment of the invention aims to provide a control method and device for an energy recovery working condition and an electric automobile, so that frequent locking of the automobile is avoided, and the safety of the automobile running on a low-attachment road surface is improved.

In order to achieve the above object, the present invention provides a method for controlling an energy recovery condition, comprising:

acquiring the opening degree of a brake pedal of the electric automobile when a signal that an anti-lock brake system is triggered is acquired;

determining whether the electric automobile needs to be controlled to exit from an energy recovery working condition at present according to the time interval of acquiring the triggered signal of the anti-lock brake system twice and the opening degree of the brake pedal;

and after determining that the electric automobile needs to be controlled to exit the energy recovery working condition at present, controlling the electric automobile to continuously exit the energy recovery working condition before powering off.

The step of determining whether the electric automobile needs to be controlled to exit the energy recovery working condition currently or not according to the time interval of acquiring the signal that the anti-lock braking system is triggered twice and the opening degree of the brake pedal comprises the following steps of:

and if the time interval is less than the preset time length and the collected brake pedal opening degree is less than a first preset opening degree, determining that the electric automobile needs to exit the energy recovery working condition at present.

Wherein, the step of controlling electric automobile to continuously withdraw from the energy recovery working condition before the power down comprises:

acquiring the opening degree of a brake pedal and the opening degree of an accelerator pedal in real time;

and controlling the electric automobile to continuously exit from an energy recovery working condition before powering off according to the currently acquired opening degree of the brake pedal and/or the opening degree of the accelerator pedal.

The step of controlling the electric automobile to continuously exit the energy recovery working condition before powering off according to the currently acquired brake pedal opening and/or accelerator pedal opening comprises the following steps of:

when the brake pedal opening degree collected at present is equal to the second preset opening degree and the accelerator pedal opening degree is equal to the third preset opening degree, or when the brake pedal opening degree collected at present is greater than the second preset opening degree, a preset target torque request is sent to a motor controller, and the electric automobile is made to continuously exit from the energy recovery working condition before powering off.

The embodiment of the invention also provides a control device for the energy recovery working condition, which comprises:

the acquisition module is used for acquiring the opening degree of a brake pedal of the electric automobile when acquiring a signal that the anti-lock braking system is triggered;

the determining module is used for determining whether the electric automobile needs to be controlled to exit from an energy recovery working condition or not according to the time interval of acquiring the triggered signal of the anti-lock braking system twice and the opening degree of the brake pedal;

and the control module is used for controlling the electric automobile to continuously exit the energy recovery working condition before powering off after determining that the electric automobile needs to be controlled to exit the energy recovery working condition currently.

Wherein the determining module is specifically configured to:

and if the time interval is less than the preset time length and the collected brake pedal opening degree is less than a first preset opening degree, determining that the electric automobile needs to exit the energy recovery working condition at present.

Wherein the control module comprises:

the acquisition submodule is used for acquiring the opening degree of the brake pedal and the opening degree of the accelerator pedal in real time;

and the control submodule is used for controlling the electric automobile to continuously exit from an energy recovery working condition before powering off according to the currently acquired brake pedal opening and/or accelerator pedal opening.

Wherein the control sub-module is specifically configured to:

when the brake pedal opening degree collected at present is equal to the second preset opening degree and the accelerator pedal opening degree is equal to the third preset opening degree, or when the brake pedal opening degree collected at present is greater than the second preset opening degree, a preset target torque request is sent to a motor controller, and the electric automobile is made to continuously exit from the energy recovery working condition before powering off.

The embodiment of the invention also provides an electric automobile which comprises the control device for the energy recovery working condition.

An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling energy recovery conditions as described above.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for controlling the energy recovery condition are implemented as described above.

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

the control method of the energy recovery working condition of the embodiment of the invention collects the opening degree of the brake pedal of the electric automobile when acquiring the signal that the anti-lock braking system is triggered, and according to the time interval of two adjacent times of obtaining the triggered signal of the anti-lock braking system, and the opening degree of the brake pedal, whether the electric automobile needs to be controlled to exit the energy recovery working condition at present is determined, after the currently selected working condition for controlling the electric automobile to exit the energy recovery is determined, controlling the electric automobile to continuously exit the energy recovery working condition before power down, therefore, when the electric automobile runs on a low-attachment road surface for a long time, such as an ice and snow road surface in winter, the vehicle is prevented from falling into a cycle of 'wheel locking-braking anti-lock system triggering adjustment-normal running-wheel locking', the loss of tires is reduced, and the running safety of the electric automobile on the low-attachment road surface is improved.

Drawings

FIG. 1 is a schematic diagram of the connection of components of a prior art electric vehicle;

FIG. 2 is a schematic diagram of the basic steps of a method of controlling energy recovery conditions according to an embodiment of the present invention;

fig. 3 is a schematic diagram of the basic components of the control device for energy recovery conditions according to the embodiment of the present invention.

Description of reference numerals:

the method comprises the following steps of 1-a vehicle control unit, 2-a motor controller, 3-a brake anti-lock system, 4-a brake pedal position sensor, 5-an accelerator pedal position sensor, 6-a CAN bus and 7-a hard line.

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 control method and a device for an energy recovery working condition and an electric automobile, aiming at the problems that when the electric automobile runs on a low-attachment road surface for a long time in the prior art, the electric automobile can fall into a cycle of 'wheel locking-braking anti-lock system triggering adjustment-normal running-wheel locking', the loss of tires is increased, and the driving safety is reduced, so that the electric automobile can completely quit the energy recovery working condition when running on the low-attachment road surface, the loss of the tires is reduced, and the running safety of the electric automobile on the low-attachment road surface is improved.

Firstly, it should be noted that the control method of the energy recovery working condition according to the embodiment of the present invention is applied to the architecture shown in fig. 1, specifically, the vehicle controller 1 is respectively connected with the motor controller 2 and the anti-lock braking system 3 through the CAN bus 6, and performs CAN communication; the vehicle control unit 1 is further connected with a brake pedal position sensor 4 and an accelerator pedal position sensor 5 through hard wires 7, and is configured to receive the brake pedal opening degree acquired by the brake pedal position sensor 4 and the accelerator pedal opening degree acquired by the accelerator pedal position sensor 5.

As shown in fig. 2, an embodiment of the present invention provides a method for controlling an energy recovery condition, including:

step S201, acquiring the opening degree of a brake pedal of the electric automobile when a signal that an anti-lock brake system is triggered is acquired;

it should be noted that, in this step, the signal that the anti-lock braking system is triggered may be a trigger flag, that is: when the anti-lock braking system is started, the flag bit is triggered. The specific implementation in this section is as follows: the anti-lock braking system 3 CAN rapidly judge the locking state of the wheels according to the received speed signals transmitted by each wheel speed sensor, when the wheels are locked, the anti-lock braking system 3 is started to trigger the trigger zone bits of the anti-lock braking system, and the trigger zone bits are transmitted to the vehicle control unit 1 through the CAN bus 6. And when the vehicle control unit 1 receives the trigger flag bit, the opening degree of the brake pedal acquired by the brake pedal position sensor 4 is acquired through the hard wire 7.

Step S202, determining whether the electric automobile needs to be controlled to exit from an energy recovery working condition at present according to the time interval of acquiring the triggered signal of the anti-lock brake system twice and the opening degree of the brake pedal;

in the step, whether the energy recovery working condition needs to be quitted or not is determined according to the time interval and the opening degree of the brake pedal, so that frequent locking of the vehicle when the vehicle runs on a low-attachment road surface is avoided, the running safety is improved, and the loss of tires is reduced.

And S203, after determining that the electric automobile needs to be controlled to exit the energy recovery working condition currently, controlling the electric automobile to continuously exit the energy recovery working condition before powering off.

In this step, when it is determined that the electric vehicle needs to be controlled to exit the energy recovery working condition at present, it is indicated that the electric vehicle is currently running on the low-attachment road surface, in order to avoid that the electric vehicle falls into a cycle of "wheel locking-braking anti-lock system triggering adjustment-normal running-wheel locking", so as to improve the safety of the electric vehicle running on the low-attachment road surface, and when a driver steps on a brake pedal, the electric vehicle is prohibited from entering the energy recovery working condition again.

According to the control method of the energy recovery working condition, whether the electric automobile runs on the low-attachment road surface or not is determined according to the time interval of two adjacent triggers of the anti-lock braking system and the opening degree of the brake pedal when the anti-lock braking system triggers, if the electric automobile runs on the low-attachment road surface, the electric automobile is controlled to continuously exit the energy recovery working condition, the vehicle is prevented from being locked frequently, the safety of the running of the vehicle on the low-attachment road surface is improved, and the loss of tires is reduced.

Specifically, step S202, determining whether the electric vehicle needs to be controlled to exit from the energy recovery operating condition according to the time interval between two adjacent times of obtaining the signal that the anti-lock braking system is triggered and the opening degree of the brake pedal, includes:

and if the time interval is less than the preset time length and the collected brake pedal opening degree is less than a first preset opening degree, determining that the electric automobile needs to exit the energy recovery working condition at present.

In this step, the preset time is preferably 2min, and the first preset opening is preferably 30%, wherein the preset time and the first preset opening are values calibrated according to experimental data. When the time interval is smaller than the preset time length, the vehicle control unit 1 determines that the anti-lock braking system 3 is continuously triggered in a short time; when the anti-lock braking system 3 is triggered, the opening degree of the brake pedal is smaller than the first preset opening degree, the vehicle controller 1 determines that the driver does not deeply step on the brake pedal, and the vehicle controller 1 considers that the vehicle is running on the low-attachment road surface at the moment, and the anti-lock braking system cannot be triggered unless the driver deeply steps on the brake pedal on the high-attachment road surface. In order to improve the safety of the vehicle running on the low-attachment road surface, the vehicle control unit 1 determines that the electric vehicle needs to exit the energy recovery working condition currently.

Specifically, step S203, after determining that the electric vehicle needs to be controlled to exit the energy recovery operating condition at present, controlling the electric vehicle to continuously exit the energy recovery operating condition before powering off, includes:

firstly, acquiring the opening degree of a brake pedal and the opening degree of an accelerator pedal in real time; and secondly, controlling the electric automobile to continuously exit from an energy recovery working condition before powering off according to the currently acquired opening degree of the brake pedal and/or the opening degree of the accelerator pedal.

As is well known, energy recovery is that when a driver steps on a brake pedal or slides without stepping on the brake pedal, a motor and an inverter convert kinetic energy of a vehicle into electric energy to charge a power battery or supply power to electric equipment. Therefore, after it is determined that the electric vehicle needs to exit the energy recovery operating mode at present, in order to improve the driving safety of the electric vehicle on a low-attachment road surface, when the opening degree of a brake pedal and the opening degree of an accelerator pedal meet the condition of energy recovery, the electric vehicle needs to be prohibited from entering the energy recovery operating mode, that is: and controlling the electric automobile to continuously exit from the energy recovery working condition before powering off.

More specifically, the step of controlling the electric vehicle to continuously exit from the energy recovery working condition before powering off according to the currently acquired opening degree of the brake pedal and/or the opening degree of the accelerator pedal comprises:

when the brake pedal opening degree collected at present is equal to the second preset opening degree and the accelerator pedal opening degree is equal to the third preset opening degree, or when the brake pedal opening degree collected at present is greater than the second preset opening degree, a preset target torque request is sent to a motor controller, and the electric automobile is made to continuously exit from the energy recovery working condition before powering off.

In this step, preferably, the second preset opening degree is zero, the third preset opening degree is zero, and the target torque request is 0Nm, that is, when the driver coasts without stepping on the brake pedal and the accelerator pedal, or when the driver steps on the brake pedal, the vehicle control unit 1 sends 0Nm to the motor controller 2, so that the motor controller 2 adjusts the magnitude of the driving motor current according to the target torque request, and the actual torque of the driving motor responds to the target torque request, thereby avoiding the electric vehicle from entering the energy recovery working condition.

According to the control method of the energy recovery working condition, whether the electric automobile needs to be controlled to exit the energy recovery working condition at present is determined according to the time interval of two adjacent times of triggering of the anti-lock braking system and the opening degree of the brake pedal when the anti-lock braking system is triggered, and when the electric automobile needs to exit is determined, the electric automobile is controlled to continuously exit the energy recovery working condition before power-on according to the opening degree of the brake pedal and the opening degree of the accelerator pedal, so that the phenomenon that the automobile falls into a cycle of 'wheel locking-triggering of the anti-lock braking system, normal driving and wheel locking' when the automobile runs on a low-attachment road surface for a long time, such as an ice and snow road surface in winter, is avoided, tire loss is reduced, and safety of the.

As shown in fig. 3, an embodiment of the present invention further provides a control device for energy recovery conditions, including:

the acquisition module 301 is used for acquiring the opening degree of a brake pedal of the electric automobile when acquiring a signal that the anti-lock brake system is triggered;

the determining module 302 is configured to determine whether the electric vehicle needs to be controlled to exit from an energy recovery working condition currently according to a time interval between two adjacent times of obtaining the signal that the anti-lock braking system is triggered and the opening degree of the brake pedal;

and the control module 303 is configured to control the electric vehicle to continuously exit the energy recovery working condition before powering off after determining that the electric vehicle needs to be controlled to exit the energy recovery working condition currently.

In the apparatus for controlling an energy recovery condition according to an embodiment of the present invention, the determining module 302 is configured to:

and if the time interval is less than the preset time length and the collected brake pedal opening degree is less than a first preset opening degree, determining that the electric automobile needs to exit the energy recovery working condition at present.

In the apparatus for controlling an energy recovery condition according to an embodiment of the present invention, the control module 303 includes:

the acquisition submodule is used for acquiring the opening degree of the brake pedal and the opening degree of the accelerator pedal in real time;

and the control submodule is used for controlling the electric automobile to continuously exit from an energy recovery working condition before powering off according to the currently acquired brake pedal opening and/or accelerator pedal opening.

In the control device for energy recovery conditions according to the embodiment of the present invention, the control submodule is configured to:

when the brake pedal opening degree collected at present is equal to the second preset opening degree and the accelerator pedal opening degree is equal to the third preset opening degree, or when the brake pedal opening degree collected at present is greater than the second preset opening degree, a preset target torque request is sent to a motor controller, and the electric automobile is made to continuously exit from the energy recovery working condition before powering off.

According to the control device for the energy recovery working condition, the acquisition module 301 acquires the opening degree of the brake pedal of the electric automobile when acquiring the signal that the anti-lock braking system is triggered; the determining module 302 is configured to determine whether the electric vehicle needs to be controlled to exit from the energy recovery working condition currently according to the time interval between two adjacent times of obtaining the signal that the anti-lock braking system is triggered and the opening degree of the brake pedal, and after the determining module 302 determines that the electric vehicle needs to be controlled to exit from the energy recovery working condition currently, the control module 303 controls the electric vehicle to continuously exit from the energy recovery working condition before powering off. Therefore, when the electric automobile runs on a low-attachment road surface for a long time, the electric automobile is prevented from entering a cycle of 'wheel locking-brake anti-lock system triggering adjustment-normal running-wheel locking', and completely quitting an energy recovery working condition, so that the loss of tires is reduced, the frequent locking of the automobile is avoided, and the running safety of the automobile on the low-attachment road surface is improved.

The embodiment of the invention also provides an electric automobile which comprises the control device for the energy recovery working condition.

An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling energy recovery conditions as described above.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for controlling the energy recovery condition are implemented as described above.

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.