CN113799620B - Vehicle hill-holding control method and device, storage medium and motor controller - Google Patents
Vehicle hill-holding control method and device, storage medium and motor controller Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a vehicle hill-holding control method, a device, a storage medium and a motor controller, wherein the method comprises the following steps: judging whether the vehicle runs on a slope or not when the vehicle stops in the running process; if the vehicle is judged to have a landslide phenomenon, calculating a theoretical torque value for restraining the vehicle from sliding on a slope according to the given motor torque, braking force and acceleration before stopping; controlling the motor torque of the vehicle based on the calculated theoretical torque value to realize the hill-holding of the vehicle. The scheme of the invention can better generate corresponding restraining torque aiming at different vehicles under the condition of parking.
Description
Technical Field
The present invention relates to the field of control, and in particular, to a vehicle hill-holding control method, device, storage medium, and motor controller.
Background
The automatic hill-holding function is an important technical judgment index in the new energy automobile function, and the function of the automatic hill-holding function is to ensure that the new energy automobile cannot move in the opposite direction to the gear due to the action of gravity on the hill. The principle is that when the automobile is in gear, if the automobile moves and the moving direction is opposite to the gear engaging direction, the abnormal movement influenced by external force of the automobile is caused, and under the condition, the motor controller of the new energy automobile judges that the automobile is on a slope and the phenomenon of sliding the slope occurs. Therefore, the motor controller can generate a torque signal to cause the motor of the controlled automobile to stop rotating, thereby realizing the function that the new energy automobile can automatically park on a slope. When the new energy automobile slides, the motor controller can output a reverse torque to restrain the sliding trend, and then the torque is adjusted to enable the new energy automobile to stop the sliding trend and enter a parking state. The reverse restraining torque output when the vehicle slides can restrain the vehicle from sliding and quickly approaches the torque value required when the vehicle stops and parks the slope, the shorter the torque adjusting time is, and the better the slope parking effect is. However, in the related art, the new energy automobile cannot confirm the torque that can quickly stop the automobile from sliding before entering a hill-holding state, that is, the optimal given value of the reverse restraint torque output when restraining the tendency of sliding can not be determined.
Disclosure of Invention
The invention aims to overcome the defects of the related art, and provides a vehicle parking control method, a device, a storage medium and a motor controller, so as to solve the problem that a new energy automobile in the related art cannot confirm the torque of a vehicle capable of rapidly stopping sliding before entering a parking state.
In one aspect, the present invention provides a vehicle hill-holding control method, including: judging whether the vehicle runs on a slope or not when the vehicle stops in the running process; if the vehicle is judged to have a landslide phenomenon, calculating a theoretical torque value for restraining the vehicle from sliding on a slope according to the given motor torque, braking force and acceleration before stopping; controlling the motor torque of the vehicle based on the calculated theoretical torque value to realize the hill-holding of the vehicle.
Optionally, when the vehicle is stopped during running, determining whether the vehicle has a landslide phenomenon includes: judging whether the vehicle is displaced or not when the accelerator and the brake of the vehicle are in a released state; if the vehicle is judged to be displaced, judging whether the vehicle slides according to whether the direction of the vehicle displacement is consistent with the current gear direction; and if the displacement direction of the vehicle is inconsistent with the current gear direction, judging that the vehicle slides.
Optionally, calculating a theoretical torque value for suppressing the vehicle from sliding on a slope according to the given motor torque, braking force and acceleration before stopping, including: calculating a theoretical torque value T2 for restraining the vehicle from sliding on a slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration before the vehicle stops, and L is the driving force arm on the vehicle.
Optionally, controlling the motor torque of the vehicle based on the calculated theoretical torque value to achieve a hill holding of the vehicle, including: and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle so as to realize the slope parking of the vehicle.
Another aspect of the present invention provides a vehicle hill-holding control device, including: the judging unit is used for judging whether the vehicle slides when the vehicle stops in the running process; the calculating unit is used for calculating a theoretical torque value for restraining the vehicle from sliding according to the given motor torque, braking force and acceleration before stopping if the judging unit judges that the vehicle slides on the slope; and the control unit is used for controlling the motor torque of the vehicle based on the theoretical torque value calculated by the calculation unit so as to realize the parking of the vehicle.
Optionally, the judging unit judges whether the vehicle has a landslide phenomenon when the vehicle is stopped during running, including: judging whether the vehicle is displaced or not when the accelerator and the brake of the vehicle are in a released state; if the vehicle is judged to be displaced, judging whether the vehicle slides according to whether the direction of the vehicle displacement is consistent with the current gear direction; and if the displacement direction of the vehicle is inconsistent with the current gear direction, judging that the vehicle slides.
Optionally, calculating a theoretical torque value for suppressing the vehicle from sliding on a slope according to the given motor torque, braking force and acceleration before stopping, including: calculating a theoretical torque value T2 for restraining the vehicle from sliding on a slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration before the vehicle stops, and L is the driving force arm on the vehicle.
Optionally, the control unit controls the motor torque of the vehicle based on the calculated theoretical torque value to realize hill holding of the vehicle, including: and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle so as to realize the slope parking of the vehicle.
In a further aspect the invention provides a storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
In a further aspect the invention provides a motor controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described hereinbefore when the program is executed.
In yet another aspect, the present invention provides a motor controller, including a vehicle hill-holding control device as described in any one of the preceding.
According to the technical scheme of the invention, according to the driving state of the new energy automobile before sliding, namely according to the driving situation that the automobile is displaced to the parking point before parking, the restraining torque required by stopping the automobile when sliding occurs at the parking point is judged, so that the corresponding restraining torque can be better generated aiming at different vehicles under the working condition of parking, the displacement of sliding is reduced, and the effect of parking is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a method schematic diagram of an embodiment of a vehicle hill-holding control method provided by the present invention;
FIG. 2 shows a vehicle hill-holding flow diagram in the related art;
FIG. 3 is a method schematic diagram of an embodiment of a vehicle hill-holding control method provided by the present invention;
fig. 4 is a block diagram of an embodiment of a vehicle hill-holding control device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The vehicle hill-holding flow in the related art is shown in fig. 2. The automobile is stopped in the running process, and at the moment, if the accelerator pedal and the brake pedal are in the released state, a zero-torque signal is sent to the motor controller. When the car is out of the parking state and displaced, the motor rotates accordingly and sends a rotation signal to the motor controller. In the zero torque state, the motor rotates, and the motor controller enters the slope-stopping judgment.
And the motor controller judges the moving direction of the motor and the received vehicle gear signal, and if the moving direction of the vehicle is consistent with the gear direction, the motor controller represents that the vehicle is in normal forward or reverse, and does not enter the next hill-holding flow at the moment, and the hill-holding judgment is finished. If the direction of the movement of the vehicle is judged to be opposite to the gear direction, namely, the abnormal movement of the vehicle is judged, and under the condition, the abnormal movement is caused by unbalanced external stress, so that the occurrence of a sliding slope is judged, and the motor is controlled to stop rotating to realize the slope parking function. The control mode is to quickly respond to a torque restraining slope sliding trend, the motor controller continuously detects the motion condition of the automobile after generation (the motor sensor can periodically transmit the motion information of the motor of the automobile to the motor controller for processing), the speed change of the automobile is obtained through the motion condition, the slope parking torque is continuously and automatically adjusted through a PID (proportion integration differentiation) adjustment method, and finally the slope parking effect is achieved.
The restraining torque emitted during the slope sliding is obtained through experimental tests, namely, the optimal torque is obtained through slope-parking debugging of one automobile during mass production of the same automobile type. Because each vehicle type is matched, the adjustment is required, the effects of the vehicles on different slopes can be different to a certain extent, and the optimal torque obtained by manual adjustment has relatively large errors.
The invention provides a vehicle hill-holding control method. The invention may be implemented in a motor controller of a vehicle.
Fig. 1 is a schematic diagram of a vehicle hill-holding control method according to an embodiment of the present invention.
As shown in fig. 1, the method at least includes step S110, step S120, and step S130 according to one embodiment of the present invention.
Step S110, judging whether the vehicle runs on a slope or not when the vehicle stops in the running process.
In one embodiment, determining whether the vehicle is coasting includes: judging whether the vehicle is displaced or not when the accelerator and the brake of the vehicle are in a released state; if the vehicle is judged to be displaced, judging whether the vehicle slides according to whether the direction of the vehicle displacement is consistent with the current gear direction; and if the displacement direction of the vehicle is inconsistent with the current gear direction, judging that the vehicle slides.
Specifically, the vehicle is stopped during running, and at this time, if the accelerator pedal and the brake pedal are in a released state, a signal of zero torque is sent to the motor controller. When the vehicle is out of the parking position, the displacement occurs, i.e. the motor will rotate accordingly and a rotation signal will be sent to the motor controller. In the zero torque state, the motor rotates, and the motor controller enters the slope-stopping judgment.
The motor controller judges the moving direction of the motor and the received vehicle gear signal, and if the moving direction of the motor is consistent with the gear direction, the motor controller indicates that the motor is in normal forward or reverse, and no slope parking control is needed at the moment. If the displacement direction of the vehicle is opposite to the gear direction, the abnormal movement of the vehicle is judged, namely the vehicle slides and enters a parking state.
And step S120, if the vehicle is judged to have a slope sliding phenomenon, calculating a theoretical torque value for restraining the vehicle from sliding according to the given motor torque, braking force and acceleration before stopping.
In one embodiment, the theoretical torque value T2 to contain the vehicle slip is calculated according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration before the vehicle stops, and L is the driving force arm on the vehicle.
Preferably, the braking force and the acceleration of the vehicle can be detected in real time during the running of the vehicle, and the theoretical torque value for restraining the vehicle from sliding down the slope can be calculated when the vehicle is in a subsequent slope. The braking force is detected by a brake pedal sensor and transmitted to a whole vehicle controller (a total signal processor of the electric vehicle), and then the whole vehicle controller transmits the braking force signal to a motor controller, wherein the braking force is 0-100%.
The automobile acceleration is obtained by detecting the rotating speed of an automobile motor, namely, a motor sensor sends a speed signal to a motor controller, and the acceleration is obtained by detecting the speed difference in unit time, wherein the formula is as follows:
a＝(v1-v0)/△t
when the vehicle is stopped, the rotation speed v0=0 of the vehicle, and by detecting the last speed value v1 before stopping, the formula can be simplified as follows:
a＝v1/△t
specifically, if the automobile does not provide a hill-holding function and slides on a slope, the automobile receives an external acting force F0. If the vehicle is stationary, i.e. not running, a force F1 of the same magnitude as F0 and in the opposite direction needs to be generated. And calculating a theoretical torque value F1 required to be generated when the vehicle is parked at a slope-sliding point according to the given motor torque, braking force and vehicle acceleration before parking.
The transmission force arm on the automobile is a fixed value L, the output force F2 of the transmission force arm can be obtained through the given motor torque T1 of the motor controller, and the formula is as follows:
F2＝T1/L
the maximum braking force Fmax of the brake pedal is determined by the physical property of the vehicle pedal module, and the force F3 corresponding to the braking force before parking can be obtained through the braking force sigma before parking, and the formula is as follows:
F3＝Fmax·σ％
the acceleration of the vehicle in the parking process is a, the mass of the vehicle is m, and the formula can be obtained according to the stress:
m·a＝F3-F2-F0
the force F1 which is required to be generated without sliding is generated by the motor to generate a restraining torque T2, and the formula is as follows:
F1＝T2/L
in summary, the relation between the restraining torque and the given motor torque, braking force and automobile acceleration before parking is as follows:
T2＝(Fmax·σ％-T1/L-ma)·L
and step S130, controlling the motor torque of the vehicle based on the calculated theoretical torque value so as to realize the parking of the vehicle.
Specifically, according to the speed change of the vehicle, the motor torque of the vehicle is regulated through PID so as to realize the parking of the vehicle. PID adjustment is processed through numerical integration of the current speed proportion, the speed history integral and the current speed derivative to realize quick adjustment. Faster rolling means that the current given torque at the hill will be smaller, and the given torque at the hill will be increased. If the speed of the vehicle sliding is slow, the current given parking torque is larger, and the given parking torque is reduced.
After responding to the restraining torque (when the motor controller judges and enters a hill-holding state, namely immediately sending the restraining torque), the motor controller continuously detects the motion condition of the automobile, obtains the speed change of the automobile through the motion condition, continuously and automatically adjusts the hill-holding torque through a PID (proportion integration differentiation) adjustment method, and finally achieves the hill-holding effect.
In order to clearly illustrate the technical scheme of the invention, the execution flow of the vehicle hill-holding control method provided by the invention is described in the following by a specific embodiment.
Fig. 3 is a schematic diagram of a vehicle hill-holding control method according to an embodiment of the present invention. As shown in fig. 3, the automobile is stopped during running, and at this time, if the accelerator pedal and the brake pedal are in a released state, a signal of zero torque is sent to the motor controller. When the car is out of the parking state and displaced, the motor rotates accordingly and sends a rotation signal to the motor controller. In the zero torque state, the motor rotates, and the motor controller enters the slope-stopping judgment.
And the motor controller judges the moving direction of the motor and the received vehicle gear signal, and if the moving direction of the motor is consistent with the gear direction, the motor controller indicates that the motor is in normal forward or reverse, the next hill-holding control flow is not entered at the moment, and the hill-holding judgment is finished. If the moving direction of the vehicle is judged to be opposite to the gear direction, the abnormal movement of the vehicle is judged, and the vehicle enters a hill-holding state. And calculating a theoretical torque value F1 required to be generated when the vehicle is parked at a slope-sliding point according to the given motor torque, braking force and vehicle acceleration before parking. After the torque is restrained in response, the motor controller continuously detects the movement condition of the automobile, the speed change of the automobile is obtained through the movement condition, and then the hill-holding torque is continuously and automatically adjusted through a PID (proportion integration differentiation) adjusting method, so that the hill-holding effect is finally achieved.
According to the embodiment of the invention, corresponding torque restraining response is realized by information data collected before hill-holding aiming at the working condition of the hill-holding point. The driving data in the process of driving on the slope to the slope sliding point stopping before the vehicle slides on the slope is recorded, calculation is carried out, the restraining torque required by the subsequent slope parking is obtained, the problem of sliding caused by the vehicle before entering the slope parking is solved, and the distance of sliding is shortened.
Fig. 4 is a block diagram of an embodiment of a vehicle hill-holding control device according to the present invention. As shown in fig. 4, the vehicle hill-holding control device 100 includes a judging unit 110, a calculating unit 120, and a control unit 130.
The judging unit 110 is configured to judge whether a hill-drop phenomenon occurs in the vehicle when the vehicle is stopped during traveling.
In one embodiment, the determining unit 110 determines whether the vehicle has a landslide phenomenon, including: judging whether the vehicle is displaced or not when the accelerator and the brake of the vehicle are in a released state; if the vehicle is judged to be displaced, judging whether the vehicle slides according to whether the direction of the vehicle displacement is consistent with the current gear direction; and if the displacement direction of the vehicle is inconsistent with the current gear direction, judging that the vehicle slides.
Specifically, the vehicle is stopped during running, and at this time, if the accelerator pedal and the brake pedal are in a released state, a signal of zero torque is sent to the motor controller. When the vehicle is out of the parking position, the displacement occurs, i.e. the motor will rotate accordingly and a rotation signal will be sent to the motor controller. In the zero torque state, the motor rotates, and the motor controller enters the slope-stopping judgment.
The motor controller judges the moving direction of the motor and the received vehicle gear signal, and if the moving direction of the motor is consistent with the gear direction, the motor controller indicates that the motor is in normal forward or reverse, and no slope parking control is needed at the moment. If the displacement direction of the vehicle is opposite to the gear direction, the abnormal movement of the vehicle is judged, namely the vehicle slides and enters a parking state.
The calculating unit 120 is configured to calculate a theoretical torque value for suppressing the vehicle from sliding according to the given motor torque, braking force and acceleration before stopping if the determining unit 110 determines that the vehicle has a sliding slope.
In one embodiment, the theoretical torque value T2 to contain the vehicle slip is calculated according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration before the vehicle stops, and L is the driving force arm on the vehicle.
Preferably, the braking force and the acceleration of the vehicle can be detected in real time during the running of the vehicle, and the theoretical torque value for restraining the vehicle from sliding down the slope can be calculated when the vehicle is in a subsequent slope. The braking force is detected by a brake pedal sensor and transmitted to a whole vehicle controller (a total signal processor of the electric vehicle), and then the whole vehicle controller transmits the braking force signal to a motor controller, wherein the braking force is 0-100%.
The automobile acceleration is obtained by detecting the rotating speed of an automobile motor, namely, a motor sensor sends a speed signal to a motor controller, and the acceleration is obtained by detecting the speed difference in unit time, wherein the formula is as follows:
a＝(v1-v0)/△t
when the vehicle is stopped, the rotation speed v0=0 of the vehicle, and by detecting the last speed value v1 before stopping, the formula can be simplified as follows:
a＝v1/△t
specifically, if the automobile does not provide a hill-holding function and slides on a slope, the automobile receives an external acting force F0. If the vehicle is stationary, i.e. not running, a force F1 of the same magnitude as F0 and in the opposite direction needs to be generated. And calculating a theoretical torque value F1 required to be generated when the vehicle is parked at a slope-sliding point according to the given motor torque, braking force and vehicle acceleration before parking.
The transmission force arm on the automobile is a fixed value L, the output force F2 of the transmission force arm can be obtained through the given motor torque T1 of the motor controller, and the formula is as follows:
F2＝T1/L
the maximum braking force Fmax of the brake pedal is determined by the physical property of the vehicle pedal module, and the force F3 corresponding to the braking force before parking can be obtained through the braking force sigma before parking, and the formula is as follows:
F3＝Fmax·σ％
the acceleration of the vehicle in the parking process is a, the mass of the vehicle is m, and the formula can be obtained according to the stress:
m·a＝F3-F2-F0
the force F1 which is required to be generated without sliding is generated by the motor to generate a restraining torque T2, and the formula is as follows:
F1＝T2/L
in summary, the relation between the restraining torque and the given motor torque, braking force and automobile acceleration before parking is as follows:
T2＝(Fmax·σ％-T1/L-ma)·L
the control unit 130 is configured to control the motor torque of the vehicle based on the theoretical torque value calculated by the calculation unit 120, so as to realize hill-holding of the vehicle.
Specifically, according to the speed change of the vehicle, the motor torque of the vehicle is regulated through PID so as to realize the parking of the vehicle. PID adjustment is processed through numerical integration of the current speed proportion, the speed history integral and the current speed derivative to realize quick adjustment. Faster rolling means that the current given torque at the hill will be smaller, and the given torque at the hill will be increased. If the speed of the vehicle sliding is slow, the current given parking torque is larger, and the given parking torque is reduced. After responding to the restraining torque (when the motor controller judges and enters a hill-holding state, namely immediately sending the restraining torque), the motor controller continuously detects the motion condition of the automobile, obtains the speed change of the automobile through the motion condition, continuously and automatically adjusts the hill-holding torque through a PID (proportion integration differentiation) adjustment method, and finally achieves the hill-holding effect.
The invention also provides a storage medium corresponding to the method of protecting a magnetic bearing system, having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
The invention also provides a motor controller corresponding to the vehicle hill-holding control method, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the methods.
The invention also provides a motor controller corresponding to the vehicle hill-holding control device, which comprises any one of the vehicle hill-holding control devices.
According to the scheme provided by the invention, according to the driving state of the new energy automobile before sliding, namely according to the driving situation of the automobile moving to the parking point before parking, the restraining torque required by the automobile to stop sliding when the parking point slides is judged, the corresponding restraining torque can be better generated aiming at different vehicles under the condition of sliding, the displacement of sliding is reduced, the effect of sliding is improved, and the functions described in the invention can be implemented in hardware, software executed by a processor, firmware or any combination thereof. If implemented in software that is executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (6)
1. A vehicle hill-holding control method, characterized by comprising:
judging whether the vehicle runs on a slope or not when the vehicle stops in the running process;
if the vehicle is judged to have a landslide phenomenon, calculating a theoretical torque value for restraining the vehicle from sliding on a slope according to the given motor torque, braking force and acceleration before stopping;
calculating a theoretical torque value T2 for restraining the vehicle from sliding on a slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration before the vehicle stops, and L is the driving force arm on the vehicle;
controlling a motor torque of the vehicle based on the calculated theoretical torque value to achieve hill holding of the vehicle, comprising:
and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle so as to realize the slope parking of the vehicle.
2. The method according to claim 1, wherein determining whether the vehicle is coasting when the vehicle is stationary during traveling, comprises:
judging whether the vehicle is displaced or not when the accelerator and the brake of the vehicle are in a released state;
if the vehicle is judged to be displaced, judging whether the vehicle slides according to whether the direction of the vehicle displacement is consistent with the current gear direction;
and if the displacement direction of the vehicle is inconsistent with the current gear direction, judging that the vehicle slides.
3. A vehicle hill-holding control device, characterized by comprising:
the judging unit is used for judging whether the vehicle slides when the vehicle stops in the running process;
the calculating unit is used for calculating a theoretical torque value for restraining the vehicle from sliding according to the given motor torque, braking force and acceleration before stopping if the judging unit judges that the vehicle slides on the slope;
calculating a theoretical torque value T2 for restraining the vehicle from sliding on a slope according to the following formula:
T2＝(Fmax·σ％-T1/L-ma)·L
wherein Fmax is the force corresponding to the maximum braking force of the brake pedal of the vehicle, sigma is the braking force before the vehicle stops, T1 is the given motor torque, m is the mass of the vehicle, a is the acceleration before the vehicle stops, and L is the driving force arm on the vehicle;
a control unit for controlling a motor torque of the vehicle based on the theoretical torque value calculated by the calculation unit to realize a hill-holding of the vehicle, comprising:
and adjusting the motor torque of the vehicle through PID according to the speed change of the vehicle so as to realize the slope parking of the vehicle.
4. The apparatus according to claim 3, wherein the judging unit, when the vehicle is stopped during traveling, judges whether or not the vehicle is slipping, includes:
judging whether the vehicle is displaced or not when the accelerator and the brake of the vehicle are in a released state;
if the vehicle is judged to be displaced, judging whether the vehicle slides according to whether the direction of the vehicle displacement is consistent with the current gear direction;
and if the displacement direction of the vehicle is inconsistent with the current gear direction, judging that the vehicle slides.
5. A storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of claims 1-2.
6. A motor controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1-2 when the program is executed, or comprising the vehicle hill-holding control device of any one of claims 3-4.
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| CN202111192692.0A CN113799620B (en) | 2021-10-13 | 2021-10-13 | Vehicle hill-holding control method and device, storage medium and motor controller |
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| CN114228509B (en) * | 2021-12-29 | 2024-05-28 | 臻驱科技（上海）有限公司 | Slope parking control method and system for vehicle motor and vehicle |
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