CN104943692A - Vehicle control method - Google Patents
Vehicle control method Download PDFInfo
- Publication number
- CN104943692A CN104943692A CN201510459036.0A CN201510459036A CN104943692A CN 104943692 A CN104943692 A CN 104943692A CN 201510459036 A CN201510459036 A CN 201510459036A CN 104943692 A CN104943692 A CN 104943692A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- axis
- acceleration
- accel
- automobile body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a vehicle control method which comprises the following steps: obtaining accelerations of the vehicle in the X-axis, Y-axis and Z-axis directions through a three-axis acceleration sensor, wherein the X-axis is consistent with the forward direction of the vehicle, the Y-axis is consistent with the left-right direction of the vehicle body, and the Z-axis is consistent with the vertical direction of the vehicle body; acquiring the motion acceleration of the vehicle in the X-axis direction; carrying out smoothing filtering to the accelerations of the vehicle in the X-axis, Y-axis and Z-axis directions and the motion acceleration of the vehicle in the X-axis direction; calculating the current angle of the vehicle according to the accelerations of the vehicle in the X-axis, Y-axis and Z-axis directions and the motion acceleration of the vehicle in the X-axis direction which are obtained through smoothing filtering; controlling the vehicle according to the current angle of the vehicle. The vehicle control method provided by the invention can effectively improve the safety of the vehicle control.
Description
Technical field
The present invention relates to electric vehicle engineering field, particularly relate to a kind of control method of finished.
Background technology
Electronlmobil does not have exhaust emissions due to it, and use cost is low, and low speed torque performance is good, makes it become automotive technology development direction the most popular at present, appears at more and more in the life of people yet.As the high-tech automobile product of one, the traveling comfort of electronlmobil and safety are worth paying special attention to, such as, uphill starting is exactly an important aspect, because releasing of brake is to poor if having time between stepping on the throttle, period vehicle drive force not enough or there is no propulsive effort, slip after easily producing vehicle, not only traveling comfort is poor, also may cause safety misadventure.Therefore, the safety how improving full-vehicle control is a problem demanding prompt solution.
Summary of the invention
The invention provides a kind of control method of finished, the safety of full-vehicle control can be improved by actv..
The invention provides a kind of control method of finished, comprising:
Obtain the acceleration/accel of vehicle in X-axis, Y-axis and Z-direction by 3-axis acceleration sensor, wherein, described X-axis is consistent with vehicle forward direction, and Y-axis is consistent with automobile body left and right directions, and Z axis is consistent with automobile body above-below direction;
Obtain vehicle acceleration of motion in the X-axis direction;
To described vehicle in the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction;
According to the vehicle obtained through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle;
Current angular according to described vehicle controls vehicle.
Preferably, described vehicle is comprised at the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction:
At the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, synchronized sampling is carried out to described vehicle, and sampled value is stored in successively in corresponding queue array;
Adopt the mode of first-in first-out, by new sampled value stored in queue array, sampled value the earliest in queue array is removed simultaneously, remove maxim and the minimum value of sampled value in queue array, remaining sampled value is averaged, obtains the vehicle after smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction.
Preferably, the vehicle that described foundation obtains through smothing filtering is in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, and the current angular calculating vehicle comprises:
According to formula
calculate the pitch angle of automobile body, wherein, ACC1x is the vehicle that obtains after the smothing filtering acceleration/accel in X-direction, ACC1z is the vehicle that obtains after the smothing filtering acceleration/accel in Z-direction, and Acc2x is the vehicle acceleration of motion in the X-axis direction obtained after smothing filtering;
According to formula
calculate the angle of roll of automobile body, wherein, ACC1y is the vehicle that obtains after the smothing filtering acceleration/accel in Y direction, and ACC1z is the vehicle that obtains after the smothing filtering acceleration/accel in Z-direction.
Preferably, the described current angular according to described vehicle carries out control to vehicle and comprises:
Pitch angle according to described automobile body carries out uphill starting control to vehicle;
Angle of roll according to described automobile body carries out driving safety control to vehicle.
Preferably, the described pitch angle according to described automobile body carries out uphill starting to vehicle and controls to comprise:
Judge whether vehicle is in uphill starting state, if then:
Pitch angle according to described automobile body obtains corresponding uphill starting assist torque;
Control drive motor in preset duration, export described assist torque.
Preferably, the described pitch angle according to described automobile body carries out uphill starting to vehicle and controls also to comprise:
In described preset duration, judge the speed-slackening signal of vehicle and parking brake signal whether all invalid, if then:
Judge whether the driving torque corresponding to throttle signal of vehicle is greater than described assist torque, if then control drive motor to export described driving torque, if not then:
Control drive motor and export described assist torque.
Preferably, the described pitch angle according to described automobile body carries out uphill starting to vehicle and controls also to comprise:
After described preset duration, control the driving torque of drive motor output corresponding to throttle signal.
Preferably, the described angle of roll according to described automobile body carries out driving safety to vehicle and controls to comprise:
Judge whether described angle of roll is greater than the first predetermined angle, if then:
Judge whether the moving velocity of vehicle is greater than the first pre-set velocity, if then:
Control drive motor and reduce Driving Torque.
Preferably, the described angle of roll according to described automobile body carries out driving safety to vehicle and controls also to comprise:
Judge whether described angle of roll is greater than the second predetermined angle, if then:
Control power cell of vehicle cut off high to export.
Preferably, described method also comprises:
Judge the acceleration/accel of the Z-direction obtained through smothing filtering be whether on the occasion of, if then:
Control power cell of vehicle cut off high to export.
From such scheme, a kind of control method of finished provided by the invention, vehicle is obtained in X-axis by 3-axis acceleration sensor, the acceleration/accel of Y-axis and Z-direction, obtain vehicle vehicle acceleration of motion in the X-axis direction in motion process simultaneously, then to vehicle in X-axis, the smoothing filtering of the acceleration/accel of Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, by the vehicle that obtains through smothing filtering in X-axis, the acceleration/accel of Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle, the current angular of the vehicle that last foundation calculates controls vehicle, make to control in conjunction with the current angular of vehicle in the process of full-vehicle control, effectively raise the safety of full-vehicle control.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the definition schematic diagram that 3-axis acceleration sensor is installed to three axis after vehicle;
Fig. 2 be vehicle static on ramp time 3-axis acceleration sensor X-axis, Z-direction acceleration/accel schematic diagram;
The diagram of circuit of Fig. 3 a kind of control method of finished disclosed in the embodiment of the present invention;
Fig. 4 a kind of pitch angle according to automobile body disclosed in the embodiment of the present invention carries out the diagram of circuit of uphill starting control to vehicle;
Fig. 5 is the disclosed another kind of pitch angle according to automobile body of the embodiment of the present invention carries out uphill starting control diagram of circuit to vehicle;
Fig. 6 is the disclosed another kind of pitch angle according to automobile body of the embodiment of the present invention carries out uphill starting control diagram of circuit to vehicle;
Fig. 7 a kind of angle of roll according to automobile body disclosed in the embodiment of the present invention carries out the diagram of circuit of driving safety control to vehicle;
Fig. 8 is the disclosed another kind of angle of roll according to described automobile body of the embodiment of the present invention carries out driving safety control diagram of circuit to vehicle;
The diagram of circuit of Fig. 9 another kind of control method of finished disclosed in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Before the implementation of a kind of control method of finished disclosed by the invention is introduced, first the definition that 3-axis acceleration sensor is installed to three axis after vehicle is described.
3-axis acceleration sensor is a kind of high-precision sensor, can measure the absolute acceleration of three orthogonal axes to (X-axis, Y-axis, Z axis), absolute acceleration refers to that 3-axis acceleration sensor is relative to the acceleration/accel of ground motion and the acceleration due to gravity projection components in sensor three axis.When 3-axis acceleration sensor is installed, must ensure that three axles of 3-axis acceleration sensor overlap with three axis of vehicle body, as shown in Figure 1.When vehicle is in level ground, the XY plane of 3-axis acceleration sensor and plane-parallel, now the acceleration/accel of Z axis is-g (g is acceleration due to gravity), X, Y-axis acceleration/accel are 0, if now, vehicle to drive to forward on a ramp and stops, and as shown in the figure, supposes that ramp angles is θ
x, then Z axis acceleration A CC1z is-g × cos (θ
x), X-axis acceleration/accel is-g × sin (θ
x), Y-axis acceleration/accel is 0.
As shown in Figure 3, a kind of control method of finished disclosed in the embodiment of the present invention, comprising:
Step 301, obtain vehicle at the acceleration/accel of X-axis, Y-axis and Z-direction by 3-axis acceleration sensor;
When controlling car load, first obtain the acceleration/accel of vehicle in X-axis, Y-axis and Z-direction by the 3-axis acceleration sensor be arranged in vehicle, wherein, X-axis is consistent with vehicle forward direction, Y-axis is consistent with automobile body left and right directions, and Z axis is consistent with automobile body above-below direction.
Step 302, acquisition vehicle acceleration of motion in the X-axis direction;
When vehicle does not remain static, need to consider vehicle acceleration of motion in the X-axis direction.
Step 303, to described vehicle in the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction;
Because 3-axis acceleration sensor has intrinsic error, and vehicle also can exist in the process of moving and vibrates the randol noise that causes, therefore need the vehicle got in the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction.
Step 304, according to the vehicle obtained through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle;
Then by the vehicle that obtains through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle.
Step 305, according to the current angular of described vehicle, vehicle to be controlled.
Finally, the current angular in conjunction with the vehicle calculated carries out Comprehensive Control to vehicle.
In sum, a kind of control method of finished that the present embodiment provides, vehicle is obtained in X-axis by 3-axis acceleration sensor, the acceleration/accel of Y-axis and Z-direction, obtain vehicle vehicle acceleration of motion in the X-axis direction in motion process simultaneously, then to vehicle in X-axis, the smoothing filtering of the acceleration/accel of Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, by the vehicle that obtains through smothing filtering in X-axis, the acceleration/accel of Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle, the current angular of the vehicle that last foundation calculates controls vehicle, make to control in conjunction with the current angular of vehicle in the process of full-vehicle control, effectively raise the safety of full-vehicle control.
Concrete, wherein a kind of implementation that step 102 in above-described embodiment obtains vehicle acceleration of motion is in the X-axis direction: the rotating speed being got vehicle drive motor in motion process by CAN, and the transmitting ratio of vehicle, then vehicle control system goes out the moving velocity of vehicle according to the rotating speed got and gear ratio calculation, and the last moving velocity according to vehicle calculates vehicle acceleration of motion in the X-axis direction.
Concrete, step 103 in above-described embodiment to described vehicle at the acceleration/accel of X-axis, Y-axis and Z-direction and wherein a kind of implementation of the smoothing filtering of vehicle acceleration of motion is in the X-axis direction: the control system in vehicle carries out synchronized sampling to vehicle at the acceleration A CC1x_t of X-axis, Y-axis and Z-direction, ACC1y_t, ACC1z_t, carries out synchronized sampling to vehicle acceleration of motion Acc2x_t in the X-axis direction simultaneously.Such as, all sample 10 times to each acceleration signal, the sampled value obtained sampling is stored in corresponding queue array successively.
Then the mode of first-in first-out is adopted, to sample newly sampled value stored in queue array kind at every turn, colleague removes obtaining sampled value in queue array the earliest, then maxim and the minimum value of sampled value in queue array is removed, remaining sampled value is averaged, obtains the vehicle after smothing filtering at the acceleration A CC1x of X-axis, Y-axis and Z-direction, ACC1y, ACC1z and vehicle acceleration of motion Acc2x in the X-axis direction.
Concrete, step 104 in above-described embodiment is according to the vehicle obtained through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, and the wherein a kind of implementation calculating the current angular of vehicle is: according to formula
calculate the pitch angle of automobile body, wherein, ACC1x is the vehicle that obtains after the smothing filtering acceleration/accel in X-direction, ACC1z is the vehicle that obtains after the smothing filtering acceleration/accel in Z-direction, and Acc2x is the vehicle acceleration of motion in the X-axis direction obtained after smothing filtering;
According to formula
calculate the angle of roll of automobile body, wherein, ACC1y is the vehicle that obtains after the smothing filtering acceleration/accel in Y direction, and ACC1z is the vehicle that obtains after the smothing filtering acceleration/accel in Z-direction.
Thus obtain the pitching angle theta of automobile body
xwith the angle of roll θ of automobile body
y.
Concrete, step 105 in above-described embodiment carries out uphill starting control to the pitch angle that wherein a kind of implementation that vehicle controls is foundation automobile body to vehicle according to the current angular of described vehicle, as shown in Figure 4, pitch angle according to automobile body carries out a uphill starting control to vehicle, comprising:
Step 401, judge whether vehicle is in uphill starting state, if then enter step 402:
When vehicle stops on ramp, entire car controller detects that the moving velocity of vehicle is 0, and the gear signal of vehicle becomes forward gear signal or the signal that reverses gear from neutral signal, simultaneously during parking brake invalidating signal, judges that vehicle is in uphill starting state.
Step 402, obtain corresponding uphill starting assist torque according to the pitch angle of described automobile body;
Pitch angle according to the automobile body calculated inquires the uphill starting assist torque corresponding with pitch angle in the two-dimensional data table generated in advance.
Step 403, control drive motor export described assist torque in preset duration.
The uphill starting assist torque instruction got is sent to drive motor controller by CAN by vehicle control device, drive motor controller controls drive motor and exports uphill starting assist torque for car ramp starting, and the time length simultaneously exporting uphill starting assist torque is preset duration.When exceeding preset duration, when entire car controller detects that speed-slackening signal is effective, then uphill starting assist torque being reset, until when speed-slackening signal saltus step is invalid, again exporting uphill starting assist torque, and the time continued is preset duration.
As shown in Figure 5, the another kind of pitch angle according to automobile body carries out uphill starting control to vehicle, comprising:
Step 501, judge whether vehicle is in uphill starting state, if then enter step 502:
When vehicle stops on ramp, entire car controller detects that the moving velocity of vehicle is 0, and the gear signal of vehicle becomes forward gear signal or the signal that reverses gear from neutral signal, simultaneously during parking brake invalidating signal, judges that vehicle is in uphill starting state.
Step 502, obtain corresponding uphill starting assist torque according to the pitch angle of described automobile body;
Pitch angle according to the automobile body calculated inquires the uphill starting assist torque corresponding with pitch angle in the two-dimensional data table generated in advance.
Step 503, control drive motor export described assist torque in preset duration;
The uphill starting assist torque instruction got is sent to drive motor controller by CAN by vehicle control device, drive motor controller controls drive motor and exports uphill starting assist torque for car ramp starting, and the time length simultaneously exporting uphill starting assist torque is preset duration.When exceeding preset duration, when entire car controller detects that speed-slackening signal is effective, then uphill starting assist torque being reset, until when speed-slackening signal saltus step is invalid, again exporting uphill starting assist torque, and the time continued is preset duration.
Step 504, in described preset duration, judge the speed-slackening signal of vehicle and parking brake signal whether all invalid, if then enter step 505:
Step 505, judge whether the driving torque corresponding to throttle signal of vehicle is greater than described assist torque, if then enter step 506, then enters step 507 if not:
Step 506, control drive motor export described driving torque;
Step 507, control drive motor export described assist torque.
As shown in Figure 6, the another kind of pitch angle according to automobile body carries out uphill starting control to vehicle, comprising:
Step 601, judge whether vehicle is in uphill starting state, if then enter step 602:
When vehicle stops on ramp, entire car controller detects that the moving velocity of vehicle is 0, and the gear signal of vehicle becomes forward gear signal or the signal that reverses gear from neutral signal, simultaneously during parking brake invalidating signal, judges that vehicle is in uphill starting state.
Step 602, obtain corresponding uphill starting assist torque according to the pitch angle of described automobile body;
Pitch angle according to the automobile body calculated inquires the uphill starting assist torque corresponding with pitch angle in the two-dimensional data table generated in advance.
Step 603, control drive motor export described assist torque in preset duration;
The uphill starting assist torque instruction got is sent to drive motor controller by CAN by vehicle control device, drive motor controller controls drive motor and exports uphill starting assist torque for car ramp starting, and the time length simultaneously exporting uphill starting assist torque is preset duration.When exceeding preset duration, when entire car controller detects that speed-slackening signal is effective, then uphill starting assist torque being reset, until when speed-slackening signal saltus step is invalid, again exporting uphill starting assist torque, and the time continued is preset duration.
Step 604, in described preset duration, judge the speed-slackening signal of vehicle and parking brake signal whether all invalid, if then enter step 605:
Step 605, judge whether the driving torque corresponding to throttle signal of vehicle is greater than described assist torque, if then enter step 606, then enters step 607 if not:
Step 606, control drive motor export described driving torque;
Step 607, control drive motor export described assist torque;
Step 608, after described preset duration, control drive motor and export driving torque corresponding to throttle signal.
Concrete, step 105 in above-described embodiment carries out uphill starting control to the pitch angle that wherein a kind of implementation that vehicle controls is foundation automobile body to vehicle according to the current angular of described vehicle, as shown in Figure 7, angle of roll according to automobile body carries out a uphill starting control to vehicle, comprising:
Step 701, judge whether described angle of roll is greater than the first predetermined angle, if then enter step 702:
The angle of roll of automobile body is judged, when angle of roll is greater than the first predetermined angle, judges that the vehicle body of vehicle there occurs larger inclination.
Step 702, judge whether the moving velocity of vehicle is greater than the first pre-set velocity, if then enter step 703:
When judging that angle of roll is greater than the first predetermined angle, the moving velocity of vehicle is judged simultaneously, judge whether the moving velocity of vehicle is greater than the first pre-set velocity, when the moving velocity of vehicle is greater than the first pre-set velocity, show that now vehicle exists larger potential safety hazard, needs to control the safety of vehicle.
Step 703, control drive motor reduce Driving Torque.
When angle of roll is greater than the first predetermined angle and the moving velocity of vehicle is greater than the first pre-set velocity, reduce Driving Torque by vehicle control unit controls drive motor, until the moving velocity of vehicle is less than the first pre-set velocity, until potential safety hazard is eliminated.
Body, step 105 in above-described embodiment carries out uphill starting control to the pitch angle that wherein a kind of implementation that vehicle controls is foundation automobile body to vehicle according to the current angular of described vehicle, as shown in Figure 8, the another kind of angle of roll according to automobile body carries out uphill starting control to vehicle, comprising:
Step 801, judge whether described angle of roll is greater than the first predetermined angle, if then enter step 702:
The angle of roll of automobile body is judged, when angle of roll is greater than the first predetermined angle, judges that the vehicle body of vehicle there occurs larger inclination.
Step 802, judge whether the moving velocity of vehicle is greater than the first pre-set velocity, if then enter step 703:
When judging that angle of roll is greater than the first predetermined angle, the moving velocity of vehicle is judged simultaneously, judge whether the moving velocity of vehicle is greater than the first pre-set velocity, when the moving velocity of vehicle is greater than the first pre-set velocity, show that now vehicle exists larger potential safety hazard, needs to control the safety of vehicle.
Step 803, control drive motor reduce Driving Torque;
When angle of roll is greater than the first predetermined angle and the moving velocity of vehicle is greater than the first pre-set velocity, reduce Driving Torque by vehicle control unit controls drive motor, until the moving velocity of vehicle is less than the first pre-set velocity, until potential safety hazard is eliminated.
Step 804, judge whether described angle of roll is greater than the second predetermined angle, if then enter step 805:
The angle of roll of automobile body is judged, when angle of roll is greater than the second predetermined angle, judges that the vehicle body of vehicle there occurs rollover.
Step 805, control power cell of vehicle cut off high export.
When judging that the vehicle body of vehicle there occurs rollover, in order to the safety of car load, entire car controller sends CAN instruction to battery management system, and the electrokinetic cell cut off high controlling vehicle exports.
As shown in Figure 9, another kind of control method of finished disclosed in the embodiment of the present invention, comprising:
Step 901, obtain vehicle at the acceleration/accel of X-axis, Y-axis and Z-direction by 3-axis acceleration sensor;
When controlling car load, first obtain the acceleration/accel of vehicle in X-axis, Y-axis and Z-direction by the 3-axis acceleration sensor be arranged in vehicle, wherein, X-axis is consistent with vehicle forward direction, Y-axis is consistent with automobile body left and right directions, and Z axis is consistent with automobile body above-below direction.
Step 902, acquisition vehicle acceleration of motion in the X-axis direction;
When vehicle does not remain static, need to consider vehicle acceleration of motion in the X-axis direction.
Step 903, to described vehicle in the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction;
Because 3-axis acceleration sensor has intrinsic error, and vehicle also can exist in the process of moving and vibrates the randol noise that causes, therefore need the vehicle got in the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction.
Step 904, according to the vehicle obtained through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle;
Then by the vehicle that obtains through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle.
Step 905, according to the current angular of described vehicle, vehicle to be controlled;
Step 906, judge the acceleration/accel of the Z-direction obtained through smothing filtering be whether on the occasion of, if then enter step 907:
The acceleration/accel of the Z-direction obtained through smothing filtering is judged, when judge the Z-direction obtained through smothing filtering acceleration/accel value from negative value become on the occasion of and remain always on the occasion of time, judge that the vehicle body of vehicle upset has occurred and toppled.
Step 907, control power cell of vehicle cut off high export.
When judge the vehicle body of vehicle there occurs upset topple time, in order to the safety of car load, entire car controller sends CAN instruction to battery management system, and the electrokinetic cell cut off high controlling vehicle exports.
If the function described in the present embodiment method using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computing equipment read/write memory medium.Based on such understanding, the part of the part that the embodiment of the present invention contributes to prior art or this technical scheme can embody with the form of software product, this software product is stored in a storage medium, comprising some instructions in order to make a computing equipment (can be Personal Computer, server, mobile computing device or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only memory (ROM) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
In this specification sheets, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, between each embodiment same or similar part mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a control method of finished, is characterized in that, comprising:
Obtain the acceleration/accel of vehicle in X-axis, Y-axis and Z-direction by 3-axis acceleration sensor, wherein, described X-axis is consistent with vehicle forward direction, and Y-axis is consistent with automobile body left and right directions, and Z axis is consistent with automobile body above-below direction;
Obtain vehicle acceleration of motion in the X-axis direction;
To described vehicle in the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction;
According to the vehicle obtained through smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, calculate the current angular of vehicle;
Current angular according to described vehicle controls vehicle.
2. method according to claim 1, is characterized in that, comprises at the acceleration/accel of X-axis, Y-axis and Z-direction and the smoothing filtering of vehicle acceleration of motion in the X-axis direction described vehicle:
At the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, synchronized sampling is carried out to described vehicle, and sampled value is stored in successively in corresponding queue array;
Adopt the mode of first-in first-out, by new sampled value stored in queue array, sampled value the earliest in queue array is removed simultaneously, remove maxim and the minimum value of sampled value in queue array, remaining sampled value is averaged, obtains the vehicle after smothing filtering in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction.
3. method according to claim 2, is characterized in that, the vehicle that described foundation obtains through smothing filtering is in the acceleration/accel of X-axis, Y-axis and Z-direction and vehicle acceleration of motion in the X-axis direction, and the current angular calculating vehicle comprises:
According to formula
calculate the pitch angle of automobile body, wherein, ACC1x is the vehicle that obtains after the smothing filtering acceleration/accel in X-direction, ACC1z is the vehicle that obtains after the smothing filtering acceleration/accel in Z-direction, and Acc2x is the vehicle acceleration of motion in the X-axis direction obtained after smothing filtering;
According to formula
calculate the angle of roll of automobile body, wherein, ACC1y is the vehicle that obtains after the smothing filtering acceleration/accel in Y direction, and ACC1z is the vehicle that obtains after the smothing filtering acceleration/accel in Z-direction.
4. method according to claim 3, is characterized in that, the described current angular according to described vehicle carries out control to vehicle and comprises:
Pitch angle according to described automobile body carries out uphill starting control to vehicle;
Angle of roll according to described automobile body carries out driving safety control to vehicle.
5. method according to claim 4, is characterized in that, the described pitch angle according to described automobile body carries out uphill starting to vehicle and controls to comprise:
Judge whether vehicle is in uphill starting state, if then:
Pitch angle according to described automobile body obtains corresponding uphill starting assist torque;
Control drive motor in preset duration, export described assist torque.
6. method according to claim 5, is characterized in that, the described pitch angle according to described automobile body carries out uphill starting to vehicle and controls also to comprise:
In described preset duration, judge the speed-slackening signal of vehicle and parking brake signal whether all invalid, if then:
Judge whether the driving torque corresponding to throttle signal of vehicle is greater than described assist torque, if then control drive motor to export described driving torque, if not then:
Control drive motor and export described assist torque.
7. method according to claim 6, is characterized in that, the described pitch angle according to described automobile body carries out uphill starting to vehicle and controls also to comprise:
After described preset duration, control the driving torque of drive motor output corresponding to throttle signal.
8. method according to claim 4, is characterized in that, the described angle of roll according to described automobile body carries out driving safety to vehicle and controls to comprise:
Judge whether described angle of roll is greater than the first predetermined angle, if then:
Judge whether the moving velocity of vehicle is greater than the first pre-set velocity, if then:
Control drive motor and reduce Driving Torque.
9. method according to claim 8, is characterized in that, the described angle of roll according to described automobile body carries out driving safety to vehicle and controls also to comprise:
Judge whether described angle of roll is greater than the second predetermined angle, if then:
Control power cell of vehicle cut off high to export.
10. method according to claim 1, is characterized in that, also comprises:
Judge the acceleration/accel of the Z-direction obtained through smothing filtering be whether on the occasion of, if then:
Control power cell of vehicle cut off high to export.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510459036.0A CN104943692B (en) | 2015-07-30 | 2015-07-30 | A kind of control method of finished |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510459036.0A CN104943692B (en) | 2015-07-30 | 2015-07-30 | A kind of control method of finished |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104943692A true CN104943692A (en) | 2015-09-30 |
| CN104943692B CN104943692B (en) | 2017-12-01 |
Family
ID=54158899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510459036.0A Active CN104943692B (en) | 2015-07-30 | 2015-07-30 | A kind of control method of finished |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104943692B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105786182A (en) * | 2016-02-26 | 2016-07-20 | 深圳还是威健康科技有限公司 | Method and device for controlling periphery devices based on gesture |
| CN107179715A (en) * | 2017-05-23 | 2017-09-19 | 遵义市大地和电气有限公司 | A kind of angle detection device of new energy vehicle |
| CN107600115A (en) * | 2017-09-12 | 2018-01-19 | 中车唐山机车车辆有限公司 | Suitable for the train comprehensive speed computational methods and device of city rail vehicle |
| CN108068823A (en) * | 2017-12-06 | 2018-05-25 | 上海评驾科技有限公司 | A kind of vehicle drive behavioral value method |
| CN109572609A (en) * | 2018-12-19 | 2019-04-05 | 广东翼卡车联网服务有限公司 | A kind of vehicle side turning detection method based on acceleration transducer |
| CN110702428A (en) * | 2019-06-10 | 2020-01-17 | 辽宁龙马安泰网络技术有限责任公司 | Method for detecting instantaneous braking performance of automobile during running |
| CN113173107A (en) * | 2021-04-23 | 2021-07-27 | 天津朗波微电子有限公司 | Lithium battery control device and method for electric brake low-speed electric vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030065430A1 (en) * | 2001-10-01 | 2003-04-03 | Jianbo Lu | Attitude sensing system for an automotive vehicle |
| CN101817313A (en) * | 2010-04-27 | 2010-09-01 | 上海中科深江电动车辆有限公司 | Ramp safe starting control system of electric vehicle |
| CN102167041A (en) * | 2011-01-07 | 2011-08-31 | 深圳市航天星网通讯有限公司 | Method for determining driving state of vehicle based on acceleration sensor |
| CN103171561A (en) * | 2013-03-25 | 2013-06-26 | 广州市雄兵汽车电器有限公司 | Automobile gesture detecting method |
| CN103979012A (en) * | 2014-05-08 | 2014-08-13 | 金华市金开电子科技有限公司 | Vehicle body control system for electric vehicle and method for calculating road gradient |
| CN104723999A (en) * | 2015-03-18 | 2015-06-24 | 邢恩东 | Vehicle auxiliary safe driving instrument and corresponding early warning method and detection method |
-
2015
- 2015-07-30 CN CN201510459036.0A patent/CN104943692B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030065430A1 (en) * | 2001-10-01 | 2003-04-03 | Jianbo Lu | Attitude sensing system for an automotive vehicle |
| CN101817313A (en) * | 2010-04-27 | 2010-09-01 | 上海中科深江电动车辆有限公司 | Ramp safe starting control system of electric vehicle |
| CN102167041A (en) * | 2011-01-07 | 2011-08-31 | 深圳市航天星网通讯有限公司 | Method for determining driving state of vehicle based on acceleration sensor |
| CN103171561A (en) * | 2013-03-25 | 2013-06-26 | 广州市雄兵汽车电器有限公司 | Automobile gesture detecting method |
| CN103979012A (en) * | 2014-05-08 | 2014-08-13 | 金华市金开电子科技有限公司 | Vehicle body control system for electric vehicle and method for calculating road gradient |
| CN104723999A (en) * | 2015-03-18 | 2015-06-24 | 邢恩东 | Vehicle auxiliary safe driving instrument and corresponding early warning method and detection method |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105786182A (en) * | 2016-02-26 | 2016-07-20 | 深圳还是威健康科技有限公司 | Method and device for controlling periphery devices based on gesture |
| CN105786182B (en) * | 2016-02-26 | 2018-12-07 | 深圳还是威健康科技有限公司 | A kind of method and device based on gesture control surrounding devices |
| CN107179715A (en) * | 2017-05-23 | 2017-09-19 | 遵义市大地和电气有限公司 | A kind of angle detection device of new energy vehicle |
| CN107600115A (en) * | 2017-09-12 | 2018-01-19 | 中车唐山机车车辆有限公司 | Suitable for the train comprehensive speed computational methods and device of city rail vehicle |
| CN108068823A (en) * | 2017-12-06 | 2018-05-25 | 上海评驾科技有限公司 | A kind of vehicle drive behavioral value method |
| CN109572609A (en) * | 2018-12-19 | 2019-04-05 | 广东翼卡车联网服务有限公司 | A kind of vehicle side turning detection method based on acceleration transducer |
| CN109572609B (en) * | 2018-12-19 | 2020-08-21 | 广东翼卡车联网服务有限公司 | Automobile rollover detection method based on acceleration sensor |
| CN110702428A (en) * | 2019-06-10 | 2020-01-17 | 辽宁龙马安泰网络技术有限责任公司 | Method for detecting instantaneous braking performance of automobile during running |
| CN110702428B (en) * | 2019-06-10 | 2021-06-04 | 辽宁龙马安泰网络技术有限责任公司 | Method for detecting instantaneous braking performance of automobile during running |
| CN113173107A (en) * | 2021-04-23 | 2021-07-27 | 天津朗波微电子有限公司 | Lithium battery control device and method for electric brake low-speed electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104943692B (en) | 2017-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104943692A (en) | Vehicle control method | |
| CN105636849B (en) | Travel controlling system and travel control method | |
| CN106218442B (en) | A kind of electric car max. speed control method and entire car controller | |
| EP4015280A1 (en) | Energy recovery control method and device, controller, and electric car | |
| CN108760338B (en) | Unmanned on-loop testing device and system | |
| CN104354699A (en) | Method and device for detecting driving behavior information based on OBD (on-board diagnostic) terminal | |
| Zhang et al. | Sideslip Angle Estimation of an Electric Ground Vehicle via Finite-Frequency $\mathcal {H} _ {\infty} $ Approach | |
| CN109131319B (en) | Automatic parking torque control method and device | |
| JP2008089531A (en) | Mobile object with inclined angle estimation mechanism | |
| CN103640541B (en) | A kind of preventing vehicle rollover method utilizing gyro rotor inertia | |
| CN107323272A (en) | Electric automobile energy recovery method and device | |
| US20180354474A1 (en) | Braking system | |
| CN111661060B (en) | Method and device for establishing vehicle longitudinal motion model and computer system | |
| WO2017181651A1 (en) | Method and device for identifying sharp turn of vehicle | |
| CN106976411A (en) | Upward slope householder method and device | |
| CN108725257A (en) | Electric automobile whole-control system and its control method | |
| CN112918443B (en) | Brake control method, device, equipment and storage medium | |
| CN109476303A (en) | Vehicle parking assistance device | |
| CN110843757A (en) | Vehicle control method and device capable of recognizing posture of whole vehicle | |
| CN103713635A (en) | Intelligent trolley control system based on one-chip microcomputer | |
| CN104748725B (en) | Gradient measurement method and device | |
| CN103854336A (en) | Method and device for judging bad driving behavior of sharp right turn of vehicle | |
| CN113673087A (en) | Method and device for simplifying kinematics of curve of low-speed automatic driving | |
| CN207595108U (en) | Unmanned bearing system | |
| CN105833513A (en) | Electric skateboard based on automatic/semi-automatic dual mode control of smart phone |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |