Ramp low speed working condition driving control method for distributed drive off-road vehicles

An off-road vehicle and distributed technology, which is applied in the field of driving control of distributed driving off-road vehicles in low-speed conditions on slopes, can solve the problems of less attention to adaptability to down-slope speed conditions.

Active Publication Date: 2019-10-18
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, less attention has been paid to driver intention recognition, adaptive parking on hills, simplification of driver manipulation, control of vehicle acceleration fluctuations, and adaptability to working conditions of downhill speed.

Method used

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  • Ramp low speed working condition driving control method for distributed drive off-road vehicles
  • Ramp low speed working condition driving control method for distributed drive off-road vehicles
  • Ramp low speed working condition driving control method for distributed drive off-road vehicles

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Embodiment Construction

[0099] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0100] The invention provides a driving control method of a distributed drive off-road vehicle on a ramp at low speed, which includes the following steps:

[0101] S1. Driver intention judgment: based on the real-time output signal of the body attitude kinematics measurement system, combined with the vehicle gear position signal, accelerator pedal opening signal, brake pedal opening signal, real-time vehicle speed signal and real-time rotation speed of each wheel, the The driver's driving intention is judged.

[0102] In the vehicle gear position signal, when the driver selects D gear or off-road gear to drive, the vehicle controller starts this method and makes the following judgments:

[0103] When the body posture measurement device detects that the current slope angle θ>0, if there is a real-time vehicle speed V≤V min , Electronic accelerator pe...

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Abstract

The invention provides a ramp low speed working condition driving control method for distributed drive off-road vehicles. A real-time output signal of a body attitude kinematics measurement system istaken as a basis, and judgement is performed on the driving intentions of a driver by combining a vehicle shift signal, an accelerator pedal opening signal, a brake pedal opening signal, a real-time speed signal and the real-time rotating speed of each wheel; during the driving of a vehicle at a ramp low speed working condition, a temperature sensor monitors the real-time temperature of a wheel hub motor and a motor controller, and when the real-time temperature exceeds a preset safety limit value, prompting can be performed on a vehicle instrument, and an automatic control mode can be pushed;and the automatic control mode includes a semi-active ramp parking control strategy, an anti-slope sliding starting control strategy and a slow downhill control strategy which can be started under the corresponding driving intentions. The method can utilize accurate motor torque control to rapidly respond to the intentions of the driver, so that functions of ramp low speed working condition driving control can be realized.

Description

technical field [0001] The invention belongs to the technical field of wheel hub motor distributed drive vehicle control, and in particular relates to a driving control method of a distributed drive off-road vehicle on a ramp at low speed. Background technique [0002] The existing control methods for electric vehicles on slopes and low-speed driving conditions mainly focus on the following three aspects. In terms of the realization of the ramp parking function, it is mainly based on the control mode of the motor speed, and the ramp parking is realized by controlling the driving motor speed; but the control strategy based on the speed control is easy to cause the motor torque to fail during the ramp parking process. Active limitation, frequent hub motor stalls and other issues. In terms of the realization of the hill start function, it is mainly based on the control mode of the motor torque, such as the start controller based on the feedback closed loop, the anti-slope cont...

Claims

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Application Information

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IPC IPC(8): B60L15/20
CPCB60L15/2018B60L2220/42B60L2220/44B60L2240/12B60L2240/421B60L2240/423B60L2240/425B60L2240/461Y02T10/72
Inventor 付翔杨凤举刘道远吴森
Owner WUHAN UNIV OF TECH
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