A method for preventing runaway vehicle control

Abstract

This invention relates to an anti-rollover control method, comprising the following steps: 1) determining whether to activate the anti-rollover function based on the operating parameters of the drive motor and the vehicle's direction of travel; 2) activating the anti-rollover function and determining whether to enter the anti-rollover state based on the operating status of the drive motor; 3) entering the anti-rollover state, where the drive motor outputs an anti-rollover torque. When the duration of the anti-rollover state exceeds a time threshold, the magnitude of the anti-rollover torque is determined by a speed loop PI regulator. This method can quickly generate anti-rollover torque the instant the vehicle rolls down a slope, avoiding numerous hazards caused by the vehicle rolling downhill. Furthermore, by determining whether the anti-rollover function is activated, false triggering of the anti-rollover state can be effectively avoided. In addition, the speed loop PI regulator can adjust and output the anti-rollover torque value in real time according to the slope and length, avoiding vehicle vibration during anti-rollover operation and improving the driver's driving experience.

Description

Technical Field

[0001] This invention relates to the technical field of preventing vehicles from rolling away, and particularly to a method for controlling vehicle rollaway. Background Technology

[0002] With the increasing popularity of automobiles, people have higher and higher requirements for their safety technology and driving comfort, and the anti-rollback function of automobiles is also receiving more and more attention. At present, the anti-rollback function of automobiles is not perfect, and the whole vehicle vibration is common, which seriously affects the driver's driving experience. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a method for preventing vehicle rollover, which can solve the problem of vehicle vibration during rollover prevention and improve the driver's driving experience.

[0004] The technical solution of the present invention is: a method for preventing runaway vehicle control, comprising the following steps:

[0005] 1) Determine whether to activate the anti-rollover function based on the operating parameters of the drive motor and the direction of the vehicle's travel;

[0006] 2) Activate the anti-runaway function and determine whether to enter the anti-runaway state based on the operating status of the drive motor:

[0007] 3) When the anti-runaway state is entered, the drive motor outputs anti-runaway torque. When the duration of the anti-runaway state is greater than the time threshold, the magnitude of the anti-runaway torque is determined by the speed loop PI regulator.

[0008] Furthermore, the speed ring PI regulator is an incremental PI regulator.

[0009] Furthermore, the magnitude of the anti-runaway torque is determined by the speed ring PI regulator, including:

[0010] The speed setpoint of the speed loop PI regulator is zero, and the speed input value is the actual speed of the drive motor. The speed setpoint and the speed input value constitute the control deviation, and the anti-runaway torque is calculated based on the control deviation.

[0011] Furthermore, the step of calculating and determining the anti-runaway torque based on the control deviation includes:

[0012] The initial output value is obtained by calculation based on the control deviation. The final output value is determined after the initial output value is saturated and limited. The final output value is the anti-runaway torque.

[0013] Furthermore, the step of determining whether to activate the anti-rollover function based on the operating parameters of the drive motor and the vehicle's direction of travel includes:

[0014] Determine if the rotation direction of the drive motor matches the direction of the car's travel; if they match, activate the anti-rollover function.

[0015] Furthermore, before determining whether the rotation direction of the drive motor matches the direction of travel of the vehicle, the method further includes:

[0016] Determine if the drive motor is in drive mode; if so, determine if the rotation direction of the drive motor matches the direction of the car's travel.

[0017] Furthermore, the step of determining whether the drive motor is in drive mode further includes:

[0018] Determine if the speed of the drive motor is less than the speed threshold; if it is, determine if the drive motor is in a driving state.

[0019] Furthermore, the operating states of the drive motor include a rotating and reversing state.

[0020] Furthermore, determining whether to enter the anti-runaway state based on the operating status of the drive motor includes:

[0021] When the drive motor is in the rotating backward state and the number of steps the drive motor rotates backward is greater than the step threshold, it enters the anti-slip state.

[0022] Furthermore, step 3) also includes:

[0023] When the duration of the anti-rollover state is less than or equal to the time threshold, the anti-rollover torque is the maximum torque of the drive motor.

[0024] The above technical solution involves: firstly, determining whether to activate the anti-rollover function based on the operating parameters of the drive motor and the vehicle's direction of travel; if the anti-rollover function is activated, determining whether to enter the anti-rollover state based on the operating status of the drive motor; if the anti-rollover state is entered, the drive motor outputs anti-rollover torque, and when the duration of the anti-rollover state exceeds a time threshold, the magnitude of the anti-rollover torque is determined by the speed loop PI regulator. This allows for the rapid generation of anti-rollover torque the moment the vehicle rolls down a slope, avoiding numerous hazards caused by the vehicle rolling. Furthermore, the determination of whether the anti-rollover function is activated effectively prevents false triggering of the anti-rollover state. In addition, the speed loop PI regulator can adjust and output the anti-rollover torque value in real time according to the slope and length, avoiding vehicle vibration during anti-rollover operation and improving the driver's experience.

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0026] Figure 1A flowchart of a method for preventing runaway vehicle control;

[0027] Figure 2 A detailed flowchart of a method for preventing runaway vehicle control; Detailed Implementation

[0028] Example 1: See Figure 1 A method for preventing runaway vehicle control is provided, comprising the following steps:

[0029] S1: Determine whether to activate the anti-rollover function based on the operating parameters of the drive motor and the direction of the vehicle's travel.

[0030] By determining whether the anti-rollover function is activated, accidental triggering of the anti-rollover state can be effectively avoided. The operating parameters of the drive motor include speed, operating mode, rotation direction, etc. If the operating parameters of the drive motor and the vehicle's direction of travel both meet the set activation conditions, the anti-rollover function is activated; otherwise, it is deactivated or remains deactivated.

[0031] S2: Activate the anti-runaway function and determine whether to enter the anti-runaway state based on the working status of the drive motor.

[0032] When the anti-rollover function is activated, the car enters the anti-rollover state when the working condition of the drive motor meets the entry conditions; otherwise, the car does not enter the anti-rollover state.

[0033] S3: Entering the anti-runaway state, the drive motor outputs anti-runaway torque. When the duration of the anti-runaway state is greater than the time threshold, the magnitude of the anti-runaway torque is determined by the speed loop PI regulator.

[0034] Once the vehicle enters the anti-rollover state, the drive motor outputs anti-rollover torque, which effectively prevents the vehicle from rolling away. A time threshold is preset. When the duration of the anti-rollover state exceeds this threshold, the magnitude of the anti-rollover torque is determined by the speed loop PI controller. The speed loop PI controller can adjust and output the anti-rollover torque value in real time according to the slope and length, avoiding vehicle vibration during anti-rollover and improving the driver's experience. When the duration of the anti-rollover state is less than or equal to the time threshold, the anti-rollover torque is the maximum torque of the drive motor, which can also be used for parking. When the duration is too short, the anti-rollover torque does not need to be determined by the speed loop PI controller, allowing for short-term quick parking.

[0035] Furthermore, the speed ring PI regulator can be an incremental PI regulator, which can effectively reduce overshoot and improve the vehicle's dynamic performance.

[0036] Furthermore, the magnitude of the anti-runaway torque is determined by the speed ring PI regulator, including:

[0037] The speed setpoint of the speed loop PI regulator is zero, and the speed input value is the actual speed of the drive motor. The speed setpoint and speed input value constitute the control deviation. The anti-rollover torque is calculated based on the control deviation. The anti-rollover torque determined in this way is more consistent with the actual state of the vehicle.

[0038] Furthermore, the step of calculating and determining the anti-runaway torque based on the control deviation includes:

[0039] An initial output value is obtained after calculation based on the control deviation. This initial output value is then subjected to saturation limiting to determine the final output value, which is the anti-slip torque. Saturation limiting prevents excessive integral saturation.

[0040] Furthermore, the step of determining whether to activate the anti-rollover function based on the operating parameters of the drive motor and the vehicle's direction of travel includes:

[0041] Determine if the rotation direction of the drive motor matches the direction of the car's travel; if they match, activate the anti-rollover function.

[0042] The direction of rotation of the drive motor refers to the direction of rotation of the motor shaft, while the direction of travel of the car refers to the direction in which the car has shifted relative to its previous position. When the car is moving forward and the drive motor is outputting positive torque, the direction of rotation of the drive motor matches the direction of travel of the car. The anti-rollover function is only activated when this match is achieved, which can prevent the anti-rollover function from being accidentally triggered when reversing.

[0043] Furthermore, before determining whether the rotation direction of the drive motor matches the direction of travel of the vehicle, the method further includes:

[0044] Determine if the drive motor is in drive mode. If so, determine if the drive motor's rotation direction matches the vehicle's direction of travel. First, determine the drive motor's operating mode. If the drive motor is not in drive mode, it can be directly determined that the anti-rollover function is not activated, making the judgment more accurate.

[0045] Furthermore, the step of determining whether the drive motor is in drive mode further includes:

[0046] The system checks if the drive motor's speed is lower than a speed threshold. If it is, it determines whether the drive motor is in driving mode. The speed threshold is a preset speed value. If the drive motor's speed is greater than or equal to the speed threshold, it can also be directly determined that the anti-rollover function is not activated, making the judgment more accurate.

[0047] Furthermore, the operating states of the drive motor include a rotating and reversing state. Specifically, determining whether to enter the anti-rollover state based on the operating state of the drive motor includes:

[0048] When the drive motor is in a rotating-backward state, and the number of steps the drive motor has rotated backward exceeds a step threshold, the vehicle enters an anti-rollback state. The rotating-backward state refers to a mismatch between the actual number of steps the drive motor has rotated and the number of steps it should have rotated. Specifically, the actual number of steps the drive motor has rotated can be determined based on the current electrical angle of the drive motor, the number of steps in one revolution, and the electrical angle of the drive motor in the previous rotation. The number of steps the drive motor has rotated backward is the difference between the actual number of steps the drive motor has rotated and the number of steps it should have rotated. The step threshold is a preset number of steps; for example, when the number of steps the drive motor has rotated backward exceeds 7, the vehicle enters the anti-rollback state.

[0049] The aforementioned anti-rollover control method can quickly generate anti-rollover torque the instant a vehicle rolls down a slope, preventing numerous hazards caused by the vehicle rolling backwards. Furthermore, by determining whether the anti-rollover function is activated, false triggering of the anti-rollover state can be effectively avoided. In addition, the speed ring PI regulator can adjust and output the anti-rollover torque value in real time according to the slope and length, preventing vehicle vibration during anti-rollover operation and improving the driver's experience.

[0050] Example 2: See Figure 2 This paper provides a detailed process for a method to prevent runaway vehicles, including the following steps:

[0051] S21: Determine if the speed of the drive motor is less than the speed threshold. If it is, continue to the next step. The speed threshold can be set to 100 rpm.

[0052] S22: Determine if the drive motor is in drive mode. If so, continue to the next step.

[0053] S23: Determine if the rotation direction of the drive motor matches the vehicle's direction of travel. If they match, proceed to the next step. When the vehicle is moving forward and the drive motor outputs positive torque, the rotation direction of the drive motor matches the vehicle's direction of travel.

[0054] S24: Activate anti-rollover function.

[0055] S25: Determine if the drive motor is rotating in reverse. If so, continue to the next step.

[0056] S26: Determine if the number of steps the drive motor rotates backward is greater than the step threshold. If so, continue to the next step.

[0057] S27: Enter the anti-runaway state and determine whether the duration of the anti-runaway state is greater than the time threshold. If so, the magnitude of the anti-runaway torque output by the drive motor is determined by the speed ring PI regulator. If not, the maximum torque output by the drive motor is used as the anti-runaway torque.

[0058] The time threshold can be set to 1 second. The speed loop PI regulator can be an incremental PI regulator, which can effectively reduce overshoot and improve the vehicle's dynamic performance. Specifically, the speed setpoint of the speed loop PI regulator is zero, and the speed input value is the actual speed of the drive motor. The speed setpoint and speed input value constitute the control deviation. The control deviation is calculated and saturated to determine the final output value, which is the magnitude of the anti-runaway torque.

[0059] The aforementioned anti-rollover control method can quickly generate anti-rollover torque the instant a vehicle rolls down a slope, preventing numerous hazards caused by the vehicle rolling backwards. Furthermore, by determining whether the anti-rollover function is activated, false triggering of the anti-rollover state can be effectively avoided. In addition, the speed ring PI regulator can adjust and output the anti-rollover torque value in real time according to the slope and length, preventing vehicle vibration during anti-rollover operation and improving the driver's experience.

Claims

1. A method for preventing runaway vehicle control, characterized in that, Includes the following steps: 1) Determine whether to activate the anti-rollover function based on the operating parameters of the drive motor and the direction of travel of the vehicle, including determining whether the rotation direction of the drive motor matches the direction of travel of the vehicle. If they match, activate the anti-rollover function. 2) Activate the anti-rollover function and determine whether to enter the anti-rollover state based on the working status of the drive motor: The working status of the drive motor includes the rotation and backward state; the rotation and backward state is the state in which the actual number of steps rotated by the drive motor does not match the number of steps that the drive motor should rotate; when the drive motor is in the rotation and backward state and the number of steps rotated and backward by the drive motor is greater than the step threshold, the anti-rollover state is entered. 3) When the anti-rollover state is entered, the drive motor outputs anti-rollover torque. When the duration of the anti-rollover state is greater than the time threshold, the magnitude of the anti-rollover torque is determined by the speed loop PI regulator. When the duration of the anti-rollover state is less than or equal to the time threshold, the anti-rollover torque is the maximum torque of the drive motor.

2. The anti-runaway vehicle control method according to claim 1, characterized in that: The speed loop PI regulator is an incremental PI regulator.

3. The anti-runaway vehicle control method according to claim 1, characterized in that: The magnitude of the anti-runaway torque is determined by the speed ring PI regulator, including: The speed setpoint of the speed loop PI regulator is zero, and the speed input value is the actual speed of the drive motor. The speed setpoint and the speed input value constitute the control deviation, and the anti-runaway torque is calculated based on the control deviation.

4. The anti-runaway vehicle control method according to claim 3, characterized in that: The step of calculating and determining the anti-runaway torque based on the control deviation includes: The initial output value is obtained by calculation based on the control deviation. The final output value is determined after the initial output value is saturated and limited. The final output value is the anti-runaway torque.

5. The anti-runaway vehicle control method according to claim 1, characterized in that: Before determining whether the rotation direction of the drive motor matches the direction of travel of the vehicle, the following steps are also included: Determine if the drive motor is in drive mode; if so, determine if the rotation direction of the drive motor matches the direction of the car's travel.

6. The anti-runaway vehicle control method according to claim 5, characterized in that: Before determining whether the drive motor is in drive mode, the following steps are also included: Determine if the speed of the drive motor is less than the speed threshold; if it is, determine if the drive motor is in a driving state.

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