A hierarchical control system for a distributed drive electric vehicle

Abstract

The application relates to the technical field of automobile control systems, and discloses a layered control system for a distributed drive electric automobile, which comprises a parameter acquisition and state identification module, the sending end of the parameter acquisition and state identification module is connected with the receiving end of a control target module, a mode layered controller and a whole vehicle management module respectively, the sending end of the control target module is connected with the receiving end of the mode layered controller, and the mode layered controller is in bidirectional communication connection with the whole vehicle management module. In the process of driving or parking of the electric automobile, a plurality of information such as the whole vehicle quality, the driving slope, the longitudinal vehicle speed, the road adhesion coefficient and the eccentric angle coefficient is acquired in real time, then the mode layered controller performs multi-mode layered control on the electric automobile through the transmission, and the braking performance of the automobile is maximized under the premise of meeting the safety of the electric automobile.

Description

Technical Field

[0001] This invention relates to the field of automotive control system technology, specifically to a distributed drive electric vehicle hierarchical control system. Background Technology

[0002] With the rapid development of science and technology, electric vehicle technology has also continued to develop, and electric vehicles have gradually become more popular in people's lives. Energy saving, environmental protection, and safety are the three major themes of electric vehicle development. Among them, distributed drive electric vehicles have a unique power system and transmission system, and the torque of each drive wheel is independently controllable, which brings great advantages to the vehicle chassis dynamics control.

[0003] Due to the complexity of vehicle driving conditions and the instability of vehicle parameters, existing vehicle control systems cannot meet the dual requirements of power and safety for electric vehicles. Therefore, those skilled in the art have proposed a distributed drive electric vehicle hierarchical control system to solve the aforementioned technical problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a distributed drive hierarchical control system for electric vehicles, which solves the problem that existing electric vehicle control systems cannot meet the dual requirements of power and safety for electric vehicles.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a distributed drive electric vehicle hierarchical control system, comprising a parameter acquisition and state identification module, wherein the transmitting end of the parameter acquisition and state identification module is connected to the receiving end of a control target module, a mode hierarchical controller, and a vehicle management module, respectively; the transmitting end of the control target module is connected to the receiving end of the mode hierarchical controller; and the mode hierarchical controller establishes a bidirectional communication connection with the vehicle management module.

[0006] The parameter acquisition and status identification module is used to identify the electric vehicle and collect its parameter data, and transmit the information data to the control target module, the mode hierarchical controller, and the vehicle management module respectively. The control target module is used to receive the information data transmitted by the parameter acquisition and status identification module, generate corresponding control information, and then transmit it to the mode hierarchical controller. The mode hierarchical controller is used to receive the data information transmitted by the parameter acquisition and status identification module and the control target module, and perform corresponding control adjustments and executions on the vehicle according to the received data information. The vehicle management module is used to receive the data information transmitted by the parameter acquisition and status identification module and the mode hierarchical controller, and manage the electric vehicle as a whole according to its data information.

[0007] Preferably, the parameter acquisition and state identification module consists of a road surface adhesion coefficient unit, a slope coefficient unit, a vehicle state unit, a vehicle speed coefficient unit, and an eccentricity angle coefficient unit. The road surface adhesion coefficient unit is used to collect data on the adhesion force between the wheels and the road surface during the driving process of the electric vehicle. The slope coefficient unit is used to collect data on the slope of the road surface during the driving process of the electric vehicle. The vehicle state unit is used to collect data on the overall state of the electric vehicle. The vehicle speed coefficient unit is used to collect data on the vehicle speed parameters during the driving process of the electric vehicle. The eccentricity angle coefficient unit is used to collect data on the sideslip angle of the center of gravity during the driving process of the vehicle.

[0008] Preferably, the control target module comprises a drive efficiency unit, a compound braking unit, a steering assist unit, a handling improvement unit, a stability control unit, and an anti-rollover control unit. The drive efficiency unit converts received data into drive efficiency information and drive signals. The compound braking unit converts received data into compound braking control signals for the electric vehicle. The steering assist unit converts received data into steering assist control signals for the electric vehicle. The handling improvement unit converts received data into handling improvement control signals for the electric vehicle. The stability control unit converts received data into stability control signals for the electric vehicle. The anti-rollover control unit converts received data into anti-rollover control signals for the electric vehicle.

[0009] Preferably, the mode hierarchical controller comprises a mode recognition module, a vehicle control module, an adaptive control module, and an execution module. The mode recognition module is used to identify the mode information used by the electric vehicle based on the information data and control signals it receives. The vehicle control module is used to perform various functions of the electric vehicle based on the control signals it receives. The adaptive module is used to perform adaptive control adjustments based on the vehicle's driving state. The execution module is used to receive and execute the transmitted control signals.

[0010] Preferably, the vehicle control module consists of a TCS unit, an ABS unit, a HIC unit, and an ESC unit. The TCS unit is used to track and control the traction force of the rotating wheels of the electric vehicle in real time. The ABS unit is used to automatically adjust the braking force of the wheels of the electric vehicle, thereby improving the directional stability and steering ability of the electric vehicle during braking. The HIC unit is used for the simplified interaction between the electric vehicle and the mobile device. The ESC unit is used to control the vehicle body stability of the electric vehicle during braking.

[0011] Preferably, the adaptive control module comprises a vehicle status unit, a road surface adhesion unit, and a driving condition unit. The vehicle status unit is used to identify the vehicle status information of the electric vehicle, the road surface adhesion unit is used to determine the road surface adhesion force based on the vehicle status information of the electric vehicle, and the driving condition unit is used to determine the driving condition of the vehicle based on the vehicle status information of the electric vehicle.

[0012] Preferably, the vehicle management module comprises a regenerative braking unit, a sensor fault diagnosis unit, a sensor fault processing unit, a motor fault processing unit, and a driving intention recognition unit. The regenerative braking unit is used to receive braking information data transmitted from the vehicle control module. The sensor fault diagnosis unit is used to diagnose fault information data of sensors at various locations of the electric vehicle. The sensor fault processing unit is used to process sensor faults based on the fault information data transmitted by the sensor fault diagnosis unit.

[0013] Preferably, the motor fault processing unit is used to analyze and process motor faults in electric vehicles, and the driving intention recognition unit is used to recognize the driving intention of the driver of the electric vehicle and make corresponding safety adjustments.

[0014] This invention provides a distributed drive hierarchical control system for electric vehicles. It has the following advantages:

[0015] 1. This invention collects multiple information in real time, such as vehicle mass, driving gradient, longitudinal speed, road adhesion coefficient, and eccentricity coefficient, during the driving or parking process of an electric vehicle. Then, the mode layer controller uses the transmitted information to perform multi-mode layer control of the electric vehicle, which maximizes the braking performance of the vehicle while ensuring the safety of the electric vehicle.

[0016] 2. This invention uses distributed drive and hierarchical control to increase the speed of electric vehicles by 10-15% during normal driving and to increase the reaction speed by 10-12% during emergency obstacle avoidance. The stability of this distributed drive method is also higher than that of traditional four-wheel drive vehicles equipped with ESC.

[0017] 3. Compared with traditional four-wheel drive vehicles, the distributed drive control system disclosed in this invention has a more optimized drive torque distribution and adopts a composite braking distribution energy consumption optimization strategy, resulting in lower energy consumption and better energy saving compared with traditional electric vehicles. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the system framework architecture of the present invention; Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example:

[0021] Please see the appendix Figure 1 This invention provides a distributed drive electric vehicle hierarchical control system, including a parameter acquisition and state identification module. The transmitting end of the parameter acquisition and state identification module is connected to the receiving ends of the control target module, the mode hierarchical controller, and the vehicle management module, respectively. The transmitting end of the control target module is connected to the receiving end of the mode hierarchical controller, and the mode hierarchical controller establishes a bidirectional communication connection with the vehicle management module.

[0022] The parameter acquisition and status identification module is used to identify electric vehicles and collect their parameter data, and then transmit this information data to the control target module, the mode hierarchical controller, and the vehicle management module. The control target module receives the information data transmitted from the parameter acquisition and status identification module, generates corresponding control information, and then transmits it to the mode hierarchical controller. The mode hierarchical controller receives the data information transmitted from the parameter acquisition and status identification module and the control target module, and performs corresponding control adjustments and executions on the vehicle based on the received data information. The vehicle management module receives the data information transmitted from the parameter acquisition and status identification module and the mode hierarchical controller, and manages the electric vehicle as a whole based on the data information.

[0023] Electric vehicle controllers typically consist of a microcontroller or digital signal processor and related small-signal electronic circuits. Their main function is to process information and generate the switching signals required by the semiconductor switching devices of the power converter. This section discusses the relationships between the main components of the motor drive system, the energy storage device, and the motor.

[0024] The parameter acquisition and status identification module consists of a road surface adhesion coefficient unit, a slope coefficient unit, a vehicle status unit, a vehicle speed coefficient unit, and an eccentricity angle coefficient unit. The road surface adhesion coefficient unit is used to collect data on the adhesion force between the wheels and the road surface during the driving process of the electric vehicle. The slope coefficient unit is used to collect data on the slope of the road surface during the driving process of the electric vehicle. The vehicle status unit is used to collect data on the overall status of the electric vehicle. The vehicle speed coefficient unit is used to collect data on the vehicle speed parameters during the driving process of the electric vehicle. The eccentricity angle coefficient unit is used to collect data on the sideslip angle of the center of gravity during the driving process of the vehicle.

[0025] The parameter acquisition and status identification module serves as the initial front-end module of the electric vehicle control system. It is responsible for determining the operating status of the electric vehicle and collecting various parameter information during the electric vehicle's driving process, thereby providing a data foundation for subsequent control signal generation and vehicle management.

[0026] The control target module consists of a drive efficiency unit, a compound braking unit, a steering assist unit, a handling improvement unit, a stability control unit, and an anti-rollover control unit. The drive efficiency unit converts the received data into drive efficiency data and drive signals. The compound braking unit converts the received data into compound braking control signals for the electric vehicle. The steering assist unit converts the received data into steering assist control signals for the electric vehicle. The handling improvement unit converts the received data into handling improvement control signals for the electric vehicle. The stability control unit converts the received data into stability control signals for the electric vehicle. The anti-rollover control unit converts the received data into anti-rollover control signals for the electric vehicle.

[0027] Electric drive systems for electric traction require fast response and high efficiency, thus falling under the category of high-performance drive systems. The control algorithms for these motor drive systems are computationally intensive, necessitating fast processors and numerous feedback signal interfaces. Modern processors are primarily digital signal processors, replacing the older analog signal processors.

[0028] The mode hierarchical controller consists of a mode recognition module, a vehicle control module, an adaptive control module, and an execution module. The mode recognition module is used to identify the mode information used by the electric vehicle based on the information data and control signals it receives. The vehicle control module is used to perform various functions of the electric vehicle based on the control signals it receives. The adaptive module is used to perform adaptive control adjustments based on the vehicle's driving status. The execution module is used to receive and execute the transmitted control signals.

[0029] The role of DC / DC and DC / AC converters in new energy vehicle drive systems: The controller manages and processes system information to control the power flow of the electric drive system. The controller acts according to the driver's input commands while adhering to the motor's control algorithm. Over decades of development, various motors have developed numerous control algorithms. Some of these algorithms are used in high-performance drive systems, while others are used in less demanding speed-regulating drive systems.

[0030] The vehicle control module consists of a TCS unit, an ABS unit, a HIC unit, and an ESC unit. The TCS unit is used to track and control the traction force of the electric vehicle's rotating wheels in real time. The ABS unit is used to automatically adjust the braking force of the electric vehicle's wheels, thereby improving the electric vehicle's directional stability and steering ability during braking. The HIC unit is used for the simplified interaction between the electric vehicle and the mobile device. The ESC unit is used to control the vehicle's stability during braking.

[0031] The adaptive control module consists of a vehicle status unit, a road surface adhesion unit, and a driving condition unit. The vehicle status unit is used to identify the vehicle status information of the electric vehicle, the road surface adhesion unit is used to determine the road surface adhesion based on the vehicle status information of the electric vehicle, and the driving condition unit is used to determine the driving condition of the vehicle based on the vehicle status information of the electric vehicle.

[0032] The vehicle management module consists of a regenerative braking unit, a sensor fault diagnosis unit, a sensor fault processing unit, a motor fault processing unit, and a driving intention recognition unit. The regenerative braking unit is used to receive braking information data transmitted from the vehicle control module. The sensor fault diagnosis unit is used to diagnose fault information data of sensors at various locations in the electric vehicle. The sensor fault processing unit is used to process sensor faults based on the fault information data transmitted by the sensor fault diagnosis unit.

[0033] In electric vehicles, all sensors have a control input gate, and power devices are turned on or off according to the control signal output by the controller. Over the past 20 years, power semiconductor technology has developed rapidly, enabling DC and AC motor drive systems to quickly become smaller, more efficient, and more reliable. In the motor drive systems of pure electric vehicles and hybrid electric vehicles, the most commonly used sensor is the IGBT. The voltage, current range, and switching frequency of IGBTs fully meet the requirements of electric drive systems.

[0034] The motor fault handling unit is used to analyze and process motor faults in electric vehicles, and the driving intention recognition unit is used to recognize the driving intentions of the electric vehicle driver and make corresponding safety adjustments.

[0035] The electric motor drive system of new energy vehicles includes a DC-DC converter and an AC-AC converter. The DC-DC converter drives a DC motor, and the AC-AC converter drives an AC motor. The power converter is composed of high-power, fast-response semiconductor devices. The solid-state devices in the power electronic circuits of the motor drive system act as electronic switches to convert constant voltage into variable-frequency, variable-voltage power. Motor failure is one of the main sources of failure in electric vehicles; therefore, a motor fault handling unit can promptly eliminate motor faults, thereby ensuring the normal operation and use of the electric vehicle.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A distributed drive electric vehicle hierarchical control system, comprising a parameter acquisition and state identification module, characterized in that, The transmitting end of the parameter acquisition and status identification module is connected to the receiving end of the control target module, the mode hierarchical controller and the vehicle management module respectively. The transmitting end of the control target module is connected to the receiving end of the mode hierarchical controller. The mode hierarchical controller establishes a bidirectional communication connection with the vehicle management module. The parameter acquisition and status identification module is used to identify the electric vehicle and acquire its parameter data, and transmit the information data to the control target module, the mode hierarchical controller and the vehicle management module respectively. The control target module is used to receive the information data transmitted by the parameter acquisition and status identification module, generate corresponding control information and then transmit it to the mode hierarchical controller. The mode hierarchical controller is used to receive the data information transmitted by the parameter acquisition and status identification module and the control target module, and perform corresponding control adjustments and executions on the vehicle according to the received data information. The vehicle management module is used to receive the data information transmitted by the parameter acquisition and status identification module and the mode hierarchical controller, and manage the electric vehicle as a whole according to its data information. The control target module consists of a drive efficiency unit, a compound braking unit, a steering assist unit, a handling improvement unit, a stability control unit, and an anti-rollover control unit; The mode hierarchical controller consists of a mode recognition module, a vehicle control module, an adaptive control module, and an execution module. The mode recognition module is used to identify the mode information used by the electric vehicle based on the information data and control signals it receives. The vehicle control module is used to perform various functions of the electric vehicle based on the control signals it receives. The adaptive control module is used to perform adaptive control adjustment based on the vehicle's driving state. The execution module is used to receive and execute the transmitted control signals. The vehicle control module consists of a TCS unit, an ABS unit, a HIC unit, and an ESC unit. The TCS unit is used to track and control the traction force of the electric vehicle's rotating wheels in real time. The ABS unit is used to automatically adjust the braking force of the electric vehicle's wheels, thereby improving the electric vehicle's directional stability and steering ability during braking. The HIC unit is used for simplified interaction between the electric vehicle and the mobile device. The ESC unit is used to control the vehicle's stability during braking. The adaptive control module consists of a vehicle status unit, a road surface adhesion unit, and a driving condition unit. The vehicle status unit is used to identify the vehicle status information of the electric vehicle. The road surface adhesion unit is used to determine the road surface adhesion force based on the vehicle status information of the electric vehicle. The driving condition unit is used to determine the driving condition of the vehicle based on the vehicle status information of the electric vehicle.

2. The distributed drive electric vehicle hierarchical control system according to claim 1, characterized in that, The parameter acquisition and status identification module consists of a road surface adhesion coefficient unit, a slope coefficient unit, a vehicle status unit, a vehicle speed coefficient unit, and an eccentricity angle coefficient unit. The road surface adhesion coefficient unit is used to collect data on the adhesion force between the wheels and the road surface during the driving process of the electric vehicle. The slope coefficient unit is used to collect data on the slope of the road surface during the driving process of the electric vehicle. The vehicle status unit is used to collect data on the overall vehicle status of the electric vehicle. The vehicle speed coefficient unit is used to collect data on the vehicle speed parameters during the driving process of the electric vehicle. The eccentricity angle coefficient unit is used to collect data on the sideslip angle of the center of gravity during the driving process of the vehicle.

3. The distributed drive electric vehicle hierarchical control system according to claim 1, characterized in that, The drive efficiency unit is used to convert the received data information into drive efficiency information data and drive signals. The composite braking unit is used to convert the received information data into composite braking control signals for the electric vehicle. The steering assist unit is used to convert the received information data into steering assist control signals for the electric vehicle. The handling improvement unit is used to convert the received information data into handling improvement control signals for the electric vehicle. The stability control unit is used to convert the received information data into stability control signals for the electric vehicle. The anti-rollover control unit is used to convert the received information data into anti-rollover control signals for the electric vehicle.

4. A distributed drive electric vehicle hierarchical control system according to claim 1, characterized in that, The vehicle management module consists of a regenerative braking unit, a sensor fault diagnosis unit, a sensor fault processing unit, a motor fault processing unit, and a driving intention recognition unit. The regenerative braking unit is used to receive braking information data transmitted from the vehicle control module. The sensor fault diagnosis unit is used to diagnose fault information data of sensors at various locations of the electric vehicle. The sensor fault processing unit is used to process sensor faults based on the fault information data transmitted by the sensor fault diagnosis unit.

5. A distributed drive electric vehicle hierarchical control system according to claim 4, characterized in that, The motor fault processing unit is used to analyze and process motor faults in electric vehicles, and the driving intention recognition unit is used to recognize the driving intention of the driver of the electric vehicle and make corresponding safety adjustments.

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