Pure electric bus driving mode self-adaptive switching control method and system

Abstract

The invention discloses a self-adaptive switching control method and system for a driving mode of a pure electric bus, and belongs to the technical field of new energy pure electric buses. A whole vehicle controller obtains dynamic characteristic parameters of a driver and dynamic characteristic parameters of a vehicle in a current driving environment through a sensing mechanism; according to the dynamic characteristic parameters of the driver and the dynamic characteristic parameters of the vehicle, the current driving environment of the vehicle is judged, and a corresponding driving mode instruction is sent to an execution mechanism according to the driving environment; and the execution mechanism obtains the driving mode instruction and controls the corresponding parameters to meet the parameter conditions corresponding to the driving modes, so that the self-adaptive switching of the driving modes is realized. Various factors such as the driving environment, the driver behavior and the vehicle working condition are fused, the optimal driving mode switching strategy is comprehensively formulated and judged, and self-adaptive switching of the driving modes such as motion, economy, standard and mountain road is achieved, so that the driver behavior and the current driving environment are more comprehensively and accurately adapted.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy pure electric buses, and in particular to a pure electric bus driving mode adaptive switching control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] At present, the more common driving modes of pure electric buses include sports mode, standard mode, and economic mode. The mode switching methods mainly include knob type, button type, toggle type, etc.

[0004] The current driving mode switching system of pure electric buses requires manual operation by the driver, which requires the driver to have a clear understanding of the current driving environment and whether the driving mode matches the vehicle, and has high requirements for driving professionalism. In addition, if the driver does not actively switch the mode, the vehicle's driving mode will no longer change if the manual operation is adopted, and it will not be able to adapt to the complex and time-changing traffic environment, which will not only affect the driving experience, but also increase the vehicle's energy consumption. If the driving mode is switched manually frequently, it may distract the driver's attention and have a certain impact on driving safety. Summary of the invention

[0005] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a pure electric bus driving mode adaptive switching control method and system, which integrates multiple factors such as driving environment, driver behavior and vehicle operating conditions, and comprehensively determines the best driving mode switching strategy, so as to adapt to different driving environments more comprehensively and accurately.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, the present invention provides a method for adaptively switching driving modes of a pure electric bus, comprising:

[0008] The vehicle controller obtains the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters under the current driving environment through the sensing mechanism, determines the current driving environment of the vehicle according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, and sends a corresponding driving mode instruction to the actuator according to the driving environment;

[0009] The actuator obtains the driving mode instruction, controls corresponding parameters to meet the parameter conditions corresponding to the driving mode, and realizes adaptive switching of the driving mode.

[0010] According to a further technical solution, the driver's dynamic characteristic parameters include an accelerator pedal opening, a brake pedal opening, and a steering wheel angle, and the vehicle's dynamic characteristic parameters include a vehicle speed.

[0011] According to a further technical solution, the driving modes include standard mode, sports mode, economy mode and mountain road mode.

[0012] As a further technical solution, the mountain road mode is integrated with a safe descent function, specifically: when the vehicle exceeds a preset speed limit, the vehicle controller performs auxiliary braking on the vehicle.

[0013] A further technical solution is to determine the current driving environment of the vehicle based on the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, specifically: comparing the acquired driver dynamic characteristic parameters and vehicle dynamic characteristic parameters with the driver dynamic characteristic parameter and vehicle dynamic characteristic parameter thresholds set in the corresponding driving mode to determine the applicable driving mode.

[0014] A further technical solution is that when multiple driving modes are applicable, the driving mode with the highest priority is applied first.

[0015] According to a further technical solution, the actuator controls corresponding parameters, specifically, adjusting motor power, torque coefficient, torque gradient change rate, maximum allowable operating power of the air conditioner, and coasting energy recovery level.

[0016] In a second aspect, the present invention provides a pure electric bus driving mode adaptive switching control system, comprising:

[0017] A mode switching instruction sending module is configured as follows: the vehicle controller obtains the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters under the current driving environment through the sensing mechanism, determines the current driving environment of the vehicle according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, and sends a corresponding driving mode instruction to the execution mechanism according to the driving environment;

[0018] The mode switching instruction execution module is configured as follows: the execution mechanism obtains the driving mode instruction, controls the corresponding parameters to meet the parameter conditions corresponding to the driving mode, and realizes the adaptive switching of the driving mode.

[0019] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in a pure electric bus driving mode adaptive switching control method as described in the first aspect.

[0020] In a fourth aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for adaptively switching driving modes of a pure electric bus as described in the first aspect are implemented.

[0021] One or more of the above technical solutions have the following beneficial effects:

[0022] The present invention extracts characteristic parameters such as vehicle speed signal, acceleration signal, brake signal, steering wheel angle signal, etc. according to the dynamic response characteristics of the driver and vehicle under different driving environments, and identifies the current driving environment. It integrates multiple factors such as driving environment, driver behavior and vehicle working conditions, comprehensively formulates and judges the best driving mode switching strategy, and realizes adaptive switching of driving modes such as sports, economy, standard, mountain road, etc., so as to adapt to the driver's behavior and the current driving environment more comprehensively and accurately.

[0023] The present invention innovatively designs a mountain road mode and integrates a safe mountain descent function in the mountain road mode, thereby improving vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1 is a flowchart of adaptive switching of driving modes according to an embodiment of the present invention;

[0026] Figure 2 It is a flowchart of the adaptive switching of driving modes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0029] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0030] Embodiment 1

[0031] like Figure 1 As shown, this embodiment discloses a pure electric bus driving mode adaptive switching control method, including:

[0032] The vehicle controller obtains the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters under the current driving environment through the sensing mechanism, determines the current driving environment of the vehicle according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, and sends a corresponding driving mode instruction to the actuator according to the driving environment;

[0033] The actuator obtains the driving mode instruction, controls corresponding parameters to meet the parameter conditions corresponding to the driving mode, and realizes adaptive switching of the driving mode.

[0034] In this embodiment, the driver dynamic characteristic parameters include characteristic parameters such as accelerator pedal opening, brake pedal opening, steering wheel angle, etc., and the vehicle dynamic characteristic parameters include characteristic parameters such as vehicle speed. The sensing mechanism includes an accelerator pedal position sensor, a brake pedal position sensor, a steering wheel angle sensor, etc. The vehicle controller obtains the accelerator pedal opening signal, the brake pedal opening signal, and the steering wheel steering angle signal through the sensing mechanism, and converts the analog signal into accelerator pedal opening information, brake pedal opening information, and steering wheel angle information; the vehicle controller obtains vehicle speed information through the CAN bus.

[0035] In this embodiment, the driving modes include standard mode, sports mode, economic mode and mountain road mode. The mountain road mode has the highest priority level 1, the sports mode has the second priority level, the economic mode has the third priority level, and the standard mode has the fourth priority level.

[0036] 1. Standard mode

[0037] Setting ①: The vehicle enters the standard driving mode every time it is powered on; Setting ②: The vehicle controller detects the sport mode flag bit SportFlag = 0, the economic mode flag bit EcoFlag = 0, and the mountain road mode flag bit MountTainFlag = 0, and sends the standard mode flag bit StandFlag = 1, and the vehicle enters the standard mode. The corresponding mode flag bit is used for the vehicle controller to control the model's own logic judgment.

[0038] In this mode, the motor power is set to 80% of the external characteristic power, the torque gradient change rate is set to reach the motor peak torque in 2.5s under the condition of fully stepping on the accelerator pedal, the maximum allowable working power of the air conditioner is set to 100%, and the coasting energy recovery level is set to level 2. The torque coefficient is shown in Table 1, in which S (%) is the accelerator pedal opening, L is the torque coefficient, and corresponds to the peak torque of the motor at different speeds.

[0039] Table 1. Torque coefficients in standard mode

[0040] S(％) 0 15 30 45 60 80 90 100 L 0 0.23 0.40 0.60 0.65 0.80 0.90 1

[0041] 2. Sports Mode

[0042] In the sports mode, the motor responds more sensitively to the accelerator pedal, the torque gradient change rate increases, and the vehicle acceleration performance is improved, which is suitable for driving environments such as overtaking and intense driving. Extract the dynamic characteristic parameters of the vehicle and driver under this driving environment, and set ③: the accelerator pedal positive opening change rate within 1s is ≥30%, the vehicle controller sends the sports mode flag SportFlag = 1, and the vehicle enters the sports mode.

[0043] In this mode, the motor power is set to the peak power of the motor, the torque gradient change rate is set to reach the peak torque of the motor in 1s under the condition of fully stepping on the accelerator pedal, the maximum allowable working power of the air conditioner is set to 85%, and the coasting energy recovery level is set to level 1. In the sports mode, set ④: exit the sports mode when the brake pedal opening is >3%, and the vehicle controller sends the sports mode flag SportFlag = 0.

[0044] In order to prevent the torque from changing significantly when the vehicle switches from economy mode to sport mode, which may cause a large longitudinal impact on the vehicle, setting ⑤: the maximum torque change between the sport mode and the economy mode at the same motor speed is <280Nm. The specific torque coefficient under the sport mode is shown in Table 2.

[0045] Table 2. Torque coefficients in sport mode

[0046] S(％) 0 15 30 45 60 80 90 100 L 0 0.35 0.50 0.65 0.80 0.90 0.95 1

[0047] 3. Economic model

[0048] In economic mode, the motor power output is smooth, the vehicle dynamics is reduced, and the economic performance is improved. It is suitable for slow-moving sections in cities and uniform-speed driving environments such as highways, national and provincial roads. Extract the dynamic characteristic parameters of the driver and vehicle in this driving environment, and set ⑥: vehicle speed is greater than >80km / h, the standard deviation of vehicle speed within 10s is <15km / h, and the steering wheel angle is less than 90° within 300s; set ⑦: vehicle speed <20km / h, the number of times the accelerator pedal positive opening rate changes ≥5% within 60s is >3, the number of times the brake pedal positive opening rate changes ≥5% is >3, and the steering wheel angle is less than 90° within 300s. When setting ⑥ or setting ⑦ is met, the vehicle controller sends the economic mode flag EcoFlag = 1, and the vehicle enters the economic mode.

[0049] In this mode, the motor power is set to the continuous output power of the motor, the torque gradient change rate is set to reach the peak torque of the motor in 3.5s under the condition of fully stepping on the accelerator pedal, the maximum allowable working power of the air conditioner is set to 85%, and the coasting energy recovery level is set to level three. In economic mode, setting ⑧: vehicle speed <80km / h (corresponding to entering economic mode setting ⑥); setting ⑨: vehicle speed >20km / h (corresponding to entering economic mode setting ⑦). When setting ⑧ or setting ⑨ is met, the vehicle controller sends the economic mode flag EcoFlag = 0, and the vehicle exits the economic mode. The corresponding torque coefficient in economic mode is shown in Table 3.

[0050] Table 3. Torque coefficient in economic mode

[0051] S(％) 0 15 30 45 60 80 90 100 L 0 0.15 0.30 0.50 0.60 0.75 0.85 1

[0052] 4. Mountain Road Mode

[0053] The mountain road driving mode is suitable for winding mountain roads, which have many bends. The driver will decelerate by pressing the brake pedal before turning, and accelerate by pressing the accelerator pedal after turning, hoping to restore the vehicle speed in a short time. The dynamic characteristic parameters of the driver and vehicle in this driving environment are extracted, and setting ⑩: within 300s, the number of times the accelerator pedal positive opening rate change rate ≥ 30% is greater than 3 and the number of times the brake pedal positive opening rate change rate ≥ 20% is greater than 3 and the steering wheel steering angle is greater than 90°. When setting ⑩ is met, the vehicle controller sends the mountain road mode flag MountTainFlag = 1, and the vehicle enters the mountain road mode.

[0054] In this mode, the settings of motor power, torque gradient change rate, torque coefficient, maximum allowable air conditioning operating power, glide energy recovery level and other parameters are the same as those in the sports mode. Within 300s, the number of times the accelerator pedal positive opening rate changes by ≥30% is less than 3 and the steering wheel angle is less than 90°. When the vehicle controller sends the mountain road mode flag MountainFlag = 0, the vehicle exits the mountain road mode.

[0055] In addition, to ensure safe driving of the vehicle, the mountain road mode integrates a safe downhill function based on the sports mode, that is, when the vehicle exceeds the preset speed limit, the vehicle controller assists the vehicle in braking. Specifically, when the vehicle speed exceeds the designed speed limit, the vehicle controller requests the motor to output a reverse torque, and the reverse torque value is set to 80% of the maximum output torque at the current motor speed.

[0056] In this embodiment, the driving environment of the current vehicle is determined based on the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, specifically: the obtained driver dynamic characteristic parameters and vehicle dynamic characteristic parameters are compared with the driver dynamic characteristic parameters and vehicle dynamic characteristic parameter thresholds set in the corresponding driving mode to determine the applicable driving mode. In other words, the vehicle controller determines the driving environment by setting the thresholds of relevant signals such as vehicle speed, pedals, and steering wheel angle.

[0057] When the driving environment and vehicle operating conditions are suitable for multiple driving modes, the driving mode with the highest priority is applied first, and adaptive switching of driving modes is achieved based on the priority of the driving modes.

[0058] Driving environment refers to the road environment, which can be generally understood as ordinary national and provincial roads, expressways, congested environments, etc. Vehicle operating conditions refer to the current parameters of the vehicle.

[0059] In this embodiment, the actuator controls the corresponding parameters, specifically: adjusting the motor power, torque coefficient, torque gradient change rate, maximum allowable working power of the air conditioner, and coasting energy recovery level, and the driving mode is switched by adjusting the above parameters. Specifically, the torque coefficient is the ratio of the actual output torque of the motor to the rated output torque of the motor at the current speed, the torque gradient change rate is the rate at which the torque changes in a unit time, the motor power and the maximum allowable working power of the air conditioner are adjusted by the motor and the air conditioner receiving the power limit command from the vehicle controller, and the coasting energy recovery level is achieved by adjusting the requested torque value sent by the vehicle controller.

[0060] The coasting energy recovery is achieved by requesting the vehicle controller to output the anti-drag torque to the motor. The coasting energy recovery level is divided into three levels: level one: the coasting anti-drag torque in gear I is -50Nm, and the coasting anti-drag torque in gear II is -100Nm; level two: the coasting anti-drag torque in gear I is -75Nm, and the coasting anti-drag torque in gear II is -150Nm; level three: the coasting anti-drag torque in gear I is -100Nm, and the coasting anti-drag torque in gear II is -200Nm.

[0061] The actuator includes a motor controller, a motor, an air conditioner and other equipment. The motor controller obtains the relevant instructions sent by the vehicle controller through the CAN bus and controls the motor to execute. In the method of this embodiment, the vehicle has no driving mode switching switch or button.

[0062] In the present invention, the vehicle controller determines the current driving environment of the vehicle through the accelerator pedal signal, vehicle speed signal, brake pedal signal, steering wheel angle signal, etc., and dynamically adjusts the maximum allowable working power of the air conditioner, motor power, torque coefficient, torque gradient change rate, sliding energy recovery level and other parameters in real time according to the driving environment to achieve adaptive switching of driving modes. This method does not require the driver to manually operate the driving mode switching button, and the system dynamically matches the driving mode in real time according to the driving environment.

[0063] Embodiment 2

[0064] This embodiment discloses a pure electric bus driving mode adaptive switching control system, including:

[0065] A mode switching instruction sending module is configured as follows: the vehicle controller obtains the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters under the current driving environment through the sensing mechanism, determines the current driving environment of the vehicle according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, and sends a corresponding driving mode instruction to the execution mechanism according to the driving environment;

[0066] The mode switching instruction execution module is configured as follows: the execution mechanism obtains the driving mode instruction, controls the corresponding parameters to meet the parameter conditions corresponding to the driving mode, and realizes the adaptive switching of the driving mode.

[0067] The system includes a vehicle controller, accelerator pedal position sensor, brake pedal position sensor and other sensing mechanisms, motor controller, motor and other actuators, and no driving mode switching switch or button.

[0068] Embodiment 3

[0069] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of embodiment 1 when executing the program.

[0070] Embodiment 3

[0071] The purpose of this embodiment is to provide a computer-readable storage medium, a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method of embodiment 1 are performed.

[0072] The steps involved in the apparatus of the above embodiments 3 and 4 correspond to the method embodiment 1, and the specific implementation method can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0073] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0075] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A pure electric bus driving mode adaptive switching control method, characterized in that: include: The vehicle controller obtains the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters under the current driving environment through the sensing mechanism, determines the current driving environment of the vehicle according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, and sends a corresponding driving mode instruction to the actuator according to the driving environment; The actuator obtains the driving mode instruction, controls corresponding parameters to meet the parameter conditions corresponding to the driving mode, and realizes adaptive switching of the driving mode.

2. A pure electric bus driving mode adaptive switching control method as claimed in claim 1, characterized in that: The driver dynamic characteristic parameters include accelerator pedal opening, brake pedal opening, and steering wheel angle, and the vehicle dynamic characteristic parameters include vehicle speed.

3. The method for adaptively switching driving modes of a pure electric bus according to claim 1, characterized in that: The driving modes include standard mode, sports mode, economy mode and mountain road mode.

4. A pure electric bus driving mode adaptive switching control method as claimed in claim 3, characterized in that: The mountain road mode integrates a safe downhill function, specifically: when the vehicle exceeds the preset speed limit, the vehicle controller performs auxiliary braking on the vehicle.

5. The method for adaptively switching driving modes of a pure electric bus according to claim 1, characterized in that: The driving environment of the current vehicle is judged according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, specifically: the acquired driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters are compared with the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameter thresholds set in the corresponding driving mode to judge the applicable driving mode.

6. A pure electric bus driving mode adaptive switching control method as claimed in claim 5, characterized in that: When multiple driving modes are applicable, the driving mode with the highest priority will be applied first.

7. The method for adaptively switching driving modes of a pure electric bus according to claim 1, characterized in that: The actuator controls corresponding parameters, specifically: adjusting motor power, torque coefficient, torque gradient change rate, maximum allowable working power of the air conditioner, and coasting energy recovery level.

8. A pure electric bus driving mode adaptive switching control system, characterized in that: include: A mode switching instruction sending module is configured as follows: the vehicle controller obtains the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters under the current driving environment through the sensing mechanism, determines the current driving environment of the vehicle according to the driver dynamic characteristic parameters and the vehicle dynamic characteristic parameters, and sends a corresponding driving mode instruction to the execution mechanism according to the driving environment; The mode switching instruction execution module is configured as follows: the execution mechanism obtains the driving mode instruction, controls the corresponding parameters to meet the parameter conditions corresponding to the driving mode, and realizes the adaptive switching of the driving mode.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a pure electric bus driving mode adaptive switching control method as described in any one of claims 1-7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the method for adaptively switching driving modes of a pure electric bus as described in any one of claims 1-7 are implemented.

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