Foundation pit escape device and method for hybrid engineering vehicle, vehicle and storage medium

Abstract

The invention relates to a foundation pit escape device and method for a hybrid engineering vehicle, a vehicle and a storage medium, the device is provided with a mode control module, when the hybrid engineering vehicle is trapped, the hybrid engineering vehicle is controlled to enter a foundation pit escape mode under the condition of a pure electric mode, and the mode is adjusted; a vehicle escaping module is arranged, when the hybrid engineering vehicle enters the foundation pit escaping mode, the hybrid engineering vehicle is controlled to move forwards or backwards through a motor, when the hybrid engineering vehicle does not move forwards or backwards, a pure electric mode is switched to a hybrid mode through a mode control module, and driving force is provided for the hybrid engineering vehicle through an engine and the motor; according to the technical scheme, the electric control clutch is used for controlling the hybrid engineering vehicle to move forwards or backwards, fine control under the foundation pit escaping mode is achieved, therefore, escaping operation is carried out on the hybrid engineering vehicle through different modes, the control strategy under the foundation pit escaping mode is perfected, and the technical problem that the vehicle cannot be escaped after being trapped is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering vehicle foundation pit escape, and in particular to a hybrid engineering vehicle foundation pit escape device, method, vehicle and storage medium. Background Art

[0002] A hybrid engineering vehicle is an engineering vehicle that combines a traditional fuel engine and an electric motor, designed to improve fuel economy, reduce emissions and enhance power performance. Hybrid engineering vehicles combine two or more power sources to give full play to their respective advantages, thereby achieving more efficient energy conversion and utilization under various working conditions. The working principle of a hybrid engineering vehicle is to combine an internal combustion engine (such as a diesel engine) with a drive motor and an energy storage system (such as a battery pack) to work together to improve the economy and power of the vehicle. When starting and driving at low speeds, the electric motor is mainly used to provide power, reducing dependence on the fuel engine, thereby reducing fuel consumption and exhaust emissions. When greater power output is required, the fuel engine will start and work with the electric motor to provide additional power. When going downhill or braking, the motor converts braking energy into electrical energy through the energy recovery system and stores it for later use.

[0003] Existing engineering vehicles are generally in a soft foundation pit environment when reversing to unload or loading and starting. In this environment, the control of the engineering vehicle's pit escape condition is not detailed enough, the special working conditions of the engineering vehicle are not identified, and the control strategy is not perfect, which makes it easy for the vehicle to get stuck and be unable to escape.

[0004] Therefore, it is urgently necessary to propose a hybrid engineering vehicle foundation pit escape device, method, vehicle and storage medium to solve the technical problems existing in the prior art that the engineering vehicle foundation pit escape working condition control is not detailed enough, the special working conditions of the engineering vehicle are not identified, and the control strategy is imperfect, which makes it easy for the vehicle to be stuck and unable to escape. Summary of the invention

[0005] In view of this, it is necessary to provide a hybrid engineering vehicle foundation pit escape device, method, vehicle and storage medium to solve the technical problems existing in the prior art that the control of the engineering vehicle foundation pit escape working conditions is not detailed enough, the special working conditions of the engineering vehicle are not identified, and the control strategy is imperfect, which makes it easy for the vehicle to be stuck and unable to escape.

[0006] In order to solve the above problems, the present invention provides a hybrid engineering vehicle foundation pit escape device, comprising: A mode control module, used for controlling the hybrid engineering vehicle to enter a foundation pit escape mode in a pure electric mode when the hybrid engineering vehicle is stuck; The vehicle escape module is used to control the hybrid engineering vehicle to move forward or backward through the motor when the hybrid engineering vehicle enters the foundation pit escape mode, and when the hybrid engineering vehicle is not moving forward or backward, the mode control module switches the pure electric mode to the hybrid mode, and the engine and the motor provide driving force for the hybrid engineering vehicle, and the hybrid engineering vehicle moves forward or backward through the electronically controlled clutch.

[0007] In a possible implementation, the mode control module includes a differential lock control unit; The differential lock control unit is used to open the wheel-side differential lock and the axle-to-axle differential lock when the hybrid engineering vehicle is stuck, so as to synchronously control the front or rear wheels of the hybrid engineering vehicle; and to close the wheel-side differential lock and the axle-to-axle differential lock when the hybrid engineering vehicle is freed and parked, so as to restore the front or rear wheels of the hybrid engineering vehicle to normal.

[0008] In a possible implementation, the mode control module further includes a gear control unit; The gear control unit is used to control the transmission to shift into the first gear or the first reverse gear after the hybrid engineering vehicle enters the foundation pit escape mode.

[0009] In a possible implementation, the vehicle escape module includes a clutch control unit; The clutch control unit is further used to start the engine and control the electronically controlled clutch of the hybrid engineering vehicle to enter a semi-clutch state when the hybrid engineering vehicle is in the hybrid mode.

[0010] In a possible implementation, the vehicle escape module further includes a rotation speed control unit; The speed control unit is used to increase the speed of the engine through the accelerator after starting the engine, and control the speed below the maximum speed threshold so that the motor outputs at the maximum torque.

[0011] In a possible implementation, the device further includes a system escape module and an ASR drive anti-skid module; The system escape module is further used to judge the adhesion coefficient of the road surface, and when the adhesion coefficient is less than a preset coefficient threshold, judge whether the difference between the wheel speed and the vehicle speed of the hybrid engineering vehicle is greater than a preset difference, and if so, start the ASR drive anti-skid module of the hybrid engineering vehicle; The ASR drive anti-skid module is used to apply braking force to the wheels of the hybrid engineering vehicle to put the wheels in a state of being about to slip but not yet slipping, provide maximum adhesion, and control the hybrid engineering vehicle to move forward or backward under the maximum adhesion through the clutch.

[0012] In a possible implementation, the vehicle escape module further includes a mode switching unit; The mode switching unit is used to determine that the driving force of the hybrid engineering vehicle is insufficient when the hybrid engineering vehicle is in the pure electric mode and the throttle meets the preset throttle, if the hybrid engineering vehicle does not move forward or reverse, and control the hybrid engineering vehicle to reduce the throttle after maintaining the preset throttle for a preset time, and switch the pure electric mode to the hybrid mode through the mode control module.

[0013] In a possible implementation, the mode control module includes a mode control unit; The mode control unit is used to control the hybrid engineering vehicle to enter a foundation pit escape mode when the hybrid engineering vehicle is stuck, control the hybrid engineering vehicle to stop when the hybrid engineering vehicle is escaped and stop, and control the hybrid engineering vehicle to exit the foundation pit escape mode.

[0014] In a possible implementation, the vehicle escape module further includes a driving force unit; The driving force unit is used to superimpose the driving force of the motor with the driving force of the engine, and control the hybrid engineering vehicle to move forward or backward under the superimposed driving force through an electronically controlled clutch.

[0015] On the other hand, the present invention also provides a method for a hybrid engineering vehicle to escape from a foundation pit, comprising: When the hybrid engineering vehicle is stuck, controlling the hybrid engineering vehicle to enter a foundation pit escape mode in a pure electric mode; When the hybrid engineering vehicle enters the foundation pit escape mode, the hybrid engineering vehicle is controlled to move forward or backward by the motor. When the hybrid engineering vehicle is not moving forward or backward, the mode control module switches the pure electric mode to the hybrid mode, and the engine and the motor provide driving force for the hybrid engineering vehicle, and the vehicle moves forward or backward through the electronically controlled clutch.

[0016] The beneficial effects of the present invention are as follows: the embodiment of the present invention adjusts the mode by setting a mode control module, and when the hybrid engineering vehicle is stuck, the hybrid engineering vehicle is controlled to enter the foundation pit escape mode in the pure electric mode; and a vehicle escape module is set, when the hybrid engineering vehicle enters the foundation pit escape mode, the hybrid engineering vehicle is controlled to move forward or backward by the motor, and when the hybrid engineering vehicle is not moving forward or backward, the pure electric mode is switched to the hybrid mode by the mode control module, and the engine and the motor are used to provide driving force for the hybrid engineering vehicle, and the hybrid engineering vehicle is controlled to move forward or backward by the electronically controlled clutch, so as to achieve refined control in the foundation pit escape mode, so as to perform escape operations on the hybrid engineering vehicle through different modes, improve the policy making in the foundation pit escape mode, and solve the technical problem that the vehicle cannot escape after being stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of an embodiment of a hybrid engineering vehicle foundation pit escape device provided by the present invention; Figure 2 A schematic diagram of the structure of an embodiment of the mode control module 101 provided by the present invention; Figure 3 A schematic diagram of the structure of an embodiment of the vehicle escape module 102 provided by the present invention; Figure 4 A schematic structural diagram of another embodiment of the hybrid engineering vehicle foundation pit escape device provided by the present invention; Figure 5 A schematic flow chart of an embodiment of a method for escaping a foundation pit for a hybrid engineering vehicle provided by the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0019] like Figure 1 As shown, a specific embodiment of the present invention discloses a hybrid engineering vehicle foundation pit escape device 100, comprising: The mode control module 101 is used to control the hybrid engineering vehicle to enter a foundation pit escape mode in a pure electric mode when the hybrid engineering vehicle is stuck; The vehicle escape module 102 is used to control the hybrid engineering vehicle to move forward or backward through the motor when the hybrid engineering vehicle enters the foundation pit escape mode. When the hybrid engineering vehicle is not moving forward or backward, the mode control module switches the pure electric mode to the hybrid mode, and the engine and the motor provide driving force for the hybrid engineering vehicle, and the hybrid engineering vehicle moves forward or backward through the electronically controlled clutch.

[0020] It should be understood that hybrid engineering vehicles are usually in a soft foundation pit environment when reversing and unloading or loading and starting. It is easy for the vehicle to get stuck and unable to get out. Therefore, hybrid engineering vehicles require more sophisticated control strategies to enable the vehicle to maximize its own power to get out of trouble.

[0021] In a specific embodiment of the present invention, the escape of a hybrid engineering vehicle is divided into a pure electric mode and a hybrid mode. The pure electric mode is preferred for the escape operation, and the engine does not participate in the work during this process. In the mode control module, when the hybrid engineering vehicle is stuck and needs to be escaped, the driver controls the hybrid engineering vehicle to enter the foundation pit escape mode in the pure electric mode. The general operation is to press and hold the AMT handle A / M mode for more than 3 seconds to enter the escape mode. In the vehicle escape module, the hybrid engineering vehicle is controlled by the motor to move forward or backward. When the hybrid engineering vehicle is not moving forward or backward, the mode control module controls the hybrid engineering vehicle to switch from the pure electric mode to the hybrid mode. In the hybrid mode, the hybrid engineering vehicle can use the engine and the motor to provide driving force for the hybrid engineering vehicle, and move forward or backward through the electronically controlled clutch.

[0022] Compared with the prior art, this embodiment adjusts the mode by setting a mode control module to control the hybrid engineering vehicle to enter the foundation pit escape mode in the pure electric mode when the hybrid engineering vehicle is stuck; and a vehicle escape module is set, when the hybrid engineering vehicle enters the foundation pit escape mode, the hybrid engineering vehicle is controlled to move forward or backward by the motor, and when the hybrid engineering vehicle is not moving forward or backward, the pure electric mode is switched to the hybrid mode by the mode control module, and the engine and the motor are used to provide driving force for the hybrid engineering vehicle, and the hybrid engineering vehicle is controlled to move forward or backward by the electronically controlled clutch, so as to achieve refined control in the foundation pit escape mode, so as to perform escape operations on the hybrid engineering vehicle through different modes, improve the policy in the foundation pit escape mode, and solve the technical problem that the vehicle cannot escape after being stuck.

[0023] In some embodiments of the present invention, Figure 2 As shown, the mode control module 101 includes a differential lock control unit 1011; The differential lock control unit 1011 is used to open the wheel-side differential lock and the axle-to-axle differential lock through the instrument panel rocker when the hybrid engineering vehicle is stuck, so as to synchronously control the front or rear wheels of the hybrid engineering vehicle. After the hybrid engineering vehicle is freed and parked, the wheel-side differential lock and the axle-to-axle differential lock can be closed through the instrument panel rocker to restore the front or rear wheels of the hybrid engineering vehicle to normal. For example, when the left wheel on the rear side is stuck, the wheel-side differential lock and the axle-to-axle differential lock of the two rear wheels can be opened, so that the two rear wheels can be synchronously controlled. After the hybrid engineering vehicle drives out, the wheel-side differential lock and the axle-to-axle differential lock need to be closed, otherwise accidents are likely to occur during driving, especially when turning.

[0024] In some embodiments of the present invention, the mode control module 101 further includes a gear control unit 1012; The gear control unit 1012 is used to control the transmission to shift into the first gear or the first reverse gear after the hybrid engineering vehicle enters the foundation pit escape mode.

[0025] In some embodiments of the present invention, the mode control module 101 includes a mode control unit 1013; The mode control unit 1013 is used to control the hybrid engineering vehicle to enter the foundation pit escape mode when the hybrid engineering vehicle is stuck. The general operation is to press and hold the AMT handle in A / M mode for more than 3 seconds to enter the escape mode. After the hybrid engineering vehicle is escaped and parked, the hybrid engineering vehicle can be controlled to stop and exit the foundation pit escape mode. Similarly, the general operation is to press and hold the AMT handle in A / M mode for more than 3 seconds to exit the escape mode.

[0026] In some embodiments of the present invention, Figure 3 As shown, the vehicle escape module 102 further includes a mode switching unit 1021; The mode switching unit 1021 is used for, when the hybrid engineering vehicle is in the pure electric mode and the throttle meets the preset throttle, for example, the preset throttle is 100%, then when the throttle reaches 100%, if the hybrid engineering vehicle does not move forward or backward, it is determined that the driving force of the hybrid engineering vehicle is insufficient, and after maintaining the preset throttle for a preset time (for example, 2 seconds), the hybrid engineering vehicle is controlled to close the throttle, and the pure electric mode is switched to the hybrid mode through the mode control module 101.

[0027] In some embodiments of the present invention, the vehicle escape module 102 includes a clutch control unit 1022; The clutch control unit 1022 is also used to start the engine and control the electronically controlled clutch of the hybrid engineering vehicle's transmission AMT to enter a semi-clutch state when the hybrid engineering vehicle is in a hybrid mode.

[0028] In some embodiments of the present invention, the vehicle escape module 102 further includes a driving force unit 1023; The driving force unit 1023 is used to superimpose the driving force of the motor and the driving force of the engine when the electronically controlled clutch enters a semi-clutch state, so that the driving force of the hybrid engineering vehicle is the driving force of the motor superimposed on the driving force of the engine, and the electronically controlled clutch is used to control the hybrid engineering vehicle to move forward or backward under the superimposed driving force.

[0029] In some embodiments of the present invention, the vehicle escape module 102 further includes a rotation speed control unit 1024; The speed control unit 1024 is used to increase the speed of the engine by the throttle after starting the engine, and control the speed below the maximum speed threshold. For example, the maximum speed threshold may be 1200 rpm to 1300 rpm, and the speed may be controlled below 1200 rpm to 1300 rpm, so that the motor can output at the maximum torque. The specific maximum speed threshold may be set according to actual conditions, and the embodiment of the present invention is not limited thereto.

[0030] Further, after the speed is controlled, the clutch is slowly engaged, and the hybrid engineering vehicle starts to move forward or backward. If the hybrid engineering vehicle still cannot move, the clutch is slipping, and the wheels are not slipping, it means that the driving force provided by the entire power system is not enough to overcome the resistance, and the hybrid engineering vehicle cannot get out of trouble, and the hybrid engineering vehicle is waiting to be rescued.

[0031] In some embodiments of the present invention, Figure 4 As shown, the device also includes a system escape module 103 and an ASR drive anti-skid module 104; The system escape module 103 is also used to judge the adhesion coefficient of the road surface. When the road surface is slippery and the adhesion coefficient is small, the adhesion coefficient can be judged. When the adhesion coefficient is less than the preset coefficient threshold, it is judged whether the difference between the wheel speed and the vehicle speed of the hybrid engineering vehicle is greater than the preset difference. For example, it can be judged whether the difference between the wheel speed and the vehicle speed is greater than 30%. If so, the ASR drive anti-skid module of the hybrid engineering vehicle is started (the vehicle speed is zero at this time, so the ratio of the wheel speed to the vehicle speed difference is infinite); wherein, the preset coefficient threshold and the preset difference can be set according to actual conditions, and the embodiment of the present invention is not limited here.

[0032] The ASR drive anti-skid module 104 is used to apply braking force to the wheels of the hybrid engineering vehicle to put the wheels in a state of being about to slip but not yet slipping. At this time, the hybrid engineering vehicle can use the wet and slippery road surface to provide maximum adhesion, and control the hybrid engineering vehicle to move forward or backward under maximum adhesion through the clutch. If not, wait for rescue.

[0033] In order to better implement the method for escaping a foundation pit for a hybrid engineering vehicle in an embodiment of the present invention, based on the device for escaping a foundation pit for a hybrid engineering vehicle, the embodiment of the present invention also provides a method for escaping a foundation pit for a hybrid engineering vehicle, such as Figure 5 As shown, including: S501, when the hybrid engineering vehicle is stuck, controlling the hybrid engineering vehicle to enter a foundation pit escape mode in a pure electric mode; S502. When the hybrid engineering vehicle enters the foundation pit escape mode, the hybrid engineering vehicle is controlled to move forward or backward through the motor. When the hybrid engineering vehicle is not moving forward or backward, the mode control module switches the pure electric mode to the hybrid mode, and the engine and the motor provide driving force for the hybrid engineering vehicle, and the hybrid engineering vehicle moves forward or backward through the electronically controlled clutch.

[0034] The hybrid engineering vehicle foundation pit escape method provided in the above embodiment can realize the technical solution described in the above embodiment of the hybrid engineering vehicle foundation pit escape device. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above embodiment of the hybrid engineering vehicle foundation pit escape device, which will not be repeated here.

Claims

1. A hybrid engineering vehicle foundation pit escape device, characterized in that: include: A mode control module, used for controlling the hybrid engineering vehicle to enter a foundation pit escape mode in a pure electric mode when the hybrid engineering vehicle is stuck; The vehicle escape module is used to control the hybrid engineering vehicle to move forward or backward through the motor when the hybrid engineering vehicle enters the foundation pit escape mode, and when the hybrid engineering vehicle is not moving forward or backward, the mode control module switches the pure electric mode to the hybrid mode, and the engine and the motor provide driving force for the hybrid engineering vehicle, and the hybrid engineering vehicle moves forward or backward through the electronically controlled clutch.

2. The hybrid engineering vehicle foundation pit escape device according to claim 1, characterized in that: The mode control module includes a differential lock control unit; The differential lock control unit is used to open the wheel-side differential lock and the axle-to-axle differential lock when the hybrid engineering vehicle is stuck, so as to synchronously control the front or rear wheels of the hybrid engineering vehicle; and to close the wheel-side differential lock and the axle-to-axle differential lock when the hybrid engineering vehicle is freed and parked, so as to restore the front or rear wheels of the hybrid engineering vehicle to normal.

3. The hybrid engineering vehicle foundation pit escape device according to claim 1, characterized in that: The mode control module also includes a gear control unit; The gear control unit is used to control the transmission to shift into the first gear or the first reverse gear after the hybrid engineering vehicle enters the foundation pit escape mode.

4. The hybrid engineering vehicle foundation pit escape device according to claim 3, characterized in that: The vehicle escape module includes a clutch control unit; The clutch control unit is further used to start the engine and control the electronically controlled clutch of the hybrid engineering vehicle to enter a semi-clutch state when the hybrid engineering vehicle is in the hybrid mode.

5. The hybrid engineering vehicle foundation pit escape device according to claim 4, characterized in that: The vehicle escape module also includes a speed control unit; The speed control unit is used to increase the speed of the engine through the accelerator after starting the engine, and control the speed below the maximum speed threshold so that the motor outputs at the maximum torque.

6. The hybrid engineering vehicle foundation pit escape device according to claim 1, characterized in that: The device also includes a system escape module and an ASR drive anti-skid module; The system escape module is further used to judge the adhesion coefficient of the road surface, and when the adhesion coefficient is less than a preset coefficient threshold, judge whether the difference between the wheel speed and the vehicle speed of the hybrid engineering vehicle is greater than a preset difference, and if so, start the ASR drive anti-skid module of the hybrid engineering vehicle; The ASR drive anti-skid module is used to apply braking force to the wheels of the hybrid engineering vehicle to put the wheels in a state of being about to slip but not yet slipping, provide maximum adhesion, and control the hybrid engineering vehicle to move forward or backward under the maximum adhesion through the clutch.

7. The hybrid engineering vehicle foundation pit escape device according to claim 1, characterized in that: The vehicle escape module also includes a mode switching unit; The mode switching unit is used to determine that the driving force of the hybrid engineering vehicle is insufficient when the hybrid engineering vehicle is in the pure electric mode and the throttle meets the preset throttle, if the hybrid engineering vehicle does not move forward or reverse, and control the hybrid engineering vehicle to reduce the throttle after maintaining the preset throttle for a preset time, and switch the pure electric mode to the hybrid mode through the mode control module.

8. The hybrid engineering vehicle foundation pit escape device according to claim 1, characterized in that: The mode control module includes a mode control unit; The mode control unit is used to control the hybrid engineering vehicle to enter a foundation pit escape mode when the hybrid engineering vehicle is stuck, control the hybrid engineering vehicle to stop when the hybrid engineering vehicle is escaped and stop, and control the hybrid engineering vehicle to exit the foundation pit escape mode.

9. The hybrid engineering vehicle foundation pit escape device according to claim 1, characterized in that: The vehicle escape module also includes a driving force unit; The driving force unit is used to superimpose the driving force of the motor with the driving force of the engine, and control the hybrid engineering vehicle to move forward or backward under the superimposed driving force through an electronically controlled clutch.

10. A method for a hybrid engineering vehicle to escape from a foundation pit, characterized in that: include: When the hybrid engineering vehicle is stuck, controlling the hybrid engineering vehicle to enter a foundation pit escape mode in a pure electric mode; When the hybrid engineering vehicle enters the foundation pit escape mode, the hybrid engineering vehicle is controlled to move forward or backward by the motor. When the hybrid engineering vehicle is not moving forward or backward, the mode control module switches the pure electric mode to the hybrid mode, and the engine and the motor provide driving force for the hybrid engineering vehicle, and the vehicle moves forward or backward through the electronically controlled clutch.

Images