Intelligent network connection passenger car anti-slip control method and system

Abstract

The present application relates to the technical field of vehicle control, in particular to a kind of intelligent network connection passenger car anti-slip control method and system, obtain vehicle gear, motor current speed, accelerator opening, brake pedal opening and hand brake state signal, confirm current state of vehicle, according to gear signal, positive and negative situation of motor speed signal, brake pedal opening and hand brake state signal, determine that vehicle is in the state of slip and need to activate anti-slip function;Vehicle is in the state of slip, determine the difference between motor current speed and reference speed, and calculate motor slip torque;According to the speed value of four consecutive time points, the rate of change of speed is calculated, and by comparison between the reference speed change rate, the torque proportion coefficient and integral coefficient during the calculation of motor slip torque are dynamically adjusted;During the activation of anti-slip function, according to the accelerator opening, brake pedal opening and hand brake state signal obtained, the anti-slip function is exited in the corresponding exit mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to an intelligent networked bus anti-slip control method and system. BACKGROUND

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

[0003] Most intelligent networked buses rely on adding a slope sensor to calculate the slope, and adjust the driving torque according to the slope value to overcome the action of gravity and prevent the vehicle from slipping on the slope. However, this method has certain limitations for vehicles that are not equipped with a slope sensor or the sensor is abnormal, as it is difficult to obtain slope information and meet the anti-slip requirements of intelligent networked buses on different slopes, and it is also difficult to achieve precise and efficient anti-slip control function. SUMMARY

[0004] In order to solve the technical problems existing in the background art, the present application provides an intelligent networked bus anti-slip control method and system, which adjusts the vehicle starting torque in real time based on the motor speed change rate when the anti-slip function is activated, and smoothly adjusts the torque increase and decrease in combination with different exit conditions when the anti-slip function is exited, so as to ensure that the vehicle can achieve smooth anti-slip control function on any slope, improve vehicle safety and driving comfort, and additionally, this method does not require additional slope sensors, which helps to reduce the overall cost of the vehicle.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0006] The first aspect of the present application provides an intelligent networked bus anti-slip control method, comprising the following steps:

[0007] The motor speed is positive when the vehicle is running in forward gear, and the motor speed is negative when the vehicle is running in reverse gear;

[0008] Obtain the vehicle gear, current motor speed, throttle opening, brake pedal opening and hand brake state signal, confirm the current state of the vehicle, and determine that the vehicle is in a slip state and needs to activate the anti-slip function according to the gear signal, the positive and negative of the motor speed signal, the brake pedal opening and the hand brake state signal;

[0009] When the vehicle is in a slip state, determine the difference between the current motor speed and the reference speed, and calculate the motor slip torque;

[0010] Calculate the speed change rate according to the speed values at four consecutive time points, and dynamically adjust the torque proportionality coefficient and the integral coefficient during the calculation of the motor slip torque by comparing with the reference speed change rate.

[0011] During the anti-slip function activation, according to the obtained accelerator opening degree, brake pedal opening degree and hand brake state signal, the anti-slip function is exited in the corresponding exit mode.

[0012] Further, according to the gear signal, the positive and negative situation of the motor speed signal, the brake pedal opening degree and the hand brake state signal, it is determined that the vehicle is in a slip state and needs to activate the anti-slip function; including: if the current state of the vehicle is a static state, the gear signal is a forward gear, the brake opening degree is 0 and the hand brake state is released, and if the motor speed signal is less than 0, the vehicle is in a forward gear slip state.

[0013] Further, according to the gear signal, the positive and negative situation of the motor speed signal, the brake pedal opening degree and the hand brake state signal, it is determined that the vehicle is in a slip state and needs to activate the anti-slip function; further including: if the current state of the vehicle is a static state, the gear signal is a reverse gear, the brake opening degree is 0 and the hand brake state is released, and if the motor speed signal is greater than 0, the vehicle is in a reverse gear slip state.

[0014] Further, according to the gear signal, the positive and negative situation of the motor speed signal, the brake pedal opening degree and the hand brake state signal, it is determined that the vehicle is in a slip state and needs to activate the anti-slip function; further including: if the current state of the vehicle is a forward gear slip state or a reverse gear slip state, the gear signal is a neutral gear, or the brake opening degree is greater than a set value or the brake state is pulled up, the vehicle exits the slip state and needs to activate the anti-slip function.

[0015] Further, when the vehicle is in a slip state, the difference between the current motor speed and the reference speed is determined, and The algorithm calculates the motor slip torque, as shown in the following formula:

[0016] ;

[0017] Wherein, The driving torque, The reference proportion coefficient, The reference integral coefficient, , The current motor speed, The reference speed.

[0018] Further, the speed change rate is calculated according to the speed values of four consecutive time points, and by comparing with the reference speed change rate, the The algorithm calculates the motor slip torque during the dynamic adjustment of the torque proportion coefficient and the integral coefficient; specifically:

[0019] ;

[0020] The adjusted anti-slip driving torque is, ;

[0021] wherein, is a set reference speed change rate, is an actual speed change rate, is a proportional coefficient, is an integral coefficient.

[0022] Further, the exit mode includes a normal exit, specifically: if the accelerator opening degree is greater than a set value, the motor target torque is obtained according to the current accelerator opening degree and the motor speed value, and when it is detected that the target torque is greater than the slip slope torque, the anti-slip slope function is exited, at which time the motor request torque is equal to the motor target torque.

[0023] Further, the exit mode also includes an active exit, specifically: if the brake opening degree is greater than a set value or the hand brake state is pulled up, the anti-slip slope function is actively exited, and the request torque is zeroed within a set torque gradient and zeroing time, the torque zeroing time is , is a reference torque gradient.

[0024] Further, the exit mode also includes a passive exit, specifically: after the anti-slip slope function is activated, the vehicle controller starts timing, and if there is no change in the accelerator, brake and hand brake signals for 10 consecutive seconds, the anti-slip slope function is passively exited, and after the torque is zeroed within a set torque gradient and zeroing time, the anti-slip slope function is reactivated according to the set time and torque increasing gradient; wherein the zeroing gradient is set to , the torque zeroing time is , the request torque is equal to the slip slope torque , the torque increasing gradient is , and the torque increasing time is .

[0025] The second aspect of the application provides an intelligent networked passenger car anti-slip slope control system, comprising:

[0026] A vehicle state acquisition module for acquiring vehicle gear, motor current speed, accelerator opening degree, brake pedal opening degree and hand brake state signal, and sending to the vehicle controller;

[0027] The vehicle controller confirms the current state of the vehicle according to the information obtained by the vehicle state acquisition module, and determines that the vehicle is in a slip slope state and needs to activate the anti-slip slope function according to the gear signal, the positive and negative situation of the motor speed signal, the brake pedal opening degree and the hand brake state signal;

[0028] When the vehicle is in a slip slope state, the difference between the current motor speed and the reference speed is determined, and the motor slip slope torque is calculated;

[0029] The rotational speed change rate is calculated according to the rotational speed values of four continuous time points, and the torque proportional coefficient and integral coefficient during the calculation of the motor coasting torque are dynamically adjusted through comparison with the reference rotational speed change rate.

[0030] During the activation of the anti-coasting function, the anti-coasting function is exited in the corresponding exit mode according to the obtained accelerator opening degree, brake pedal opening degree and hand brake state signal.

[0031] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0032] 1. When the vehicle is determined to be coasting on a slope and there is no brake intervention according to the current brake, accelerator and other state signals of the vehicle, the anti-coasting function is started, and the torque required when the vehicle starts can be adjusted in real time based on the motor rotational speed change rate, that is, the motor coasting torque is adjusted in real time.

[0033] 2. When the anti-coasting function is exited, the accelerator opening degree, brake pedal opening degree and hand brake state signal are used to form exit modes with different conditions, which can smoothly adjust the increase and decrease of the motor torque, ensure that the vehicle can achieve smooth anti-coasting control function on any slope, and improve the vehicle safety and driving comfort.

[0034] 3. No additional slope sensor is needed, and the application can be used when no slope sensor is installed or the slope sensor fails to report an error, which helps to reduce the overall vehicle cost. DETAILED DESCRIPTION

[0035] The accompanying drawings, which form a part of this description, are included to provide a further understanding of the application. The illustrative embodiments of the application and their description serve to explain the application. It is not intended to limit the application to the embodiments described.

[0036] Figure 1 is a control process schematic diagram provided by one or more embodiments of the application. DETAILED DESCRIPTION

[0037] The application will be further described below in conjunction with the drawings and embodiments.

[0038] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art to which the application belongs.

[0039] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used in this description, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "including" as used herein, specifies the presence of features, steps, operations, devices, components, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components, and / or combinations thereof.

[0040] Intelligent connected bus, by loading advanced vehicle-mounted sensors, controllers, actuators and other devices, and integrating modern communication and network technology, realizes intelligent information exchange and sharing between vehicles, roads, people, clouds and other intelligent information. With the functions of complex environment perception, intelligent decision-making, cooperative control, etc., it can realize safe, efficient, comfortable and energy-saving driving.

[0041] Most intelligent connected buses powered by new energy use the slope value obtained by the slope sensor to realize anti-slip control. However, when the slope sensor fails or some vehicle models are not equipped with the slope sensor, the existing anti-slip control method will fail.

[0042] Therefore, the following embodiments give an intelligent connected bus anti-slip control method and system. According to the current vehicle operating state, when the anti-slip function is activated, the vehicle starting torque is adjusted in real time based on the motor speed change rate. At the same time, when the anti-slip function is exited, the torque increase and decrease are smoothly adjusted in combination with different exit conditions, so that the vehicle can realize smooth anti-slip control function on any slope, improve vehicle safety and driving comfort, and in addition, the method does not need to increase the slope sensor, which helps to reduce the overall cost of the vehicle.

[0043] Embodiment one:

[0044] As shown in Figure 1 , the vehicle controller judges the vehicle operating state in real time, dynamically adjusts the increase or decrease of the vehicle starting torque based on the motor speed change rate, so that the vehicle can realize anti-slip control under different working conditions. The specific steps are as follows:

[0045] (1) Vehicle anti-slip state confirmation

[0046] The vehicle controller receives the vehicle gear , motor speed and hand brake signal through the CAN bus, and confirms the current state of the vehicle in combination with the throttle opening and brake pedal opening obtained by the voltage sensor, and judges whether the anti-slip function needs to be activated.

[0047] The normal driving motor speed of the vehicle in forward gear is positive, ; the motor speed signal of the vehicle in normal driving is negative, .

[0048] The vehicle controller judges the motor speed signal in real time , as the motor speed changes rapidly when the vehicle slips, it may also be negative, to avoid misjudgment into the hill start state, set the reference speed , increase the time judgment, if the motor speed signal , start timing, if the motor speed within 5 seconds, the motor speed always in , determine the current vehicle is in a stationary state, if in within 5 seconds, the motor speed is greater than or the motor speed is less than , determine the current vehicle is in a non-stationary state, then need to re-timing.

[0049] If the current state of the vehicle is stationary, the gear signal is forward, the brake opening is 0 and the hand brake state is released, that is , the motor speed signal is , if the motor speed signal is less than 0, that is , the vehicle is in forward hill start state, recorded as state A, that is .

[0050] If the current state of the vehicle is stationary, the gear signal is reverse, the brake opening is 0 and the hand brake state is released, that is , the motor speed signal is , if the motor speed signal is greater than 0, that is , the vehicle is in reverse hill start state, recorded as state B, that is ,

[0051] If the current state of the vehicle is forward hill start state or reverse hill start state, the gear signal changes to neutral, or the brake opening is greater than 5 or the brake state is pulled up, that is , the vehicle exits the hill start state and is in normal state, recorded as state C, that is .

[0052] (2) Anti-hill reference torque calculation

[0053] If the vehicle enters the hill start state, that is or , the vehicle controller activates the anti-hill function at this time, calculates the drive torque sent to the motor controller to drive the wheels to prevent the vehicle from rolling forward or backward. Set the vehicle reference speed to , and , the vehicle controller compares the current speed Compared with the reference speed The size between them, get the absolute value of the difference between them. , Then use Algorithm calculates motor slip torque The calculation formula is:

[0054] ;

[0055] in for Benchmark scaling factor for Baseline integral coefficient.

[0056] (3) Torque coefficient adjustment

[0057] The vehicle controller calculates the rate of change of rotational speed based on the rotational speed values ​​at four consecutive time points. The calculation formula is:

[0058] ;

[0059] in for Rotational speed at a given time point For the previous time point The rotational speed value, For a point in time before that The rotational speed value, For an earlier point in time The rotational speed value.

[0060] Set reference speed change rate Compare the actual rate of change of rotational speed and The size, thereby dynamically adjusting the torque proportional coefficient. and integral coefficient .

[0061] like In other words, if the engine speed changes rapidly, indicating a steep incline, then the set baseline proportional coefficient is... Integral coefficients with reference It needs to be expanded; the calculation formula is as follows: , .

[0062] like If the speed change is gradual and the slope the vehicle is on is considered to be moderate, then the set baseline proportional coefficient is... It needs to be expanded, and the baseline integral coefficient... Keeping it unchanged, the calculation formula is: , .

[0063] If , that is, the speed change is slow, it is determined that the slope where the vehicle is located is small, the set reference proportional coefficient needs to be reduced, while the reference integral coefficient is maintained unchanged, and the calculation formula is , .

[0064] In summary, the torque coefficient and the integral coefficient are as follows:

[0065] ;

[0066] The final anti-slip drive torque .

[0067] (4) Anti-slip function exit

[0068] After the anti-slip function is activated, the vehicle controller determines whether to exit the anti-slip function by obtaining the throttle, brake, and hand brake states. If the anti-slip function exits, the motor torque change is smoothly adjusted according to different exit conditions to ensure driving comfort.

[0069] The vehicle controller divides the exit mode into three types in combination with the anti-slip exit conditions:

[0070] Normal exit: if the throttle opening is greater than 5, that is, , the vehicle controller obtains the motor target torque according to the current throttle opening and the motor speed value , and the calculation formula is When the detected target torque is greater than the slip torque, that is, , the anti-slip function is exited, and the motor request torque .

[0071] Active exit: if the brake opening is greater than 5 or the hand brake state is pulled up, that is, , the vehicle controller determines to actively exit the anti-slip function, and the request torque needs to be cleared at this time. To avoid vehicle shaking caused by too fast torque change, a certain torque gradient needs to be set for torque reduction. The set reference torque gradient is , and the torque clearing time is .

[0072] Passive exit: after the vehicle anti-slip function is activated, in order to avoid the anti-slip function being activated for a long time and causing the motor to be blocked, passive exit is needed. After the anti-slip is activated, the vehicle controller starts timing. If there is no change in the throttle, brake and hand brake signals within 10 seconds, the anti-slip function is passively exited. At this time, the torque needs to be cleared, the clearing gradient is set to , the torque clearing time is , and after the vehicle controller detects that the requested torque becomes zero, in order to avoid the vehicle from sliding again, the anti-slip function needs to be reactivated, the requested torque is equal to the slope torque , the torque increasing gradient is , and the torque increasing time is .

[0073] In summary, the anti-slip function is exited, and the motor requested torque calculation formula is:

[0074] .

[0075] According to the current vehicle brake, throttle and other state signals, when the vehicle is in a slope and there is no brake intervention, the anti-slip function is started. The anti-slip function can adjust the torque required by the vehicle at start-up in real time based on the motor speed change rate, that is, the motor slope torque is adjusted in real time.

[0076] When the anti-slip function is exited, the throttle opening, brake pedal opening and hand brake state signals are used to form different conditions for exiting the mode, which can smoothly adjust the increase and decrease of the motor torque, ensure that the vehicle can achieve smooth anti-slip control function on any slope, and improve the safety and driving comfort of the vehicle.

[0077] No additional slope sensor is needed, and it can be used when there is no slope sensor installed or the slope sensor fails, which helps to reduce the cost of the vehicle.

[0078] Embodiment two:

[0079] An intelligent networked bus anti-slip control system, comprising:

[0080] A vehicle state acquisition module for acquiring vehicle gear, motor current speed, throttle opening, brake pedal opening and hand brake state signals and sending them to the vehicle controller;

[0081] The vehicle controller confirms the current state of the vehicle according to the information obtained by the vehicle state acquisition module, and determines that the vehicle is in a slope state and needs to activate the anti-slip function according to the gear signal, the positive and negative of the motor speed signal, the brake pedal opening and the hand brake state signal;

[0082] When the vehicle is in a slope state, the difference between the current motor speed and the reference speed is determined, and the motor slope torque is calculated;

[0083] The rotational speed change rate is calculated according to the rotational speed values of four continuous time points, and the torque proportional coefficient and the integral coefficient during the calculation of the motor coasting torque are dynamically adjusted through comparison with the reference rotational speed change rate;

[0084] During the activation of the anti-coasting function, the anti-coasting function is exited in the corresponding exit mode according to the obtained accelerator opening degree, brake pedal opening degree and hand brake state signal.

[0085] The intelligent networked bus anti-coasting control method solves the problem that the intelligent networked vehicle cannot accurately and efficiently realize anti-coasting control under different working conditions and different slopes when the vehicle is not equipped with a slope sensor or the sensor is abnormal, improves the safety and driving comfort of the intelligent networked bus, and reduces the overall vehicle cost.

[0086] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A smart connected bus anti-rollaway control method, characterized in that, The method comprises the following steps: The motor speed is positive when the vehicle is in forward gear and the motor speed is negative when the vehicle is in reverse gear; The vehicle state acquisition module is configured to acquire the vehicle gear, the current motor speed, the accelerator opening degree, the brake pedal opening degree, and the hand brake state signal, and send the signals to the vehicle controller; The difference between the current speed of the motor and the reference speed is determined when the vehicle is in the state of coasting down a slope, and the motor driving torque is calculated by PI an algorithm to prevent the motor from coasting down the slope. The rate of change of the rotational speed is calculated from the rotational speed values at four successive points in time and, by comparison with a reference rate of change of the rotational speed, the motor is controlled in such a way that the torque is increased if the rate of change of the rotational speed is less than the reference rate of change of the rotational speed and the torque is reduced if the rate of change of the rotational speed is greater than the reference rate of change of the rotational speed. PI The torque proportionality factor and the integral factor are dynamically adjusted during the calculation of the motor anti-slip drive torque by the algorithm. ； wherein is the rotational speed value at the time point, is the rotational speed value at the preceding time point is the rotational speed value at the time point preceding the preceding time point, is the rotational speed value at the time point preceding the time point preceding the preceding time point, is the rotational speed value at the time point preceding the time point preceding the time point preceding the preceding time point; is the rotational speed value at the time point preceding the time point preceding the time point preceding the time point preceding the preceding time point; is the rotational speed value at the time point preceding the time point preceding the time point preceding the time point preceding the time point preceding the preceding time point; is the rotational speed change rate; The rate of change of the rotational speed is calculated from the rotational speed values at four successive points in time and, by comparison with a reference rate of change of the rotational speed, the motor is controlled in such a way that The torque proportionality factor and the integral factor are dynamically adjusted during the calculation of the motor anti-slip drive torque by the algorithm; specifically: The adjusted anti-slip drive torque is ; wherein, is a reference speed variation rate, is an actual speed variation rate, is a proportional coefficient, is an integral coefficient; , is a current speed of the motor, is a reference speed; is a reference proportional coefficient, is a reference integral coefficient; During the activation of the anti-slip function, the vehicle exits the anti-slip function according to the acquired accelerator opening degree, brake pedal opening degree, and hand brake state signal in the corresponding exit mode. The exiting mode includes passive exiting, specifically: after the anti-slip function is activated, the vehicle controller starts timing, if there is no change in the accelerator, brake and hand brake signals within 10 seconds, the anti-slip function is passively exited, and after the torque is cleared within the set torque gradient and the clear time, the anti-slip function is reactivated according to the set time and the torque increasing gradient; wherein the clear gradient is set to , , the torque clear time is , the requested torque is equal to the motor anti-slip driving torque , the torque increasing gradient is , and the torque increasing time is .

2. The intelligent networked passenger car anti-slip control method of claim 1, wherein, If the vehicle is in a static state, the gear signal is in forward gear, the brake opening degree is 0, and the hand brake state is released, and the motor speed signal is less than 0, the vehicle is in a forward gear slip state.

3. The intelligent networked passenger vehicle anti-rollaway control method of claim 2, wherein, If the vehicle is in a static state, the gear signal is in reverse gear, the brake opening degree is 0, and the hand brake state is released, and the motor speed signal is greater than 0, the vehicle is in a reverse gear slip state.

4. The intelligent networked passenger vehicle anti-rollaway control method of claim 3, wherein, If the vehicle is in a forward gear slip state or a reverse gear slip state, the gear signal is in neutral gear, the brake opening degree is greater than a set value, or the brake state is pulled up, the vehicle exits the slip state, otherwise the anti-slip function needs to be activated.

5. The intelligent networked passenger vehicle anti-rollaway control method of claim 1, wherein, The difference between the current speed of the motor and the reference speed is determined when the vehicle is in the state of coasting down a slope, and the motor driving torque is calculated by The algorithm calculates the motor anti-coasting driving torque, as shown in the following formula: ； wherein, is a motor anti-slip drive torque, is a reference proportional coefficient, is a reference integral coefficient, , is a current motor speed, is a reference speed.

6. The intelligent networked passenger vehicle anti-rollaway control method of claim 1, wherein, The exit mode includes normal exit, specifically: if the accelerator opening degree is greater than a set value, the motor target torque is obtained according to the current accelerator opening degree and the motor speed value, and when the detected target torque is greater than the motor anti-slip driving torque, the anti-slip function is exited, at which time the motor request torque is equal to the motor target torque.

7. The intelligent networked passenger vehicle anti-rollaway control method of claim 1, wherein, The exit mode further comprises active exit, specifically: if the brake opening is greater than a set value or the handbrake state is pulled up, the anti-slip function is actively exited, the request torque is zeroed within a set torque gradient and zeroing time, and the torque zeroing time is , the reference torque gradient.

8. An intelligent networked bus anti-slip control system, characterized in that, The intelligent network-connected passenger vehicle anti-slip control method comprises: A vehicle state acquisition module is configured to acquire the vehicle gear, the current motor speed, the accelerator opening degree, the brake pedal opening degree, and the hand brake state signal, and send the signals to the vehicle controller; The vehicle controller confirms the current vehicle state according to the information acquired by the vehicle state acquisition module, and determines that the vehicle is in a slip state and needs to activate the anti-slip function according to the gear signal, the positive and negative conditions of the motor speed signal, the brake pedal opening degree, and the hand brake state signal. When the vehicle is in the state of coasting down the slope, the difference between the current speed of the motor and the reference speed is determined, and the motor anti-coast down the slope driving torque is calculated through PI algorithm. The rate of change of the rotational speed is calculated from the rotational speed values at four successive points in time and, by comparison with a reference rate of change of the rotational speed, the motor is controlled in such a way that the torque is increased if the rate of change of the rotational speed is less than the reference rate of change of the rotational speed and the torque is reduced if the rate of change of the rotational speed is greater than the reference rate of change of the rotational speed. PI The torque proportionality factor and the integral factor are dynamically adjusted during the calculation of the motor anti-slip drive torque by the algorithm. During the activation of the anti-slip function, the vehicle exits the anti-slip function according to the acquired accelerator opening degree, brake pedal opening degree, and hand brake state signal in the corresponding exit mode.

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