Vehicle control method and device

Abstract

The invention relates to a vehicle control method and device. Relates to a vehicle control technology and solves the problem of poor ramp parking stability of a vehicle. The method comprises the following steps: recording zero-speed direct-axis current and / or zero-speed quadrature-axis current when a vehicle parked on a ramp decelerates to zero speed; generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; and adjusting the input of the motor according to the discharging strategy. The technical scheme provided by the invention is suitable for the electric vehicle, and stable and reliable vehicle control is realized.

Description

Technical Field

[0001] The present disclosure relates to vehicle control technology, and in particular to a vehicle control method and device in a hill-staying state. Background Art

[0002] When an electric vehicle stops on a slope, the controller output is usually turned off after the vehicle's mechanical brakes have decelerated to zero. Since the process of decelerating to a stop is usually short, turning off the input to the motor immediately with the speed will cause the vehicle to slide down the slope or shake abnormally.

[0003] Therefore, the stability of vehicle parking on slopes needs to be improved urgently. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method and device. The discharge process of the input current of the motor during the ramp parking process is controlled, which solves the problem of poor stability of the vehicle during ramp parking and realizes stable and reliable vehicle control.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: Record the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed; generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; The input to the motor is adjusted according to the discharge strategy.

[0006] Furthermore, before the step of recording the zero-speed direct-axis current and / or the zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed, the method further comprises: When the vehicle is on a slope and receives a parking instruction, decelerating the vehicle; After deceleration to zero, the electromagnetic brakes of the vehicle are disabled.

[0007] Further, the discharge strategy includes a discharge curve, and the step of generating the discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current includes: A discharge curve indicating a change in input current of the motor is generated by performing calculations based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value.

[0008] Furthermore, the step of adjusting the input of the motor according to the discharge strategy includes: The output of the speed loop is stopped, and the input current of the motor is adjusted according to the discharge strategy.

[0009] Furthermore, the method further comprises: When the input current of the motor reaches a preset shutdown threshold, the output of the controller to the motor is shut down.

[0010] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: A current recording module, used for recording a zero-speed direct-axis current and / or a zero-speed quadrature-axis current when a vehicle parked on a slope decelerates to zero speed; A strategy generating module, used for generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; The current loop control module is used to adjust the input of the motor according to the discharge strategy.

[0011] Furthermore, the device also includes: a deceleration module, configured to decelerate the vehicle when the vehicle is on a slope and receives a parking instruction; A brake control module is used to disable the electromagnetic brake of the vehicle after deceleration to zero.

[0012] Furthermore, the discharge strategy includes a discharge curve, and the strategy generation module is used to calculate according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value to generate a discharge curve indicating the change in input current of the motor.

[0013] Furthermore, the current loop control module is used to stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

[0014] Furthermore, the current loop control module is also used to shut down the output of the controller to the motor when the input current of the motor reaches a preset shutdown threshold.

[0015] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: when a ramp parking event occurs, the zero-speed direct-axis current and / or the zero-speed quadrature-axis current when the vehicle parked on the ramp decelerates to zero speed are recorded, and then a discharge strategy is generated according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current, and the input of the motor is adjusted according to the discharge strategy. By controlling the discharge process after the vehicle is parked, the motor is steadily turned off, a stable and reliable ramp parking mechanism is realized, and the problem of poor stability of ramp parking is solved.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0018] Figure 1 This is a schematic diagram of the ramp parking principle.

[0019] Figure 2 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0020] Figure 3 is a schematic diagram of a discharge curve according to an exemplary embodiment.

[0021] Figure 4 is a flowchart of yet another vehicle control method according to an exemplary embodiment.

[0022] Figure 5 is a flowchart of yet another vehicle control method according to an exemplary embodiment.

[0023] Figure 6 It is a structural block diagram of a vehicle control device according to an exemplary embodiment.

[0024] Figure 7 is a structural block diagram of yet another vehicle control device according to an exemplary embodiment. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0026] When an electric vehicle is parked on a slope, the controller output is usually turned off after the vehicle responds to the zero speed command and mechanical brakes decelerate to zero. The implementation principle is as follows: Figure 1 As shown in the figure, since the process of decelerating to a stop is usually short, immediately shutting off the input to the motor along with the speed will cause the vehicle to slide down the slope or shake abnormally.

[0027] In order to solve the above problems, the embodiments of the present disclosure provide a vehicle control method and device. By controlling the discharge process of the input current of the motor during the ramp parking process, the problem of poor stability of the vehicle during ramp parking is solved, and stable and reliable vehicle control is achieved. The embodiments of the present disclosure are described in detail below in combination with the method.

[0028] An exemplary embodiment of the present disclosure provides a vehicle control method, using the method to complete the process of hill parking as follows: Figure 2 As shown, including: Step 201 : Record the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed.

[0029] In this step, when the vehicle stops on a slope, the vehicle speed is detected, and after the vehicle decelerates to zero speed, the current parameters at that moment are recorded. Specifically, the direct axis current output by the current loop to the motor is recorded as the zero speed direct axis current, and the quadrature axis current is recorded as the zero speed quadrature axis current.

[0030] The angle of the vehicle can be used as a basis for determining whether the vehicle is running on a slope. The angle of the vehicle can be obtained by measuring the slope angle of the vehicle's driving direction through an angle sensor, or by calculating information such as vehicle speed and acceleration, which is not limited in the present disclosure.

[0031] One or more angle ranges may be preset, and when the angle of the vehicle is within the angle range, the slope of the road on which the corresponding vehicle is located is determined.

[0032] Furthermore, the vehicle may be considered to be before a ramp within a specific angle range. In this case, if a stop occurs (for example, a stop command is received by the user stepping on the brake pedal), it is considered that a ramp stop event is triggered, and the process of this embodiment is initiated.

[0033] According to one embodiment, after detecting that the vehicle is stationary on a slope, the electromagnetic brake is disabled and the D-axis current of the vehicle stationary on a slope is recorded for the first time. and q-axis current .

[0034] Step 202: Generate a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current.

[0035] The discharge strategy includes a discharge curve. In this step, a discharge curve indicating a change in input current of the motor can be generated by calculation based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value.

[0036] According to an implementation manner, a discharge curve may be obtained based on multiple simulation results of zero-speed quadrature-axis current.

[0037] Figure 3 A schematic diagram of a discharge curve is shown, with the horizontal axis being the time axis and the vertical axis being the current value axis. Curves A and B correspond to two ramp parking events. Since the direct axis current and / or quadrature axis current when the deceleration is zero in the two different ramp parking scenarios are different, the obtained curves are also different, which fully achieves the generation of the optimal discharge strategy according to the current working conditions, maximizes the stability of the parking operation, and protects the vehicle performance.

[0038] Step 203: Adjust the input of the motor according to the discharge strategy.

[0039] In this step, the output of the speed loop can be stopped, the output of the stop speed loop can be adjusted according to the discharge strategy, and the input current of the motor can be adjusted according to the discharge strategy. The input current of the motor is controlled by the discharge curve and other discharge strategies. Compared with directly shutting down the motor, the process of returning the input current of the motor to zero is slowly completed through the discharge curve, thereby avoiding the sudden change of the motor torque and reducing the impact of the parking operation on the motor.

[0040] According to one embodiment, the output of the controller to the motor can also be turned off when the input current of the motor reaches a preset shutdown threshold. The shutdown threshold is a current value not greater than the maximum output current of the motor controller. The setting of the shutdown threshold can be adjusted according to the vehicle performance and application environment to meet the standard of the vehicle braking distance and ensure driving safety. At the same time, the driver's physical sensation caused by braking should also be considered to make the braking process as smooth as possible and the driving experience comfortable.

[0041] An exemplary embodiment of the present invention further provides a vehicle control method, which responds when receiving a parking instruction. The specific process is as follows: Figure 4 As shown, including: Step 401: When the vehicle is on a slope and receives a parking instruction, decelerate the vehicle.

[0042] In this step, the vehicle is running on a slope, and when receiving a parking command, it responds to the parking command and starts to decelerate.

[0043] According to one embodiment, when an electric vehicle such as an electric forklift is on a slope and decelerates to stop, the vehicle is controlled at zero speed, and a zero speed command is set to perform speed and current closed-loop control to decelerate the motor speed to zero.

[0044] Step 402: disabling the electromagnetic brake of the vehicle after deceleration to zero.

[0045] In this step, the electromagnetic brake of the vehicle can be disabled after deceleration to zero.

[0046] Step 403: Record the zero-speed direct-axis current and / or the zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed.

[0047] Step 404: Generate a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current.

[0048] Step 405: Adjust the input of the motor according to the discharge strategy.

[0049] Steps 403 to 405 and Figure 2 The implementation principles of steps 201 to 203 are the same and will not be repeated here.

[0050] It should be noted that there is no strict timing relationship between step 402 and step 403, and both are triggered and performed when the speed is decelerated to zero.

[0051] An exemplary embodiment of the present disclosure also provides a vehicle control method, using the method to complete the process of hill parking as follows: Figure 5 As shown, including: In actual application, the entire control process is divided into three stages: Phase 1: Deceleration phase, first use speed control to control the vehicle to decelerate to zero speed and disable the electromagnetic brake.

[0052] Phase 2: After the vehicle is detected to be stationary on a slope, the stationary current (including direct-axis current and / or quadrature-axis current) in the first period of time is recorded, and the discharge curve is calculated.

[0053] Phase 3: The speed loop stops working and discharges gradually according to the calculated discharge curve. When the input current of the motor reaches the preset shutdown threshold, the controller output is turned off.

[0054] An exemplary embodiment of the present disclosure also provides a vehicle control device, the structure of which is as follows: Figure 6 As shown, including: The current recording module 601 is used to record the zero-speed direct-axis current and / or the zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed; A strategy generating module 602, configured to generate a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; The current loop control module 603 is used to adjust the input of the motor according to the discharge strategy.

[0055] Furthermore, the structure of the device is as follows Figure 7 As shown, it also includes: A deceleration module 604, configured to decelerate the vehicle when the vehicle is on a slope and receives a parking instruction; The brake control module 605 disables the electromagnetic brake of the vehicle after deceleration to zero.

[0056] Furthermore, the strategy generation module 602 is used to generate a discharge curve indicating the change of the input current of the motor by calculation according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value.

[0057] Furthermore, the current loop control module 603 is used to stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

[0058] Furthermore, the current loop control module 603 is also used to shut down the output of the controller to the motor when the input current of the motor reaches a preset shutdown threshold.

[0059] The above device can be integrated into the vehicle control platform, and the corresponding functions can be realized by the controller and other devices. Regarding the device in the above embodiment, the specific way in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0060] An exemplary embodiment of the present disclosure further provides a computer device, including: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to execute vehicle control method program instructions stored in the memory.

[0061] The vehicle control method has been described in detail in the above embodiments and will not be repeated here.

[0062] An exemplary embodiment of the present disclosure further provides a non-transitory computer-readable storage medium. When instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to execute a vehicle control method provided by an embodiment of the present disclosure.

[0063] The embodiment of the present disclosure provides a vehicle control method and device. When a ramp parking event occurs, the zero-speed direct-axis current and / or the zero-speed quadrature-axis current of the vehicle parked on the ramp when it decelerates to zero speed are recorded, and then a discharge strategy is generated according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current, and the input of the motor is adjusted according to the discharge strategy. By controlling the discharge process after the vehicle is parked, the motor is steadily turned off, a stable and reliable ramp parking mechanism is realized, and the problem of poor stability of ramp parking is solved.

[0064] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0065] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0066] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0067] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0068] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Record the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed; generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; The input to the motor is adjusted according to the discharge strategy.

2. The vehicle control method according to claim 1, characterized in that: Before the step of recording the zero-speed direct-axis current and / or the zero-speed quadrature-axis current when the vehicle parked on the slope decelerates to zero speed, the method includes: When the vehicle is on a slope and receives a parking instruction, decelerating the vehicle; After deceleration to zero, the electromagnetic brakes of the vehicle are disabled.

3. The vehicle control method according to claim 1, characterized in that: The discharge strategy includes a discharge curve, and the step of generating the discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current includes: A discharge curve indicating a change in input current of the motor is generated by performing calculations based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value.

4. The vehicle control method according to claim 1 or 3, characterized in that: The step of adjusting the input of the motor according to the discharge strategy comprises: The output of the speed loop is stopped, and the input current of the motor is adjusted according to the discharge strategy.

5. The vehicle control method according to claim 1, characterized in that: The method further comprises: When the input current of the motor reaches a preset shutdown threshold, the output of the controller to the motor is shut down.

6. A vehicle control device, characterized in that: include: A current recording module, used for recording a zero-speed direct-axis current and / or a zero-speed quadrature-axis current when a vehicle parked on a slope decelerates to zero speed; A strategy generating module, used for generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; The current loop control module is used to adjust the input of the motor according to the discharge strategy.

7. The vehicle control device according to claim 6, characterized in that: The device also includes: a deceleration module, configured to decelerate the vehicle when the vehicle is on a slope and receives a parking instruction; A brake control module is used to disable the electromagnetic brake of the vehicle after deceleration to zero.

8. The vehicle control device according to claim 6, characterized in that: The discharge strategy includes a discharge curve, The strategy generation module is used to generate a discharge curve indicating the change of the input current of the motor by calculation based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value.

9. The vehicle control device according to claim 6 or 8, characterized in that: The current loop control module is used to stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

10. The vehicle control device according to claim 6, characterized in that: The current loop control module is further used to shut down the output of the controller to the motor when the input current of the motor reaches a preset shutdown threshold.

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