Vehicle Control Method and Device

Abstract

The present disclosure relates to a vehicle control method and apparatus. It relates to vehicle control technology and solves the problem of poor stability of a vehicle during ramp parking. The method includes: recording the zero-speed direct-axis current and / or the zero-speed quadrature-axis current when the vehicle decelerating during ramp parking reaches zero speed; generating a discharge strategy based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; and adjusting the input of the motor according to the discharge strategy. The technical solution provided by the present invention is applicable to electric vehicles and realizes stable and reliable vehicle control.

Description

Technical Field

[0001] The present disclosure relates to vehicle control technology, and particularly to a vehicle control method and device in a slope parking state. Background Art

[0002] When an electric vehicle parks on a slope, usually after the vehicle's mechanical braking decelerates to zero, the output of the controller is turned off. Since the process of decelerating to a stop is usually short, immediately turning off the input to the motor as the speed drops will cause phenomena such as vehicle rollback or abnormal jitter.

[0003] Therefore, the stability of vehicle slope parking needs to be improved urgently. Summary of the Invention

[0004] To overcome the problems in the related art, the present disclosure provides a vehicle control method and device. By controlling the discharge process of the input current of the motor during the slope parking process, the problem of poor stability of vehicle slope parking is solved, and stable and reliable vehicle control is achieved.

[0005] According to the first aspect of the embodiments of the present disclosure, a vehicle control method is provided, including:

[0006] Recording the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle on the slope decelerates to zero speed during slope parking;

[0007] Generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current;

[0008] Adjusting the input of the motor according to the discharge strategy.

[0009] Further, before the step of recording the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle on the slope decelerates to zero speed, it includes:

[0010] When the vehicle is on a slope and receives a parking instruction, decelerating the vehicle;

[0011] Disabling the electromagnetic brake of the vehicle when it decelerates to zero.

[0012] Further, the discharge strategy includes a discharge curve, and the step of generating a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current includes:

[0013] Calculating 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 of the input current of the motor.

[0014] Further, the step of adjusting the input of the motor according to the discharge strategy includes:

[0015] Stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

[0016] Further, the method further includes:

[0017] When the input current of the motor reaches a preset shutdown threshold, the controller shuts off the output to the motor.

[0018] According to a second aspect of the embodiments of the present disclosure, a vehicle control device is provided, including:

[0019] A current recording module for recording the direct-axis zero-speed current and / or the quadrature-axis zero-speed current when a vehicle on a ramp decelerates to zero speed during ramp parking;

[0020] A strategy generation module for generating a discharge strategy according to the direct-axis zero-speed current and / or the quadrature-axis zero-speed current;

[0021] A current loop control module for adjusting the input of the motor according to the discharge strategy.

[0022] Further, the device further includes:

[0023] A deceleration module for decelerating the vehicle when the vehicle is on a ramp and receives a parking instruction;

[0024] A brake control module for disabling the electromagnetic brake of the vehicle when the speed decelerates to zero.

[0025] Further, the discharge strategy includes a discharge curve, and the strategy generation module is configured to calculate according to the direct-axis zero-speed current and / or the quadrature-axis zero-speed current and a preset discharge target current value to generate a discharge curve indicating the change in the input current of the motor.

[0026] Further, the current loop control module is configured to stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

[0027] Further, the current loop control module is further configured to shut off the output of the controller to the motor when the input current of the motor reaches a preset shutdown threshold.

[0028] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: When a ramp parking event occurs, record the direct-axis zero-speed current and / or the quadrature-axis zero-speed current when a vehicle on a ramp decelerates to zero speed during ramp parking, then generate a discharge strategy according to the direct-axis zero-speed current and / or the quadrature-axis zero-speed current, and then adjust the input of the motor according to the discharge strategy. By controlling the discharge process after vehicle parking, the motor is steadily shut down, realizing a stable and reliable ramp parking mechanism and solving the problem of poor ramp parking stability.

[0029] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are incorporated herein and constitute a part of this specification, showing embodiments consistent with the present disclosure and, together with the specification, are used to explain the principles of the present disclosure.

[0031] Figure 1 is a schematic diagram of the ramp parking principle.

[0032] Figure 2 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0033] Figure 3 is a schematic diagram of a discharge curve shown according to an exemplary embodiment.

[0034] Figure 4 is a flowchart of another vehicle control method shown according to an exemplary embodiment.

[0035] Figure 5 is a flowchart of another vehicle control method shown according to an exemplary embodiment.

[0036] Figure 6 is a block diagram of a vehicle control device shown according to an exemplary embodiment.

[0037] Figure 7 is a block diagram of another vehicle control device shown according to an exemplary embodiment. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0039] When an electric vehicle parks on a ramp, usually after the vehicle decelerates to zero by mechanical braking in response to a zero-speed command, the output of the controller is turned off, and its implementation principle is as Figure 1 shown. Since the process of decelerating to a stop is usually short, immediately turning off the input to the motor as the speed decreases may cause phenomena such as vehicle rollback or abnormal vibration.

[0040] To solve the above problems, 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 ramp parking, the problem of poor ramp parking stability of the vehicle is solved, and stable and reliable vehicle control is achieved. The embodiments of the present disclosure will be described in detail below in combination with the method.

[0041] An exemplary embodiment of the present disclosure provides a vehicle control method. The process of completing ramp parking using this method is as Figure 2 shown and includes:

[0042] Step 201, record the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle decelerating during ramp parking reaches zero speed.

[0043] In this step, when the vehicle undergoes ramp parking, the vehicle speed is detected. After the vehicle decelerates to zero speed, the current parameters at this 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.

[0044] The angle of the vehicle can be used as a basis for judging whether the vehicle is running on a ramp. The angle of the vehicle can be obtained by measuring the slope angle of the vehicle's driving direction with an angle sensor, or can be calculated from information such as vehicle speed and acceleration. The present disclosure does not limit this.

[0045] One or more angle ranges can be preset. When the angle of the vehicle is within the angle range, the slope condition of the road surface where the vehicle is located is determined.

[0046] Furthermore, before the vehicle is considered to be on a ramp within a specific angle range, if a stop occurs in this case (such as receiving a stop command issued by the user stepping on the brake pedal, etc.), it is considered that a ramp parking event is triggered, and the process of this embodiment is started.

[0047] According to one implementation, after detecting that the vehicle is stably parked on the slope, the electromagnetic brake is disabled, and the d-axis current during slope parking within the first time is recorded and the q-axis current .

[0048] Step 202, generate a discharge strategy according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current.

[0049] The discharge strategy includes a discharge curve. In this step, according to the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value, calculations can be performed to generate a discharge curve indicating the change in the input current of the motor.

[0050] According to one implementation, the discharge curve can be obtained based on multiple simulation results of the zero-speed quadrature-axis current.

[0051] Figure 3 A schematic diagram of a discharge curve is shown, where the horizontal axis is the time axis and the vertical axis is the current value axis. Among them, curves A and B correspond to two events of ramp parking. Since the direct-axis current and / or quadrature-axis current at zero speed during ramp parking in two different scenarios are not the same, the obtained curves are also different, fully achieving the generation of an optimal discharge strategy according to the current working conditions, maximizing the stability of the parking operation, and protecting the vehicle performance.

[0052] Step 203: Adjust the input of the motor according to the discharge strategy.

[0053] In this step, the output of the speed loop can be stopped, and the output of the speed loop is adjusted according to the discharge strategy, and the input current of the motor is adjusted according to the discharge strategy. Through the discharge strategy such as the discharge curve, the control of the input current of the motor is realized. Compared with directly turning off the motor, the process of gradually reducing the input current of the motor to zero is 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.

[0054] 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. Among them, 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 vehicle braking distance standard and ensure driving safety. At the same time, the driver's body feeling factor brought by braking should also be considered to make the braking process as smooth as possible and the driving experience comfortable.

[0055] An exemplary embodiment of the present invention also provides a vehicle control method, which responds when a parking instruction is received, and the specific process is as Figure 4 shown, including:

[0056] Step 401: Decelerate the vehicle when the vehicle is on a ramp and a parking instruction is received.

[0057] In this step, the vehicle is running on a ramp. When a parking instruction is received, the parking instruction is responded to and deceleration starts.

[0058] According to one embodiment, when an electric vehicle such as an electric forklift is on a ramp and decelerates to a stop, zero-speed control is performed on the vehicle, and a zero-speed instruction is set for speed and current closed-loop control to decelerate the motor speed to 0.

[0059] Step 402: Disable the electromagnetic brake of the vehicle when decelerated to zero.

[0060] In this step, the electromagnetic brake of the vehicle can be disabled after decelerating to zero.

[0061] Step 403: Record the direct-axis zero-speed current and / or the quadrature-axis zero-speed current when the vehicle decelerating on the ramp comes to a standstill.

[0062] Step 404: Generate a discharge strategy based on the direct-axis zero-speed current and / or the quadrature-axis zero-speed current.

[0063] Step 405: Adjust the input of the motor according to the discharge strategy.

[0064] Steps 403 to 405 have the same implementation principle as Figure 2 Steps 201 to 203 therein, and thus will not be elaborated here again.

[0065] It should be noted that there is no strict timing relationship between Step 402 and Step 403, and both are triggered at the moment when the vehicle decelerates to a standstill.

[0066] An exemplary embodiment of the present disclosure further provides a vehicle control method. The process of completing ramp parking using this method is as Figure 5 shown and includes:

[0067] In the actual application process, the entire control process is divided into three stages:

[0068] Stage 1: Deceleration stage. First, use speed control to decelerate the vehicle to a standstill and disable the electromagnetic brake.

[0069] Stage 2: After detecting that the vehicle is parked on the slope, record the slope parking current (including the direct-axis current and / or the quadrature-axis current) within the first period of time and calculate the discharge curve.

[0070] Stage 3: The speed loop stops working. Discharge gradually according to the calculated discharge curve. When the input current of the motor reaches the preset closing threshold, turn off the controller output.

[0071] An exemplary embodiment of the present disclosure further provides a vehicle control device. Its structure is as Figure 6 shown and includes:

[0072] A current recording module 601, configured to record the direct-axis zero-speed current and / or the quadrature-axis zero-speed current when the vehicle decelerating on the ramp comes to a standstill;

[0073] A strategy generation module 602, configured to generate a discharge strategy based on the direct-axis zero-speed current and / or the quadrature-axis zero-speed current;

[0074] A current loop control module 603, configured to adjust the input of the motor according to the discharge strategy.

[0075] Further, the structure of the device is as Figure 7 shown and further includes:

[0076] A deceleration module 604, configured to decelerate the vehicle when the vehicle is on a ramp and receives a parking instruction;

[0077] A brake control module 605, configured to disable the electromagnetic brake of the vehicle after decelerating to zero.

[0078] Furthermore, the strategy generation module 602 is configured to calculate based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current and a preset discharge target current value, and generate a discharge curve indicating a change in the input current of the motor.

[0079] Furthermore, the current loop control module 603 is configured to stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

[0080] Furthermore, the current loop control module 603 is further configured to, when the input current of the motor reaches a preset shutdown threshold, shut down the output of the controller to the motor.

[0081] The above device can be integrated into a vehicle control platform, and corresponding functions are implemented by devices such as a controller. Regarding the devices in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0082] An exemplary embodiment of the present disclosure further provides a computer device, including:

[0083] A processor;

[0084] A memory for storing instructions executable by the processor;

[0085] Wherein, the processor is configured to execute the vehicle control method program instructions stored in the memory.

[0086] The vehicle control method has been described in detail in the above embodiments and will not be repeated here.

[0087] An exemplary embodiment of the present disclosure further provides a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to execute a vehicle control method provided in an embodiment of the present disclosure.

[0088] Embodiments of the present disclosure provide a vehicle control method and apparatus. When a ramp parking event occurs, the zero-speed direct-axis current and / or zero-speed quadrature-axis current of the vehicle decelerating to zero speed during ramp parking is recorded. Then, a discharge strategy is generated based on 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 stops, the motor is steadily turned off, realizing a stable and reliable ramp parking mechanism and solving the problem of poor ramp parking stability.

[0089] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. For each specific application, those skilled in the art can use various methods to implement the described function, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present application.

[0090] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a specific manner. As used herein, the term "or" is intended to mean 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 mean any arrangement in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context indicating a singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0091] Similarly, 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 upon reading and understanding this specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may, as may be desired and advantageous for any given or particular application, be combined with one or more other features of other implementations. Further, with respect to the use of "comprising," "having," "including," "containing," or variations thereof in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including."

[0092] Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of 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 known or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0093] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, Comprising: Recording the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle decelerating on a ramp stops at zero speed; Generating a discharge strategy based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; Adjusting the input of the motor according to the discharge strategy; Wherein, the discharge strategy includes a discharge curve, and the step of generating a discharge strategy based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current includes: Calculating based on 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 the input current of the motor.

2. The vehicle control method according to claim 1, wherein Before the step of recording the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle decelerating on a ramp stops at zero speed, it includes: When the vehicle is on a ramp and receives a stop command, decelerating the vehicle; Disabling the electromagnetic brake of the vehicle when the speed decelerates to zero.

3. The vehicle control method according to claim 1, characterized in that, The step of adjusting the input of the motor according to the discharge strategy includes: Stopping the output of the speed loop and adjusting the input current of the motor according to the discharge strategy.

4. The vehicle control method according to claim 1, wherein The method further includes: When the input current of the motor reaches a preset shutdown threshold, Closing the output of the controller to the motor.

5. A vehicle control device, characterized in that, Comprising: A current recording module for recording the zero-speed direct-axis current and / or zero-speed quadrature-axis current when the vehicle decelerating on a ramp stops at zero speed; A strategy generation module for generating a discharge strategy based on the zero-speed direct-axis current and / or the zero-speed quadrature-axis current; A current loop control module for adjusting the input of the motor according to the discharge strategy; Wherein, the discharge strategy includes a discharge curve, The strategy generation module is configured to calculate based on 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 the input current of the motor.

6. The vehicle control device according to claim 5, wherein The device further includes: A deceleration module for decelerating the vehicle when the vehicle is on a ramp and receives a stop command; A brake control module for disabling the electromagnetic brake of the vehicle when the speed decelerates to zero.

7. The vehicle control device according to claim 5, wherein: The current loop control module is configured to stop the output of the speed loop and adjust the input current of the motor according to the discharge strategy.

8. The vehicle control device according to claim 5, wherein: The current loop control module is further configured to close the output of the controller to the motor when the input current of the motor reaches a preset shutdown threshold.

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