Method, control device and system for controlling vehicle to go uphill

Abstract

The invention discloses a method, device and system for controlling a vehicle to go uphill, and the method comprises the steps that collection signals are received, the current gear of the vehicle is marked as the actual gear, and the collection signals comprise the current load of the vehicle, the current slope value and the current accelerator opening degree; when the current load of the vehicle is larger than a load threshold value, the control mode is set to be an automatic heavy load mode, and when the current slope value is larger than a first slope threshold value and the current accelerator opening degree is larger than an accelerator signal threshold value, the actual gear is controlled to be switched to the first gear of the vehicle; if the current gradient value is larger than or equal to a second gradient threshold value and smaller than or equal to the first gradient threshold value and the current accelerator opening degree is smaller than an accelerator signal threshold value, the actual gear is controlled to be switched to a second gear of the vehicle; wherein the first gradient threshold value is gt; a second gradient threshold gt; 0.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology; in particular, the present invention relates to a method, a control device and a system for controlling a vehicle to go uphill. Background Art

[0002] Mining trucks are one of the most important means of transportation in open-pit coal mines. The road conditions they travel on are complex and changeable, and the economy, power and safety of mining trucks are extremely high. However, the existing shift control method cannot meet the control requirements, so the vehicle may even slide down the slope, affecting the operating efficiency and posing a threat to the safety of the operator. Summary of the invention

[0003] In view of this, the present invention provides a method, a control device and a system for controlling a vehicle to go uphill, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0004] In order to achieve the aforementioned purpose, a first aspect of the present invention provides a method for controlling a vehicle to go uphill, characterized in that it includes: receiving a collection signal and marking the current gear position of the vehicle as the actual gear position, wherein the collection signal includes: the current load of the vehicle, the current slope value and the current throttle opening; when the current load of the vehicle is greater than the load threshold, the control mode is set to the automatic heavy load mode: when the current slope value is greater than the first slope threshold and the current throttle opening is greater than the throttle signal threshold, the actual gear position is controlled to switch to the first gear position of the vehicle; when the current slope value is greater than or equal to the second slope threshold and is less than or equal to the first slope threshold and the current throttle opening is less than the throttle signal threshold, the actual gear position is controlled to switch to the second gear position of the vehicle; wherein the first slope threshold>the second slope threshold>0.

[0005] In the method as described above, optionally, when the control mode is the automatic heavy load mode, it also includes: when the current slope value is less than the second slope threshold, setting the control mode to the idle state.

[0006] In the method described above, optionally, when the current load of the vehicle is greater than another load threshold but less than or equal to the load threshold, the control mode is set to automatic light load mode: when the current slope value is greater than the first slope threshold and the current throttle opening is greater than the throttle signal threshold, the actual gear is controlled to switch to the first gear of the vehicle; wherein the load threshold>the other load threshold>0.

[0007] In the method described above, optionally, when the control mode is an automatic light load mode, it also includes: when the current slope value is greater than a first slope threshold and the current throttle opening is less than a throttle signal threshold, the control mode is set to an idle state; when the current slope value is less than the first slope threshold, the control mode is set to an idle state.

[0008] In the method described above, optionally, before controlling the actual gear switching, it is necessary to determine whether the target gear to be switched is consistent with the current actual gear. If they are consistent, the actual gear is kept unchanged; if they are inconsistent, the gear is shifted to the target gear.

[0009] To achieve the aforementioned objective, a second aspect of the present invention provides a control device for controlling a vehicle to go uphill to execute the aforementioned method.

[0010] To achieve the aforementioned purpose, the third aspect of the present invention provides a control system for controlling a vehicle to go uphill, comprising: a detection module, comprising a sensor for vehicle load detection, a sensor for throttle signal detection and a sensor for slope signal detection, configured to detect the current vehicle load, current slope value and current throttle opening, and generate the detected information as an initial acquisition signal, and send the initial acquisition signal to an information interaction module; an information interaction module, configured to receive the initial acquisition signal, extract and process the initial acquisition signal, generate an actual acquisition signal and send it to a control module; and a control module, integrated with a storage module, wherein threshold parameters are stored in the storage module, wherein the threshold parameters include: a first slope threshold, a second slope threshold, a load threshold and a throttle signal threshold; the control module receives the actual acquisition signal, and calls the threshold parameters of the storage module for comparison, and executes the above method. In the system as described above, optionally, the throttle signal detection sensor of the detection module exchanges data with the information interaction module via a hard-line signal, and the load detection sensor and slope signal detection sensor of the detection module exchange data with the information interaction module via CAN signals respectively.

[0011] In the system as described above, optionally, the control module is configured to connect multiple control systems of the vehicle via a CAN bus; the control module receives CAN messages from the multiple control systems and controls the gear position of the vehicle via a hard-wired output signal.

[0012] In the system as described above, optionally, it further includes two CAN buses connected from the control module, so that each control system of the multiple control systems is connected to the control module via one of the two CAN buses.

[0013] In the method provided by the present invention, the vehicle control mode is divided into a light load mode and a heavy load mode according to the load of the vehicle, and the mode switching can be controlled individually, thereby improving the speed of the gear shift response and reducing the gear shift shock.

[0014] In the above method, thresholds are divided according to the throttle signal and the slope value signal, and control is implemented according to the driver's operating intention, so as to reduce the adverse effects of uphill gear shifting on the power of the mining truck.

[0015] The above control device and system respectively include control modules for executing the above method, and therefore also have the above advantages.

[0016] In the system further provided by the present invention, the control module is connected to other systems of the vehicle through two CAN buses, thereby avoiding the problem of message arbitration caused by excessive load rate of one bus, realizing information interaction of the whole vehicle, and having safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The disclosure of the present invention will become more apparent with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings: Figure 1 A schematic flow chart of a method for controlling a vehicle to go uphill according to an embodiment of the present invention; Figure 2 for Figure 1 A flow chart showing a method in which the control mode is in an automatic light load mode; Figure 3 A control system diagram for controlling a vehicle to go uphill according to an embodiment of the present invention; Figure 4 This is a connection diagram of a control module for controlling a vehicle to go uphill and other vehicle systems according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] With reference to the accompanying drawings and specific embodiments, the structure, composition, characteristics and advantages of the method for controlling a vehicle to go uphill, the control device and the system of the present invention will be described below in an exemplary manner. However, all descriptions should not be used to form any limitation on the present invention.

[0019] In addition, for any single technical feature described or implied in the embodiments mentioned in this document, or any single technical feature displayed or implied in the accompanying drawings, the present invention still allows for continued arbitrary combination or deletion between these technical features (or their equivalents) without any technical obstacles, and thus it should be considered that these more embodiments according to the present invention are also within the scope of the description of this document.

[0020] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features.

[0021] Figures 1 to 4 The method, control device and system for controlling a vehicle to go uphill according to various embodiments of the present invention are shown.

[0022] In one embodiment, the vehicle operation mode is divided into three operation modes: no-load, light-load and heavy-load: No-load operation mode: There is basically no cargo in the electric mining truck compartment, or the weight of the cargo loaded is less than 10% of its designed full load weight. Light-load operation mode: The weight of the cargo loaded on the electric mining truck is between 10% and 75% of its designed full load weight. Heavy-load operation mode: The weight of the cargo loaded on the electric mining truck reaches more than 75% of its designed full load weight.

[0023] The light load and heavy load operation modes of the vehicle correspond to the light load mode and heavy load mode of the vehicle control mode respectively. The method of the present application can individually control the mode switching, thereby improving the speed of the gear shift response and reducing the gear shift shock. When the control device does not act on the gear position of the vehicle, the driver can change the gear position according to driving experience, and the control mode is in an idle state.

[0024] like Figure 1 As shown, the method for controlling a vehicle to go uphill includes: receiving a collection signal and marking the current gear of the vehicle as the actual gear, wherein the collection signal includes: the current load of the vehicle, the current slope value and the current throttle opening; when the current load of the vehicle is greater than 75% of the designed full load weight, the control mode is set to the automatic heavy load mode: when the current slope value is greater than 15% and the current throttle opening is greater than 70% of the throttle opening, the actual gear is controlled to switch to the first gear of the vehicle; when the current slope value is greater than or equal to 5% and less than or equal to 15% and the current throttle opening is less than 70% of the throttle opening, the actual gear is controlled to switch to the second gear of the vehicle.

[0025] When vehicles, especially mining trucks, are climbing a slope with a heavy load, it is easy for the engine power output to be insufficient, resulting in a dangerous situation of sliding down the slope. In the above method, the current vehicle load, the current slope value and the current throttle opening are detected in a timely manner. When the current vehicle load is greater than the load threshold (that is, 75% of the designed full load weight), the vehicle is considered to be in a heavy-load state. At this time, the vehicle control mode automatically turns on and enters the heavy-load mode. That is, when the vehicle is in a heavy-load state, the gear is automatically switched according to the detection situation in a timely manner.

[0026] When the vehicle is in heavy load mode, when the slope is greater than the first slope threshold of 15%, the current throttle opening is already very large (the current throttle opening is greater than 70% of the throttle opening), indicating that climbing is difficult at this time, and the vehicle is automatically controlled to switch the gear to the first gear, so as to ensure that the vehicle has enough power to climb the slope. The vehicle enters a low gear to obtain sufficient torque to overcome gravity and resistance. When the vehicle is in heavy load mode, the current slope value is greater than or equal to the second slope threshold of 5%, and less than or equal to the first slope threshold of 15%, and the current throttle opening is less than the throttle signal threshold (70% of the throttle opening), indicating that the slope of the climb is not large at this time, and the power is sufficient, the vehicle is automatically controlled to switch the gear to the second gear, so that the vehicle can ensure sufficient power and can pass quickly, ensuring the economy of the vehicle operation. In this embodiment, the load threshold is taken as 75% of the designed full load weight. In other embodiments, it can also be taken as 70% of the designed full load weight, 80% of the designed full load weight, or other, which is not limited here. In this embodiment, the throttle signal threshold is 70% of the throttle opening. In other embodiments, as a benchmark for whether the vehicle is in a high-load working state, the throttle signal threshold can be selected as [70%, 100%] of the throttle opening. The first slope threshold of 15% and the second slope threshold of 5% can also be set based on experience and are not limited here.

[0027] The method for controlling a vehicle going uphill in the present application automatically adjusts the gear position according to the slope, throttle opening and load conditions accurately and timely, thereby reducing the adverse effects of uphill gear shifting on the power of the mining truck, and under certain circumstances, also ensures the economy of vehicle operation.

[0028] An embodiment provides a control device for controlling a vehicle to go uphill to execute the above method, and the control device can be installed on the vehicle, or built into the control system of the vehicle as a module. The control device also has the above advantages.

[0029] In the above embodiment, slope = (elevation difference / horizontal distance) x 100%; a slope of 15% means that for every 100 meters of horizontal distance, the vertical direction rises (or falls) by 15 meters; others are similar.

[0030] According to the combination of vehicle dynamics and physical mechanics, when a vehicle climbs a slope, the component of gravity along the slope is . (where m is the total mass of the vehicle and cargo, g is the mass acceleration, is the angle between the slope and the horizontal plane). When the slope is in the range of [5%, 15%), the vehicle force component is small and the vehicle power system can easily cope with it; when the slope is [15%-20%], the force component increases sharply and the vehicle needs greater traction to overcome the resistance.

[0031] like Figure 1As shown, when the control mode is the automatic heavy load mode, when the current slope value is less than the second slope threshold value of 5%, the control mode is set to the idle state. The control device does not act on the gear position of the vehicle, and the driver can change the gear position according to driving experience.

[0032] When the current vehicle load is less than 75% of the designed full load weight and greater than 10% of the designed full load weight, the vehicle is in a light load state and the control mode is set to automatic light load mode.

[0033] like Figure 2 As shown, in the automatic light load mode, when the current slope value is greater than the first slope threshold value of 15%, and when the current throttle opening is greater than 70% of the total throttle opening, the actual gear is controlled to switch to the first gear of the vehicle. That is to say, in the automatic light load mode, when the vehicle has insufficient power and difficulty in climbing the slope, the control device automatically switches the gear of the vehicle to the low speed gear (that is, the first gear) to obtain sufficient power for climbing the slope.

[0034] In the automatic light load mode, when the current slope value or throttle opening is in other situations, the control mode is set to the idle state, the control device does not work, and the driver shifts gears based on experience. That is, when the control mode is the automatic light load mode, when the current slope value is greater than the first slope threshold value of 15%, and the current throttle opening is less than 70% of the total throttle opening, the control mode is set to the idle state; when the current slope value is less than the first slope threshold value of 15%, the control mode is set to the idle state.

[0035] In the method provided by the present invention, the vehicle control mode is divided into a light load mode and a heavy load mode according to the vehicle load, and the mode switching can be controlled separately, thereby improving the speed of the gear shift response and reducing the gear shift shock. In the above method, the threshold value is divided according to the throttle signal and the slope value signal, and the uphill gear shift operation is automatically performed, thus avoiding the adverse effects caused by insufficient climbing power.

[0036] To improve reliability, before controlling the actual gear switching, it is necessary to determine whether the target gear to be switched is consistent with the current actual gear. If they are consistent, the actual gear is kept unchanged; if they are inconsistent, the gear is shifted to the target gear.

[0037] like Figure 3As shown, an embodiment of the present invention further provides a control system for controlling a vehicle to go uphill, comprising: a detection module, an information interaction module, and a control module that executes the above method. The detection module comprises a sensor for vehicle load detection, a sensor for throttle signal detection, and a sensor for slope signal detection, and is configured to detect the current vehicle load, current slope value, and current throttle opening, and to generate the detected information as an initial acquisition signal, and to send the initial acquisition signal to the information interaction module; the information interaction module receives the initial acquisition signal, extracts and processes the initial acquisition signal, generates an actual acquisition signal, and sends it to the control module; and the control module is integrated with a storage module, wherein the storage module stores threshold parameters, wherein the threshold parameters include: a first slope threshold, a second slope threshold, a load threshold, and a throttle signal threshold; the control module receives the actual acquisition signal, and calls the threshold parameters of the storage module for comparison, and executes the method of the above embodiment. The sensor for throttle signal detection of the detection module exchanges data with the information interaction module via hard-line signals, and the sensor for load detection and the sensor for slope signal detection of the detection module exchange data with the information interaction module via CAN signals respectively.

[0038] like Figure 4 As shown, the control module is connected to the emergency brake control system, engine control system, gear shift control system, transmission control system, sensor signal acquisition system, electronic brake control system and other related systems through two CAN buses. The control module and the above systems are connected by two CAN buses to avoid message arbitration caused by excessive bus load rate.

[0039] The control module obtains signals collected by various sensors on the vehicle and receives CAN messages from other control systems, comprehensively judges the driver's intention and vehicle status and determines parameters, controls the gear position through hard-wired output signals, and sends instructions through the CAN bus to achieve normal operation of the vehicle.

[0040] In one embodiment, the information interaction module: integrates TBOX and multiple interactive systems. On the one hand, it integrates the vehicle load information, throttle signal and slope signal detection data from the detection module, and collects CAN bus messages from various other sensors, switch signals and other key components on the vehicle, and transmits the analyzed information to the control module, so that the control module can calculate and issue instructions according to the preset algorithm based on this information, dynamically select the appropriate shift strategy and mode, and realize the precise shift control and overall coordination of the mining truck under uphill conditions.

[0041] Signal receiving method: TBOX has a CAN controller and transceiver inside. The pressure sensor converts the collected information into electrical signals, which are then packaged into CAN frames and sent through the CAN transceiver. After receiving the CAN frame, the CAN controller of TBOX recognizes that the data in the frame is vehicle load information according to the pre-defined CAN protocol and extracts the load value.

[0042] TBOX has a corresponding hard-wire interface circuit, which can filter, amplify and other pre-process the received analog hard-wire signal (the voltage signal corresponding to the accelerator pedal position). For example, the voltage range of the accelerator pedal position sensor is 0-5V, corresponding to the position of the accelerator pedal from fully released to fully depressed. The hard-wire interface circuit of TBOX will perform analog-to-digital conversion on this voltage signal and convert it into a digital signal. For example, after the conversion, the data of the accelerator pedal opening is 70%. A similar processing method is used for the slope signal detection data.

[0043] Data calibration and normalization: The signals of different sensors vary due to factors such as accuracy and range. TBOX calibrates the data. The load measurement of the pressure sensor may have a certain error range, and TBOX can correct it according to the pre-calibrated parameters. If the pressure sensor outputs a basic value when unloaded and a maximum value when fully loaded, TBOX will perform linear calibration on the received load signal according to this range to ensure the accuracy of the load data. In order to facilitate subsequent comprehensive analysis, TBOX will normalize these data. The load information, throttle signal and slope signal are all converted to a standard value range. The load information can be normalized to 0-100 (0 means no load, 100 means the maximum design load), the throttle signal is normalized to 0-100 (0 means the throttle is fully released, 100 means the throttle is fully pressed), and the slope signal is normalized to 0-90 (0 means horizontal road surface, 90 means vertical slope), so that these different types of data can be integrated on the same scale.

[0044] Data fusion process: TBOX has a data fusion module, which fuses the processed vehicle load information, throttle signal and slope signal. First, the data will be matched according to the timestamp. Because there may be a certain delay in the signal transmission of different sensors, TBOX will combine the three data received at the same time (within a very small time window). At a certain time t, TBOX receives a load information of 50 (normalized value), a throttle signal of 60, and a slope signal of 30. The data fusion module will package these three data into a data structure, which contains the current complete working condition information of the vehicle. This data structure can include information such as data source (detection module), data type (load, throttle, slope), specific value and timestamp. Then, TBOX will transmit this integrated working condition information data to the subsequent analysis and processing unit, and finally to the control module, providing it with accurate vehicle working condition data for control decisions such as shifting strategies.

[0045] The technical scope of the present invention is not limited to the contents of the above description. Those skilled in the art can make various deformations and modifications to the above implementation without departing from the technical idea of ​​the present invention, and these deformations and modifications should all fall within the scope of the present invention.

Claims

1. A method for controlling a vehicle to go uphill, characterized in that: include: Receiving a collection signal and marking the current gear position of the vehicle as the actual gear position, wherein the collection signal includes: the current vehicle load, the current slope value and the current throttle opening; When the current vehicle load is greater than the load threshold, the control mode is set to automatic heavy load mode: When the current slope value is greater than the first slope threshold and the current throttle opening is greater than the throttle signal threshold, the actual gear is controlled to switch to the first gear of the vehicle; The current slope value is greater than or equal to the second slope threshold and less than or equal to the first slope threshold. The current throttle opening is less than the throttle signal threshold, and the actual gear is controlled to switch to the second gear of the vehicle; wherein, the first slope threshold>the second slope threshold>0.

2. The method according to claim 1, characterized in that When the control mode is the automatic heavy load mode, the method further includes: when the current slope value is less than the second slope threshold, setting the control mode to an idle state.

3. The method according to claim 1, characterized in that When the current load of the vehicle is greater than another load threshold but less than or equal to the load threshold, the control mode is set to automatic light load mode: when the current slope value is greater than the first slope threshold and the current throttle opening is greater than the throttle signal threshold, the actual gear is controlled to switch to the first gear of the vehicle; wherein, the load threshold>the other load threshold>0.

4. The method according to claim 2, characterized in that When the control mode is the automatic light load mode, it also includes: when the current slope value is greater than the first slope threshold and the current throttle opening is less than the throttle signal threshold, the control mode is set to the idle state; when the current slope value is less than the first slope threshold, the control mode is set to the idle state.

5. The method according to any one of claims 1 to 4, characterized in that Before controlling the actual gear switching, it is necessary to determine whether the target gear to be switched is consistent with the current actual gear. If they are consistent, the actual gear is kept unchanged; if they are inconsistent, the gear is shifted to the target gear.

6. A control device for controlling a vehicle to go uphill, characterized in that: Execute any one of the methods described in claim 1 to claim 5.

7. A control system for controlling a vehicle to go uphill, comprising: The detection module includes a sensor for vehicle load detection, a sensor for throttle signal detection, and a sensor for slope signal detection, and is configured to detect the current vehicle load, current slope value, and current throttle opening, and generate the detected information as an initial acquisition signal, and send the initial acquisition signal to the information interaction module; An information interaction module is configured to receive the initial acquisition signal, extract and process the initial acquisition signal, generate an actual acquisition signal and send it to the control module; as well as, A control module is integrated with a storage module, wherein the storage module stores threshold parameters, wherein the threshold parameters include: a first slope threshold, a second slope threshold, a load threshold and a throttle signal threshold; the control module receives the actual acquisition signal, and calls the threshold parameters of the storage module for comparison, and executes the method as described in any one of claims 1 to 5.

8. The system according to claim 7, characterized in that The sensor for throttle signal detection of the detection module exchanges data with the information interaction module via hard-line signals, and the sensor for load detection and the sensor for slope signal detection of the detection module exchange data with the information interaction module via CAN signals respectively.

9. The system according to claim 7, characterized in that The control module is configured to connect multiple control systems of the vehicle via a CAN bus; the control module receives CAN messages from the multiple control systems and controls the gear position of the vehicle via a hard-wired output signal.

10. The system according to claim 9, characterized in that It also includes two CAN buses connected from the control module, so that each control system of the multiple control systems is connected to the control module via one of the two CAN buses.

Images