Electric vehicle backward sliding control method and electronic equipment

Abstract

The invention discloses an electric vehicle backward sliding control method and electronic equipment. The backward sliding control method for the electric vehicle comprises the steps that when the vehicle is parked and started, whether the vehicle slides backwards or not is detected; and when it is detected that the vehicle slides backwards, mechanical braking is conducted on the vehicle till the vehicle speed recovers to 0. When the vehicle is parked and started, whether the vehicle slides backwards or not is detected, and when it is detected that the vehicle slides backwards, the vehicle is mechanically braked till the vehicle speed recovers to 0. Through intervention of mechanical braking, backward sliding of the vehicle is avoided, and the safety of the vehicle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a method for controlling backward sliding of an electric vehicle, an electronic device, a storage medium, and a computer program product. Background Art

[0002] An electric vehicle is powered by a battery. During the driving process of the vehicle, the state of the battery pack includes two types: output state and recharge (recovery) state.

[0003] As Figure 1 shown, on a ramp 2 with a slope angle of α, when the vehicle 1 slides backward under the action of the force mgsinα of gravity mg along the slope direction, the driving force F of the vehicle 1 is positive and the vehicle speed V is negative, that is, the directions of the driving force and the vehicle speed are opposite.

[0004] As Figure 2 shown, according to the relationship between the driving force and the vehicle speed of the vehicle, it can be divided into four quadrants. When the directions of the driving force and the vehicle speed are the same, the vehicle driving force and vehicle speed curve 3 are in the first and third quadrants, and at this time the battery pack is in the output state; when the directions of the driving force and the vehicle speed are opposite, the vehicle driving force and vehicle speed curve 3 are in the second and fourth quadrants, and the battery pack is in the recharge state. Figure 1 The situation of Figure 2 corresponds to the purple area 4 of

[0005] As Figure 3 shown is a recharge power table. The top row represents the State of Charge (SOC) value, the left column represents the temperature in °C, and each grid represents the recharge power (unit: kw) at this SOC and temperature. Among them, a, b, c, d, e, x, y in each grid represent numbers. It can be seen that when the vehicle is in a low temperature or a high State of Charge (SOC), the recharge power is very small. Combining Figure 2 , at this time the driving force is Figure 3 limited by the recharge power table shown, the driving force is insufficient and cannot overcome the Figure 1 force mgsinα in Summary of the Invention

[0006] Based on this, in view of the technical problem that the driving force is limited and the vehicle slides backward when the vehicle starts on a slope in the prior art, it is necessary to provide a method for controlling backward sliding of an electric vehicle, an electronic device, a storage medium, and a computer program product.

[0007] The present invention provides a method for controlling backward sliding of an electric vehicle, including:

[0008] When the vehicle starts from a parked state, detect whether the vehicle rolls backward;

[0009] When it is detected that the vehicle rolls backward, perform mechanical braking on the vehicle until the vehicle speed returns to 0.

[0010] Further, the performing mechanical braking on the vehicle when it is detected that the vehicle rolls backward includes:

[0011] When it is detected that the vehicle rolls backward, detect the motor driving force of the vehicle. If the motor driving force is less than the vehicle required driving force, perform mechanical braking on the vehicle.

[0012] Even further, the performing mechanical braking on the vehicle if the motor driving force is less than the vehicle required driving force includes:

[0013] If the motor driving force is less than the vehicle required driving force, perform mechanical braking on the vehicle and increase the mechanical braking force of the vehicle to the vehicle required driving force.

[0014] Even further, it further includes: while performing mechanical braking on the vehicle, reduce the motor driving force to 0.

[0015] Further, after performing mechanical braking on the vehicle until the vehicle speed returns to 0, it further includes:

[0016] In response to an increase in the accelerator pedal opening, while reducing the mechanical braking force, increase the motor driving force until the mechanical braking force is 0 and the motor driving force is the vehicle required driving force.

[0017] Even further, the increasing the motor driving force while reducing the mechanical braking force includes:

[0018] While gradually increasing the motor driving force, reduce the mechanical braking force to the vehicle required driving force minus the motor driving force.

[0019] Even further, the vehicle required driving force is determined according to the accelerator pedal opening.

[0020] The present invention provides an electronic device, including:

[0021] At least one processor; and,

[0022] A memory communicatively connected to at least one of the processors; wherein,

[0023] The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute the electric vehicle roll-back control method as described above.

[0024] The present invention provides a storage medium that stores computer instructions. When a computer executes the computer instructions, all steps of the electric vehicle reverse control method described above are performed.

[0025] The present invention provides a computer program product, including a computer program / instructions. When the computer program / instructions are executed by a processor, the electric vehicle reverse control method described above is implemented.

[0026] When the vehicle of the present invention starts from a parked state, it detects whether the vehicle is reversing. When it detects that the vehicle is reversing, it performs mechanical braking on the vehicle until the vehicle speed returns to 0. By the intervention of mechanical braking, the present invention avoids the vehicle from reversing and ensures the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the vehicle reversing;

[0028] Figure 2 It is a quadrant diagram of the relationship between vehicle driving force and vehicle speed;

[0029] Figure 3 It is a back charging power meter;

[0030] Figure 4 It is a working flowchart of an electric vehicle reverse control method according to an embodiment of the present invention;

[0031] Figure 5 It is a working flowchart of an electric vehicle reverse control method according to another embodiment of the present invention;

[0032] Figure 6 It is an overall schematic diagram of an electric vehicle reverse control method according to the best embodiment of the present invention;

[0033] Figure 7 It is a schematic diagram of the hardware structure of an electronic device according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The following further describes the specific embodiments of the present invention with reference to the drawings. The same components are denoted by the same reference numerals. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" refer to the directions towards or away from the geometric center of a specific component, respectively.

[0035] As Figure 4 shown is a working flowchart of an electric vehicle reverse control method according to an embodiment of the present invention, including:

[0036] Step S401, when the vehicle starts from a parked state, detect whether the vehicle is reversing;

[0037] Step S402: When it is detected that the vehicle is rolling backward, apply mechanical braking to the vehicle until the vehicle speed returns to 0.

[0038] Specifically, the present invention can be applied to an electronic device with processing capabilities, such as a vehicle controller. For example, the electronic control unit (ECU) of a vehicle.

[0039] First, when the vehicle starts from a parked state, detect whether the vehicle is rolling backward, and execute step S401 to detect whether the vehicle is rolling backward.

[0040] Among them, after the vehicle is parked, when the driver steps on the brake and engages the forward gear (D gear) to prepare for starting, determine whether the vehicle is rolling backward. Specifically, when the vehicle speed is negative, it is determined that the vehicle is rolling backward. For example, when the vehicle is parked on a slope and starts in D gear, it rolls backward.

[0041] When it is detected that the vehicle is rolling backward, execute step S402 to apply mechanical braking to the vehicle until the vehicle speed returns to 0.

[0042] Specifically, when it is determined that the vehicle speed is negative, it is determined that the vehicle is rolling backward, where the forward direction of the vehicle is the positive direction.

[0043] When it is detected that the vehicle is rolling backward, activate the roll-back assist control function, apply mechanical braking to the vehicle until the vehicle speed returns to 0. Specifically, the mechanical braking of the wheels can be performed through the vehicle's dynamic control system (Vehicle Dynamics Control, VDC).

[0044] When the vehicle of the present invention starts from a parked state, it detects whether the vehicle is rolling backward. When it is detected that the vehicle is rolling backward, mechanical braking is applied to the vehicle until the vehicle speed returns to 0. Through the intervention of mechanical braking, the present invention avoids the vehicle from rolling backward and ensures vehicle safety.

[0045] As Figure 5 shown is the flowchart of a method for controlling the roll-back of an electric vehicle in another embodiment of the present invention, including:

[0046] Step S501: When the vehicle starts from a parked state, detect whether the vehicle is rolling backward;

[0047] Step S502: When it is detected that the vehicle is rolling backward, detect the motor driving force of the vehicle. If the motor driving force is less than the required driving force of the vehicle, apply mechanical braking to the vehicle until the vehicle speed returns to 0.

[0048] Step S503: In response to an increase in the accelerator pedal opening, while reducing the mechanical braking force, increase the motor driving force until the mechanical braking force is 0 and the motor driving force is the required driving force of the vehicle.

[0049] In this embodiment, when the recharge power allowed by the battery is small and the vehicle rolls backward after shifting into D gear during startup, the output of the motor is restricted and insufficient. At this time, the roll-back assist control function will be activated, and mechanical braking is used to prevent the vehicle from rolling backward (the vehicle speed gradually decreases from negative to 0). After maintaining for a certain period of time, when the driver accelerates again, the roll-back assist control function exits, and the vehicle accelerates forward normally.

[0050] Specifically, when the vehicle starts from a parked state, step S501 is executed to detect whether the vehicle rolls backward.

[0051] Specifically, when the driver steps on the brake, shifts into D gear, and is ready to start, it is detected whether the vehicle rolls backward.

[0052] When it is detected that the vehicle rolls backward, step S502 is executed to detect the driving force of the vehicle's motor. If the motor driving force is less than the vehicle's required driving force, mechanical braking is applied to the vehicle until the vehicle speed returns to 0.

[0053] Specifically, when it is detected that the vehicle rolls backward, the motor driving force is opposite to the vehicle speed. Therefore, the battery is in a charging state, and there may be a problem of limited output. Therefore, the motor driving force is detected. If the motor driving force is less than the vehicle's required driving force, it is determined that the motor output is limited, resulting in roll-back. At this time, the roll-back assist control function is activated, and mechanical braking is applied to the vehicle through VDC until the vehicle speed returns to 0.

[0054] In one embodiment, the vehicle's required driving force is determined according to the accelerator pedal opening.

[0055] Specifically, the vehicle's required driving force is determined in real time according to the accelerator pedal opening.

[0056] In one embodiment, if the motor driving force is less than the vehicle's required driving force, applying mechanical braking to the vehicle includes:

[0057] If the motor driving force is less than the vehicle's required driving force, mechanical braking is applied to the vehicle, and the mechanical braking force of the vehicle is increased to the vehicle's required driving force.

[0058] Specifically, when the motor driving force is less than the vehicle's required driving force, it means that due to the small recharge power allowed by the battery, the driving force output by the motor is restricted and cannot meet the vehicle's required driving force. At this time, the mechanical braking force of the vehicle is increased to the vehicle's required driving force.

[0059] Among them, the vehicle's required driving force is determined according to the accelerator pedal opening. Therefore, when the roll-back assist control function is activated, when the driver steps on the accelerator pedal, the vehicle uses the existing driving force calculation method to determine the vehicle's required driving force according to the accelerator pedal opening. Then, the mechanical braking force intervenes to meet the vehicle's required driving force until the vehicle speed is 0.

[0060] In this embodiment, mechanical braking force is used to meet the driving force requirement of the vehicle, preventing the vehicle from rolling backward.

[0061] In one of the embodiments, it further includes: while performing mechanical braking on the vehicle, reducing the driving force of the motor until it reaches 0.

[0062] During the process of performing mechanical braking on the vehicle and increasing the mechanical braking force, simultaneously reduce the driving force of the motor until it reaches 0, and stop the motor output.

[0063] Then, after the vehicle speed returns to 0 and the vehicle stops stably, the braking force remains unchanged. When the driver deeply steps on the accelerator pedal (throttle), step S503 is triggered. In response to the increase in the opening of the accelerator pedal, while reducing the mechanical braking force, increase the driving force of the motor until the mechanical braking force is 0 and the driving force of the motor is the driving force requirement of the vehicle.

[0064] In some embodiments, the driving force requirement of the vehicle when the vehicle speed is 0 is used as the first driving force requirement, and the real-time driving force requirement of the vehicle is calculated according to the real-time opening of the accelerator pedal as the second driving force requirement. When the difference between the second driving force requirement and the first driving force requirement is greater than the difference threshold, in response to the increase in the opening of the accelerator pedal, while reducing the mechanical braking force, increase the driving force of the motor until the mechanical braking force is 0 and the driving force of the motor is the driving force requirement of the vehicle.

[0065] Specifically, after the vehicle speed returns to 0, when the difference between the second driving force requirement and the first driving force requirement is greater than the difference threshold, it is determined that the driver deeply steps on the accelerator pedal. At this time, the roll-back assistance control function exits. While reducing the mechanical braking force, increase the driving force of the motor until the mechanical braking force is 0 and the driving force of the motor is the driving force requirement of the vehicle.

[0066] After the roll-back assistance control function exits, the real-time driving force requirement of the vehicle is also determined according to the real-time opening of the accelerator pedal, and the driving force of the motor output by the motor is controlled to increase to the real-time driving force requirement of the vehicle. At the same time, the VDC controls the mechanical braking to exit, and gradually reduces the mechanical braking force until the mechanical braking force is 0.

[0067] The present invention determines whether the output of the motor is limited according to the comparison between the driving force of the motor and the driving force requirement of the vehicle, and intervenes with the mechanical braking force when the output of the motor is limited to prevent the vehicle from rolling backward. After the vehicle speed is 0, since the vehicle speed is 0, the battery is in the output state at this time, rather than the charging state. Therefore, the motor drive is not limited. At this time, the driving force output by the motor is re-controlled according to the driver's operation of the accelerator pedal, and the mechanical braking force is exited, enabling the vehicle to accelerate forward normally.

[0068] In one of the embodiments, the increasing the driving force of the motor while reducing the mechanical braking force includes:

[0069] While gradually increasing the driving force of the motor, reduce the mechanical braking force to the vehicle required driving force minus the driving force of the motor.

[0070] Specifically, control the driving force of the motor to increase at a preset driving force rising rate. At the same time, subtract the real-time driving force of the motor from the vehicle required driving force to obtain the real-time mechanical braking force, and control the mechanical braking output of the real-time calculated mechanical braking force through VDC.

[0071] Among them, the control of the driving force can adopt the existing technology to convert it into the corresponding driving torque according to the preset conversion coefficient, and control the motor to output the driving torque corresponding to the driving force.

[0072] The mechanical braking force of this embodiment is calculated according to the driving force of the motor and the vehicle required driving force, so that while the mechanical braking gradually exits, it still meets the vehicle required driving force, enabling the smooth transition between the driving force of the motor and the mechanical braking force.

[0073] As Figure 6 shown is the overall schematic diagram of a method for controlling the backward sliding of an electric vehicle according to the best embodiment of the present invention, including: the accelerator pedal opening curve 601, the vehicle speed curve 602, the backward sliding auxiliary control function activation curve 603 (when the backward sliding auxiliary control function activation curve 603 is 1, the backward sliding auxiliary control function is activated; when the backward sliding auxiliary control function activation curve 603 is 0, the backward sliding auxiliary control function exits), the mechanical braking force curve 604, the motor driving force curve 605, and the vehicle required driving force curve 606.

[0074] A complete example includes the following stages:

[0075] Stage 611, the driver steps on the brake, shifts to D gear, and prepares to start.

[0076] Stage 612, the vehicle starts and there is a situation of backward sliding. At this time, the motor driving force curve 605 rises.

[0077] Stage 613, the driver continues to step on the accelerator (i.e., the accelerator pedal), but the motor output is limited, resulting in continued backward sliding. At this time, due to high SOC or low temperature, the motor driving force is limited, and the motor driving force curve 605 is lower than the vehicle required driving force curve 606.

[0078] Stage 614, the backward sliding auxiliary control function is activated, the backward sliding auxiliary control function activation curve 603 jumps from 0 to 1, the mechanical braking intervenes, and the mechanical braking force curve 604 rises to the vehicle required driving force curve 606, allowing the vehicle speed to gradually return to 0, and the vehicle speed curve 602 rises from the backward sliding interval 6021 with a negative vehicle speed to a vehicle speed of 0.

[0079] Stage 615, after the vehicle comes to a complete stop, the braking force remains unchanged, the mechanical braking force curve 604 remains unchanged, the motor driving force curve 605 decreases to 0, and the reverse assist function remains activated.

[0080] Stage 616, the driver depresses the accelerator deeply, the accelerator pedal opening curve 601 rises, the reverse assist control function exits, and the reverse assist control function activation curve 603 jumps from 1 to 0. Since there is braking force assistance to keep the vehicle stable, at this time, the driving force and vehicle speed are in Figure 2 the first quadrant as shown, and the driving force can be normally output. Since the driver depresses the accelerator deeply, the vehicle required driving force curve 606 rises. Before the reverse assist control function exits, the mechanical braking force curve 604 follows the vehicle required driving force curve 606 and rises. After the reverse assist control function exits, the mechanical braking force curve 604 decreases, and the mechanical braking gradually exits. At the same time, the driving force starts to recover, and the motor driving force curve 605 gradually rises to the vehicle required driving force curve 606;

[0081] Stage 617, the driver maintains the throttle opening (i.e., the accelerator pedal opening) unchanged, the driving force is normally output, the motor driving force curve 605 remains consistent with the vehicle required driving force curve 606 and unchanged, the vehicle continues to accelerate, and the vehicle speed curve 602 continues to rise.

[0082] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0083] As Figure 7 shown is a schematic hardware structure diagram of an electronic device according to the present invention, including:

[0084] at least one processor 701; and,

[0085] a memory 702 communicatively connected to at least one of the processors 701; wherein,

[0086] the memory 702 stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute the reverse control method for an electric vehicle as described above.

[0087] Figure 7 Taking one processor 701 as an example in

[0088] The electronic device may further include: an input device 703 and a display device 704.

[0089] The processor 701, the memory 702, the input device 703, and the display device 704 may be connected via a bus or other means. In the figure, the connection via a bus is taken as an example.

[0090] The memory 702, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the electric vehicle backward roll control method in the embodiments of the present application. For example, Figure 4 、 Figure 5 The method flow shown. The processor 701 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 702, that is, implements the electric vehicle backward roll control method in the above embodiments.

[0091] The memory 702 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the electric vehicle backward roll control method, etc. In addition, the memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 702 may optionally include a memory remotely set relative to the processor 701, and these remote memories can be connected to the device executing the electric vehicle backward roll control method through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] The input device 703 can receive input user clicks and generate signal inputs related to user settings and function controls of the electric vehicle backward roll control method. The display device 704 may include a display screen and other display devices.

[0093] When the one or more modules are stored in the memory 702 and run by the one or more processors 701, the electric vehicle backward roll control method in any of the above method embodiments is executed.

[0094] When the vehicle of the present invention starts from a parked state, it detects whether the vehicle rolls backward. When it detects that the vehicle rolls backward, it mechanically brakes the vehicle until the vehicle speed returns to 0. The present invention avoids the vehicle from rolling backward through the intervention of mechanical braking and ensures the safety of the vehicle.

[0095] An embodiment of the present invention provides a storage medium that stores computer instructions. When a computer executes the computer instructions, it is used to execute all steps of the electric vehicle backward roll control method as described above.

[0096] In the context of the present disclosure, a storage medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Optionally, the storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage devices, etc.

[0097] An embodiment of the present invention provides a computer program product, including a computer program / instructions, which when executed by a processor, implement the electric vehicle backward slip control method as described above.

[0098] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A method for controlling the backward sliding of an electric vehicle, characterized in that: include: When the vehicle is parked and started, detect whether the vehicle is sliding backward; When the vehicle is detected to be sliding backward, the vehicle is mechanically braked until the speed returns to 0.

2. The electric vehicle backward sliding control method according to claim 1, characterized in that: When the vehicle is detected to be sliding backward, mechanically braking the vehicle comprises: When the vehicle is detected to be slipping backward, the motor driving force of the vehicle is detected. If the motor driving force is less than the required driving force of the vehicle, the vehicle is mechanically braked.

3. The electric vehicle backward sliding control method according to claim 2, characterized in that: If the motor driving force is less than the vehicle required driving force, mechanical braking of the vehicle is performed, including: If the motor driving force is less than the vehicle required driving force, the vehicle is mechanically braked to increase the vehicle's mechanical braking force to the vehicle required driving force.

4. The electric vehicle backward sliding control method according to claim 3, characterized in that: Also includes: While mechanically braking the vehicle, the motor drive force is reduced to 0.

5. The electric vehicle backward sliding control method according to claim 1, characterized in that: The mechanical braking of the vehicle until the vehicle speed returns to zero further includes: In response to the increase in the accelerator pedal opening, the motor driving force is increased while the mechanical braking force is reduced until the mechanical braking force is 0 and the motor driving force is the vehicle required driving force.

6. The electric vehicle backward sliding control method according to claim 5, characterized in that: The method of increasing the motor driving force while reducing the mechanical braking force comprises: While gradually increasing the motor driving force, the mechanical braking force is reduced to the vehicle required driving force minus the motor driving force.

7. The electric vehicle backward sliding control method according to any one of claims 2 to 6, characterized in that: The vehicle required driving force is determined according to an accelerator pedal opening.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the electric vehicle rearward roll control method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the electric vehicle rearward sliding control method as described in any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the electric vehicle rearward sliding control method as described in any one of claims 1 to 7 is implemented.

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