CN104553886B - A kind of electric automobile automatic parking control method and device - Google Patents
- ️Wed Nov 30 2016
CN104553886B - A kind of electric automobile automatic parking control method and device - Google Patents
A kind of electric automobile automatic parking control method and device Download PDFInfo
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- CN104553886B CN104553886B CN201410839986.1A CN201410839986A CN104553886B CN 104553886 B CN104553886 B CN 104553886B CN 201410839986 A CN201410839986 A CN 201410839986A CN 104553886 B CN104553886 B CN 104553886B Authority
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a kind of electric automobile automatic parking control method and device, relate to electric vehicle engineering field, described method includes: detect the speed of electric automobile；When the speed detected is less than preset vehicle speed threshold value, determine that electric automobile is the need of entering automatic parking pattern；If it is determined that electric automobile needs to enter automatic parking pattern, then the motor of electric automobile is applied the moment of torsion contrary with motor rotating tendency, so that electric automobile automatic parking.By the present invention, when electric automobile automatic parking, driver need not continue brake pedal or pull-up parking brake just can keep stationary vehicle, is conducive to improving the safety that vehicle travels, it is possible to alleviate driving fatigue.
Description
Technical field
The present invention relates to electric vehicle engineering field, particularly to a kind of electric automobile automatic parking control method and Relevant device.
Background technology
Electric automobile is owing to using motor to drive, and motor characteristic is completely different with conventional engines characteristic, the most right The control of each operating mode such as vehicle launch, acceleration and deceleration will use unique control algolithm and strategy to realize vehicle Various functions.
The drive system of common electric automobile mostly use driving motor be joined directly together with reduction box, reduction box and Differential mechanism in rotation shaft of wheel is connected by power transmission shaft and the kinetic energy driving motor to produce can be delivered to differential On device, thus drive driving wheel with driving motor to rotate.Owing to motor has the function of infinitely variable speeds, electricity Electrical automobile eliminates change speed gear box or the automatic gear-box of orthodox car so that drive the simpler of structure change.
At present, during parking electric automobile, in order to keep stationary vehicle, driver is needed to keep brake pedal to step on Under action or pull-up parking brake, this parking mode is at vehicle congestion, particularly when Po Lu blocks up, easily Accelerate driver tired, affect vehicle driving safety.
Summary of the invention
It is an object of the invention to provide a kind of electric automobile automatic parking control method and device, can preferably solve The certainly electric automobile automatic parking problem when not using lockable mechanism.
According to an aspect of the invention, it is provided a kind of electric automobile automatic parking control method, including:
The speed of electric automobile is detected；
When the speed detected is less than preset vehicle speed threshold value, determine that electric automobile is the need of entering automatic parking Pattern；
If it is determined that electric automobile needs to enter automatic parking pattern, then the motor to electric automobile applies to revolve with motor Transfer toward the moment of torsion that gesture is contrary, so that electric automobile automatic parking.
Preferably, described determine electric automobile the need of enter automatic parking pattern step include:
The automatic parking signal of electric automobile is detected；
If described automatic parking signal being detected, then obtain gear signal, pedal signal；
When described gear signal is forward signal or backing car gear signal and described pedal signal is that braking is stepped on During partitioned signal, determine that electric automobile needs to enter automatic parking pattern.
Preferably, described determine electric automobile the need of enter automatic parking pattern step also include:
When described gear signal is to park gear signal, determine that electric automobile needs to enter automatic parking pattern.
Preferably, also include:
During electric automobile enters automatic parking pattern, the automatic parking signal of electric automobile is detected, And when being not detected by automatic parking signal, electric automobile exits automatic parking pattern.
Preferably, also include:
During electric automobile enters automatic parking pattern, obtain gear signal and pedal signal in real time；
When described gear signal is forward signal or backing car gear signal and described pedal signal is to accelerate to step on During partitioned signal, electric automobile exits automatic parking pattern.
According to another aspect of the present invention, it is provided that a kind of electric automobile automatic parking controls device, including:
Speed detecting module, for detecting the speed of electric automobile；
Parking determines module, for when the speed detected is less than preset vehicle speed threshold value, determining that electric automobile is No needs enters automatic parking pattern；
Parking processing module, for when determining that electric automobile needs to enter automatic parking pattern, to electric automobile Motor apply the moment of torsion contrary with motor rotating tendency, so that electric automobile automatic parking.
Preferably, described parking determines that the automatic parking signal of electric automobile is detected by module, if detecting Described automatic parking signal, then obtain gear signal, pedal signal, and when described gear signal is forward When signal or backing car gear signal and described pedal signal are brake pedal signal, determine electric automobile need into Enter automatic parking pattern.
Preferably, described parking determines that module, when described gear signal is to park gear signal, determines electronic vapour Car needs to enter automatic parking pattern.
Preferably, described parking determines that module is additionally operable to during electric automobile enters automatic parking pattern, to electricity The automatic parking signal of electrical automobile detects, and when being not detected by automatic parking signal, exits automatic parking Pattern.
Preferably, described parking determines that module is additionally operable to during electric automobile enters automatic parking pattern, in real time Obtain gear signal and pedal signal, and when described gear signal be forward signal or backing car gear signal, And described pedal signal is when being accelerator pedal signal, exit automatic parking pattern.
Compared with prior art, the beneficial effects of the present invention is:
By the present invention, during electric automobile automatic parking, driver need not continue brake pedal or pull-up Parking brake just can keep stationary vehicle, is conducive to alleviating driving fatigue, improves the safety that vehicle travels.
Accompanying drawing explanation
Fig. 1 is the electric automobile automatic parking control method theory diagram that the embodiment of the present invention provides；
Fig. 2 is that the electric automobile automatic parking that the embodiment of the present invention provides controls device block diagram；
Fig. 3 is the electric automobile automatic parking function system structural representation that the embodiment of the present invention provides；
Fig. 4 is the electric automobile automatic parking function control flow chart that the embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with accompanying drawing to a preferred embodiment of the present invention will be described in detail, it will be appreciated that described below Preferred embodiment be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Electric automobile of the present invention includes driving electric system, electrokinetic cell system, car load electric-control system, drives Dynamic electric system uses and drives motor to be joined directly together with decelerator, thus drives driving wheel to rotate.Additionally, it is electronic Automobile also switchs with P file location, increases automatic parking functional switch, when automatic parking opened by electric automobile During function, it is possible to when vehicle start or vehicle are transferred to resting state by transport condition, entire car controller sentence Disconnected vehicle-state controls to drive motor to make vehicle not produce displacement and maintain vehicle parked state.
Concrete function principle is as follows:
Pressing automatic parking functional switch, electric automobile automatic parking function is opened.Now, protect when vehicle launch When holding static or motor speed less than certain value (speed close to 0), entire car controller judge driver Being intended to, if now the accelerator pedal input of driver is 0, then entire car controller (VCU) is parking function Functional switch, accelerator pedal state, speed, brake pedal etc. are sent to electric machine controller by CAN (MCU), electric machine controller applies the moment of torsion contrary with motor rotating tendency according to motor speed to motor, makes electricity Machine keeps geo-stationary, maintains vehicle parked state.When the torque demand of accelerator pedal is more than certain value, electronic Automobile exits automatically pattern in slope, the moment of torsion of entire car controller transmission accelerator pedal demand to electric machine controller, from And control motor and normally travel.
(transfer to static during vehicle start or by traveling) in the case of car stop position on the berth (P shelves), electric automobile Automatic parking function enough keep vehicle in certain slope in slope, play traditional vehicle P shelves function in slope (tradition Car P shelves have mechanical locking function).Under P shelves state, entire car controller is not responding to accelerator pedal.At D In the case of shelves and R shelves, when motor speed is less than certain value (speed close to 0), electric vehicle enters and automatically stays Car pattern, electric automobile is by applying the moment of torsion contrary with vehicle movement tendency on motor so that vehicle keeps Lockup state, and when the demand torque being delivered to motor by accelerator pedal is more than current motor locking moment of torsion, Electric vehicle exits automatic parking pattern, and vehicle enters normal running mode.
Fig. 1 is the electric automobile automatic parking control method theory diagram that the embodiment of the present invention provides, such as Fig. 1 institute Showing, step includes:
Step S101: the speed of electric automobile is detected.
Specifically, car is obtained from anti-lock braking system (Anti-lock Braking System, ABS) The speed of speed sensor acquisition.
Step S102: when the speed detected less than preset vehicle speed threshold value time, determine electric automobile the need of Enter automatic parking pattern.
Specifically, when the speed detected is less than preset vehicle speed threshold value (close to 0), to electric automobile Automatic parking signal detect, if described automatic parking signal being detected, then obtain gear signal, pedal Signal, and when acquired gear signal is forward signal or backing car gear signal and described pedal signal When being brake pedal signal, determine that electric automobile needs to enter automatic parking pattern, or, when described gear is believed When number being to park gear signal, determine that electric automobile needs to enter automatic parking pattern.It is to say, when electronic When automobile is currently at any one state following, entrance automatic parking pattern:
1, speed close to 0, automatic parking functional switch open, brake pedal opening degree more than 0, drive shift Position or backing car gear；
2, automatic parking functional switch unlatching, gear of parking；
3, speed equal to 0, automatic parking functional switch open, accelerator pedal opening degree equal to 0, forward Or backing car gear or gear of parking.
Further, during electric automobile enters automatic parking pattern, obtain the automatic parking letter of electric automobile Number, gear signal and pedal signal, and when being not detected by automatic parking signal, electric automobile exits stays automatically Car pattern, or when described gear signal is forward signal or backing car gear signal and described pedal signal When being accelerator pedal signal, electric automobile exits automatic parking pattern.It is to say, when electric automobile is currently located When any one state following, exit automatic parking pattern:
1, accelerator pedal opening degree is more than 0, forward or backing car gear；
2, automatic parking functional switch cuts out.
Step S103: if it is determined that electric automobile needs to enter automatic parking pattern, the then motor to electric automobile Apply the moment of torsion contrary with motor rotating tendency, so that electric automobile automatic parking.
Fig. 2 is that the electric automobile automatic parking that the embodiment of the present invention provides controls device block diagram, as in figure 2 it is shown, Including: speed detecting module 21, parking determine module 22 and parking processing module 23.
Speed detecting module 21, for detecting the speed of electric automobile, specifically obtains speed from ABS The speed of sensor acquisition.
Parking determines that module 22 is for when the speed detected is less than preset vehicle speed threshold value, determining electric automobile The need of entering automatic parking pattern.Specifically, parking determines module 22 automatically staying electric automobile Car signal detects, if described automatic parking signal being detected, then obtains gear signal, pedal signal, and When described gear signal is forward signal or backing car gear signal and described pedal signal is brake pedal letter Number time, or, when described gear signal is to park gear signal, determine electric automobile need enter automatic parking Pattern.Further, parking determines that module 22 is additionally operable to during electric automobile enters automatic parking pattern, The automatic parking signal of electric automobile is detected, and when being not detected by automatic parking signal, or, when Described gear signal is forward signal or backing car gear signal and described pedal signal is accelerator pedal signal Time, exit automatic parking pattern.
Parking processing module 23 is for when determining that electric automobile needs to enter automatic parking pattern, to electronic vapour The motor of car applies the moment of torsion contrary with motor rotating tendency, so that electric automobile automatic parking.
Fig. 3 is the electric automobile automatic parking function system structural representation that the embodiment of the present invention provides, as Shown in Fig. 3, including full-vehicle control unit 1, accelerator pedal, brake pedal, speed changer gear operation system, motor 6 and electric machine controller 2, ABS4 and vehicle speed sensor, car load network communicating system.Full-vehicle control unit 1 From CAN, obtain the motor speed signal from electric machine controller 2, obtain speed sensing from ABS4 The GES that device gathers, the two signal should keep consistent.Full-vehicle control unit 1 is according to motor speed Signal and GES, judge kinestate and the trend of vehicle in conjunction with gear signal.Automatic parking function is opened Close and determine whether electric automobile starts automatic parking function, when automatic parking functional switch cuts out, if driven The person of sailing does not has brake pedal, does not has bend the throttle yet, and vehicle can operate in crawling operating mode always, Under such conditions, driver's brake pedal makes vehicle stop, and once driver loosens the brake, Vehicle crawling immediately, will not parking, it is seen then that if needing to keep stationary vehicle, driver needs to step on all the time Live brake pedal.When starting automatic parking functional switch, driver's brake pedal makes vehicle stop, When the driver releases the brake pedal, vehicle will not crawling, but for motor rotating tendency, execute to motor Add the moment of torsion contrary with this rotating tendency, so that electric automobile keeps static, i.e. keep parked state, directly Receiving accelerator pedal signal to entire car controller, vehicle just continues to travel.Visible, automatic parking is by whole Vehicle controller, according to vehicle movement tendency, sends corresponding torque control motors to electric machine controller and realizes 's.
Fig. 4 is the electric automobile automatic parking function control flow chart that the embodiment of the present invention provides, such as Fig. 4 Shown in, automatic step includes:
Step S301: electric automobile normally starts.
Step S302: when automatic parking functional switch unlatching (parking switch==ON), gear are in advance Gear or backing car gear or gear of parking (gear==D or R or P), accelerator pedal opening degree are 0 When (accelerator pedal position=0), speed are 0 (speed=0), electric automobile enters automatic parking pattern, Can carry out automatically staying slope at Po Lu.
Step S303: the motor of electric automobile is applied the moment of torsion contrary with motor rotating tendency, makes electronic vapour Car automatic parking.
Such as, electric automobile, when upward slope parking, applies negative torque to driving motor；When descending parking, to Driving motor to apply positive-torque, when level road parking, the moment of torsion of applying is zero.
Step S304: when accelerator pedal opening degree is more than zero or automatic parking functional switch is cut out, electronic vapour Car exits automatic parking pattern.
It is to say, after electric automobile normally starts, open automatic parking functional switch, automatic parking Function on.Now without the torque demand from accelerator pedal, then vehicle will not enter idling Operating mode, vehicle is in parked state.When vehicle is transferred to resting state by transport condition, take-off the brake Pedal, vehicle can tie up parked state.When vehicle is in parked state, step on if driver steps on acceleration Plate, then vehicle enters normal transport condition；If now automatic parking functional switch is placed in off, Vehicle also will enter normal transport condition without parking.Electric automobile automatic parking function is conducive to Deng red light or when waiting for, make the foot of driver may exit off normal danger and do timeout, car Will not be moved, guarantee driving safety.
In sum, the present invention has following technical effect that
The present invention, in the electric automobile not using lockable mechanism, can make full use of and drive the characteristic of motor Realize automatic parking control, thus reduce vehicle cost, increase the convenience of vehicle drive, improve vehicle safety Property.
Although above the present invention being described in detail, but the invention is not restricted to this, the art technology Personnel can carry out various amendment according to the principle of the present invention.Therefore, all amendments made according to the principle of the invention, All should be understood to fall into protection scope of the present invention.
Claims (8)
1. an electric automobile automatic parking control method, it is characterised in that including:
The speed of electric automobile is detected；
When the speed detected is less than preset vehicle speed threshold value, determine that electric automobile is the need of entering automatic parking pattern；
If it is determined that electric automobile needs to enter automatic parking pattern, then the motor of electric automobile is applied the moment of torsion contrary with motor rotating tendency, so that electric automobile automatic parking；
Described determine electric automobile the need of enter automatic parking pattern step include:
The automatic parking signal of electric automobile is detected；
If described automatic parking signal being detected, then obtain gear signal, pedal signal；
When described gear signal is forward signal or backing car gear signal and described pedal signal is brake pedal signal, determine that electric automobile needs to enter automatic parking pattern.
Method the most according to claim 1, it is characterised in that described determine electric automobile the need of enter automatic parking pattern step also include:
When described gear signal is to park gear signal, determine that electric automobile needs to enter automatic parking pattern.
Method the most according to claim 1 and 2, it is characterised in that also include:
During electric automobile enters automatic parking pattern, the automatic parking signal of electric automobile is detected, and when being not detected by automatic parking signal, electric automobile exits automatic parking pattern.
Method the most according to claim 1 and 2, it is characterised in that also include:
During electric automobile enters automatic parking pattern, obtain gear signal and pedal signal in real time；
When described gear signal is forward signal or backing car gear signal and described pedal signal is accelerator pedal signal, electric automobile exits automatic parking pattern.
5. an electric automobile automatic parking controls device, it is characterised in that including:
Speed detecting module, for detecting the speed of electric automobile；
Parking determines module, for when the speed detected is less than preset vehicle speed threshold value, determines that electric automobile is the need of entering automatic parking pattern；
Parking processing module, for when determining that electric automobile needs to enter automatic parking pattern, applies the moment of torsion contrary with motor rotating tendency to the motor of electric automobile, so that electric automobile automatic parking；
Wherein, described parking determines that the automatic parking signal of electric automobile is detected by module, if described automatic parking signal being detected, then obtain gear signal, pedal signal, and when described gear signal is forward signal or backing car gear signal and described pedal signal is brake pedal signal, determine that electric automobile needs to enter automatic parking pattern.
Device the most according to claim 5, it is characterised in that described parking determines that module, when described gear signal is to park gear signal, determines that electric automobile needs to enter automatic parking pattern.
7. according to the device described in claim 5 or 6, it is characterized in that, described parking determines that module is additionally operable to, during electric automobile enters automatic parking pattern, detect the automatic parking signal of electric automobile, and when being not detected by automatic parking signal, exit automatic parking pattern.
8. according to the device described in claim 5 or 6, it is characterized in that, described parking determines that module is additionally operable to during electric automobile enters automatic parking pattern, obtain gear signal and pedal signal in real time, and when described gear signal is forward signal or backing car gear signal and described pedal signal is accelerator pedal signal, exit automatic parking pattern.
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| CN201410839986.1A CN104553886B (en) | 2014-12-30 | 2014-12-30 | A kind of electric automobile automatic parking control method and device |
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| CN201410839986.1A CN104553886B (en) | 2014-12-30 | 2014-12-30 | A kind of electric automobile automatic parking control method and device |
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| CN104553886B true CN104553886B (en) | 2016-11-30 |
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| CN108466608A (en) * | 2018-02-01 | 2018-08-31 | 阿尔特汽车技术股份有限公司 | A kind of parking electric automobile control method based on electronic parking |
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