CN107825995A - Electric vehicle control method - Google Patents
Electric vehicle control method Download PDFInfo
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- CN107825995A CN107825995A CN201711038222.2A CN201711038222A CN107825995A CN 107825995 A CN107825995 A CN 107825995A CN 201711038222 A CN201711038222 A CN 201711038222A CN 107825995 A CN107825995 A CN 107825995A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Secondary Cells (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of electric vehicle control method, comprise the following steps：S100：Obtain battery SOC, value；S200：When judging that estimate S is more than the threshold value of setting, into intelligent driving pattern；S300：Obtain the gear and accelerator pedal information of vehicle；S400：Obtain and comprise at least the traffic information that driver selectes road conditions and bend information；S500：According to the traffic information got, adjustment damping and tire pressure.The present invention improves the handling and comfortableness of electric car.
Description
The application is application number CN 2015108597994, November 30 2015 applying date, entitled " electric vehicle control
The divisional application of method processed ".
Technical field
The invention belongs to automation field, more particularly to a kind of electric vehicle control method.
Background technology
Electric automobile refers to, using vehicle power as power, be travelled with power wheel, meets road traffic, security legislation
The vehicle of requirements, electric automobile during traveling will not discharge toxic gas, i.e. zero-emission electric automobile (Zero
), EmissionVehicle compared with traditional combustion engine automobile, electric automobile has the following advantages that:Toxic gas is not discharged, it is right
Air is pollution-free；Energy efficiency is high, is especially suitable for continually starting parking；Noise is low, and the noise of motor is much smaller than internal combustion engine
Car；Simple in construction easy-maintaining, transmission parts are few, manipulate simple；Energy variation, using coal, waterpower, nuclear energy, wind-force, too
It is positive can equal energy source be converted into electric energy power supply, it is incomparable excellent that above-mentioned advantage determines that electric automobile has in environmental protection and energy-conservation
Gesture, its prospect is set to be had an optimistic view of extensively.Meanwhile energy source is extensive, use of the people to electric power is also accumulated from rich experience, hair
Exhibition electric automobile is presently believed to be one of most promising measure for solving future source of energy and environmental problem, is opened as various countries
The principal direction of green-emitting automobile.But current electric vehicle in terms of driving experience and riding comfort with traditional internal combustion car
Also have certain gap.
The content of the invention
The defects of for prior art, the invention provides a kind of electric vehicle control method.
A kind of electric vehicle control method, comprises the following steps：S100：Obtain the voltage and current letter at electrokinetic cell end
Number, according to the mathematical modeling for the electrokinetic cell established, integrated using ampere-hour, the filter of state observer and adaptive spreading kalman
Ripple method estimates battery SOC respectively, and estimate is weighted, and obtains the current SOC value S of electrokinetic cell；S200：Work as judgement
When estimate S is more than the threshold value of setting, into intelligent driving pattern；When judging that estimate S is less than or equal to the threshold value of setting,
Start timing, after timing duration T is more than the duration T0 of setting, when judging that estimate S is less than or equal to the threshold value of setting, move back
Go out intelligent driving pattern；S300：Obtain the gear and accelerator pedal information of vehicle；S400：Acquisition is selected including at least driver
The traffic information of road conditions and bend information, the bend information include bend length, bend curvature and preset distance inner curve
Quantity；S500：According to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P；According to gear information
With accelerator pedal information be based on vehicle damping a reference value Z and tire pressure a reference value P calculate first damping repair Z1 on the occasion of with the first tire pressure
Correction value P1；According to bend information be based on first damping repair Z1 on the occasion of with the first tire pressure correction value P1 calculate second damping correction value
Z2 and the second tire pressure correction value P2.
Optionally, the mathematical modeling of the electrokinetic cell is：
In formula, XkRepresent the state vector of battery pack, ykBattery terminal voltage is represented, η is the coulombic efficiency factor, and C holds to be total
Amount, E0For full of the open-circuit voltage under electricity condition, R is the internal resistance of cell, K0、K1、K2、K3For battery polarization internal resistance, △ t are sampling week
Phase, imkFor current measurement value, iskFor current sensor current drift estimate, W1And W2、VkFor separate white noise,
SOC is battery electric quantity, and K represents k-th state value, K=0,1,2,3,4,5 ....
Optionally, current integration method, state observer method and adaptive extended kalman filtering method is respectively adopted respectively to estimate
SOC value of battery is counted, SOC state estimation S1, S2, S3 is obtained, then S1, S2, S3 is weighted, obtain final
SOC estimation S；
S=ω1S1+ω2s2+ω3s3 (3)
Wherein ω1、ω2、ω3For weight coefficient, ω1+ω2+ω3=1.
Optionally, charged when SOC estimation S is less than given threshold by charging circuit, 220V alternating currents are whole through D1-D4
Stream, C5 filter to obtain 300V or so direct currents, and this voltage charges to C4, are formed and opened through TF1 high pressures winding, TF2 main windings and V2
Streaming current, TF2 feedback windings produce induced voltage, V1, V2 is turned in turn, and voltage, warp are produced in TF1 low-voltage power supplies winding
D9, D10 rectification, C8 filtering, power to IR3M02, LM2902, V3, and V4；The pin of IR3M02 8,11 castor streams output pulse, are pushed away
Dynamic V3, V4, V1, V2 are encouraged through TF2 feedback windings, makes V1, V2, slave mode, TF2 output winding voltages are transferred to by self-excitation state
Rise, for this voltage through R29, R26, IR3M02 1 pin is fed back to after R27 partial pressures makes output voltage stabilization on 45V, and R30 is electricity
Sample resistance is flowed, R30 produces pressure drop during charging, and for this voltage through R11,15 pin that R12 feeds back to IR3M02 make charging current constant
In 2.8A or so, charging current produces pressure drop on D20, and LM2902 3 pin are reached through R42,2 pin output HIGH voltages is lighted and fills
Electric light, while 7 pin output low-voltage, floating charge lamp extinguish, charger enters constant-current charging phase, and 7 pin low-voltages drag down D19 anodes
Voltage, make IR3M02 1 pin voltage reduce, cause charger maximum output voltage to reach 50V, when cell voltage rises to
During 46V, into constant-voltage phase, when charging current is reduced to 0.1A -0.2A, LM2902 3 pin voltages reduce, and the output of 1 pin is low
Voltage, rechargeable lamp extinguishes, while 7 pin output HIGH voltages, floating charge lamp are lighted, and 7 pin high voltages raise the voltage of D19 anodes,
IR3M02 1 pin voltage rises, and output voltage reduces and arrives 45V.
Optionally, the gear information of vehicle is obtained by gear position detecting unit, the gear position detecting unit includes gearshift and dialled
Piece, first detection module, the second detection module and comparison module, gearshift plectrum connect with first detection module and the second detection module
Connect, first detection module and the second detection module are connected with comparison module, when driver sends gearshift/gear by plectrum of shifting gears
After signal, first detection module and the second detection module receive the signal that gearshift plectrum is sent, first detection module and the second inspection
Survey module to send the first gear information detected and the second gear information to comparison module, comparison module compares the first gear
Information and the second gear information when the two is consistent then using the first gear information or the second gear information as current gear information,
The control system of vehicle is sent to, when the two is inconsistent, then judges that gearshift has failure.
Optionally, the traffic information of a plurality of road is pre-stored, vehicle place road is judged according to vehicle present position, from pre-
The bend information of the road is read in the traffic information of storage.
Optionally, the different damping a reference value Z and tire pressure a reference value P, reception being pre-stored corresponding to more a variety of road conditions drive
The road conditions that the person of sailing is selected by selection key, corresponding damping a reference value Z and tire pressure a reference value are selected from pre-stored data
P, selected a reference value is sent to electronic regulation unit, vehicle damping and tire pressure size are adjusted by electronic regulation unit, with
Reach a reference value.
Optionally, when vehicle is in high tap position and accelerator pedal depression amount is more than the threshold value of setting, in damping a reference value Z
On the basis of plus setting value △ Z1 to obtain the first damping correction value Z1, subtract setting value on the basis of tire pressure a reference value P
△ P1 are to obtain the first tire pressure correction value P1, i.e.,：Z1=Z+ △ Z1, P1=P- △ P1；When vehicle is in high tap position and accelerates to step on
When plate depression amount is less than or equal to the threshold value of setting, maintain vehicle damping a reference value Z and tire pressure a reference value P constant, i.e. Z1=Z,
P1=P；When vehicle is in low-grade location and accelerator pedal depression amount is more than given threshold, subtract on the basis of a reference value Z is damped
Setting value △ Z2 are removed to obtain the first damping correction value Z1, setting value △ P2 are added on the basis of tire pressure a reference value P to obtain
First tire pressure correction value P1, i.e.,：Z1=Z- △ Z2, P1=P+ △ P2；When vehicle is in low-grade location and accelerator pedal depression amount is small
When given threshold, maintain damping a reference value Z constant, subtracted on the basis of tire pressure a reference value P setting value △ P3 with
Obtain the first tire pressure correction value P1, i.e. Z1=Z, P1=P- △ P3.
Optionally, whether the position being presently according to the bend information and vehicle that get determines vehicle on bend
Or in the predetermined distance for entering bend or in the scheduled time.
Optionally, when bend length D is more than the threshold value of setting and bend curvature is more than the angle of setting, in the first damping
Setting value △ Z3 are subtracted on the basis of correction value Z1 to obtain the second damping correction value Z2, on the first tire pressure correction value P1 basis
On subtract setting value △ P4 to obtain the second tire pressure correction value P2, i.e.,：Z2=Z1- △ Z3, P2=P1- △ P4；As bend length D
When threshold value and bend curvature more than setting are less than or equal to the angle of setting, now show that the bend that vehicle is passed through is more slow
With, maintain first damping correction value Z1 and the first tire pressure correction value P1 it is constant, i.e.,：Z2=Z1, P2=P1；When bend length D is small
When the threshold value and bend curvature of setting are more than the angle of setting, setting value △ is subtracted on the basis of the first damping correction value Z1
Z4 is remained unchanged i.e. with obtaining the second damping correction value Z2 in the first tire pressure correction value P1：Z2=Z1- △ Z4, P2=P1；When curved
Road length D is less than the threshold value of setting and when bend curvature is less than the angle of setting, maintains the first damping correction value Z1 constant, the
Setting value △ P5 are subtracted on the basis of one tire pressure correction value P1 to obtain the second tire pressure correction value P2, i.e.,：Z2=Z1, P2=P1-
△P5。
The beneficial effects of the invention are as follows：By accurate mathematical modeling, estimate SOC value using a variety of methods, obtain more
Add accurately SOC value, accurate foundation is provided for the manipulation of electric car；Operation signal and the road surface of driver are considered
Situation, vehicle damping and tire pressure are adjusted according to different manipulations and pavement behavior in real time so that Vehicle handling and comfortableness obtains
To improve.
Brief description of the drawings
Fig. 1 is the flow chart of control method of the present invention；
Fig. 2 is the structure chart of charging circuit；
Fig. 3 is the structural representation of gear position detecting unit；
Fig. 4 is step S500 flow chart.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail, make the above and other purpose of the present invention, feature and advantage will become apparent from.Complete
Identical reference instruction identical part in portion's accompanying drawing.Not deliberately accompanying drawing drawn to scale, it is preferred that emphasis is show this hair
Bright purport.
Referring to Fig. 1, in order to improve the driving experience of electric vehicle (handling) and comfortableness, the present invention is first according to dynamic
The electricity (SOC) of power battery determines the drive pattern of vehicle, after the requirement of intelligent drives pattern is met, vehicle detection gearshift plectrum
Input signal, gear is detected, while present road situation is identified vehicle, according to the gear and road detected
The damping of condition adjustment vehicle suspension system and tire pressure, so as to improve handling, seating the comfortableness of vehicle.
S100：The voltage and current signal at electrokinetic cell end is obtained, according to the mathematical modeling for the electrokinetic cell established, is adopted
Integrated with ampere-hour, state observer and adaptive extended kalman filtering method estimate battery SOC respectively, estimate is weighted
Calculate, obtain the current SOC value S of electrokinetic cell.
Specifically, current sensor can be used, voltage sensor measures the terminal voltage of power battery pack and defeated respectively
Go out electric current.The mathematical modeling of electrokinetic cell has a variety of, such as preferable equivalent model, internal resistance of the preferable equivalent model battery at present
Regard fixed value as, the difference of internal resistance of cell when not accounting for battery charging, electric discharge, therefore also just can not embody charging, electric discharge
When SOC difference, this model and actual value gap are larger；Thevenin models, it is in circuit the defects of Thevenin models
Parameter is all definite value, and they are SOC functions in fact；RC models, RC models can preferably simulate electricity than Thevenin model
The dynamic characteristic in pond, but the temperature effect of battery is have ignored, polarity effect is considered not abundant enough；EMF models and RC models
Compared with Thevenin models, in addition to more considering the dynamic characteristic of battery, also preferably consider chemical polarization concentration polarization
The influence of the factors such as change, but also have ignored temperature effect.Built-up pattern, its discrete state space equation are used for this present invention
For：
In formula, Xk represents the state vector of battery pack, and yk represents battery terminal voltage, and η is the coulombic efficiency factor, and C holds to be total
Amount, E0 are full of the open-circuit voltage under electricity condition, and R is the internal resistance of cell, and K0, K1, K2, K3 are battery polarization internal resistance, and △ t are sampling
Cycle, imk are current measurement value, and isk is current sensor current drift estimate, and W1 and W2, Vk are separate white noise
Sound, SOC are battery electric quantity, and K represents k-th state value, K=0,1,2,3,4,5 ....
Then according to the mathematical modeling of battery pack, current integration method, state observer method and adaptive extension is respectively adopted
Kalman filtering method estimates SOC value of battery respectively, obtains SOC state estimation S1, S2, S3, then S1, S2, S3 are added
Power calculates, and obtains final SOC estimation S.
S=ω1S1+ω2s2+ω3s3 (3)
Wherein ω1、ω2、ω3For weight coefficient, ω1+ω2+ω3=1.Using a variety of methods respectively to the lotus of electrokinetic cell
Electricity condition SOC estimated, well row weighted calculation of being spouted to estimated result draws final estimate, improves electrokinetic cell
SOC estimated accuracy.
When SOC estimation S is less than given threshold, remind driver to be charged, charging electricity as shown in Figure 2 can be used
Road, through D1-D4 rectifications, C5 filters to obtain 300V or so direct currents 220V alternating currents.This voltage charges to C4, through TF1 high voltage windings
Group, TF2 main windings, V2 etc. form starting current.TF2 feedback windings produce induced voltage, V1, V2 is turned in turn.Therefore exist
TF1 low-voltage power supplies winding produces voltage, through D9, D10 rectifications, C8 filtering, is powered to IR3M02, LM2902, V3, V4 etc..Now
Output voltage is relatively low.Its 8 pin after IR3M02 starts, 11 castor streams output pulse, promotes V3, V4, is encouraged through TF2 feedback windings
V1,V2.Make V1, V2, slave mode is transferred to by self-excitation state.TF2 output winding voltages rise, and this voltage is through R29, R26, R27
IR3M02 1 pin (Voltage Feedback) is fed back to after partial pressure makes output voltage stabilization on 41.2V.R30 is current sampling resistor, is filled
R30 produces pressure drop when electric.This voltage through R11, R12 feed back to IR3M02 15 pin (current feedback) make charging current constant
1.8A left and right.Other charging current produces pressure drop on D20, and LM2902 3 pin are reached through R42.Light 2 pin output HIGH voltages
Rechargeable lamp, while 7 pin output low-voltage, floating charge lamp extinguish.Charger enters constant-current charging phase.And 7 pin low-voltage drag down
The voltage of D19 anodes.Make IR3M02 1 pin voltage reduce, this will cause charger maximum output voltage to reach 44.8V.Work as electricity
When cell voltage rises to 44.8V, into constant-voltage phase.The LM2902 3 pin voltages when charging current is reduced to 0.3A -0.4A
Reduce, 1 pin output low-voltage, rechargeable lamp extinguishes.7 pin output HIGH voltages, floating charge lamp are lighted simultaneously.And 7 pin high voltage raise
The voltage of D19 anodes.IR3M02 1 pin voltage is set to increase, this will cause charger output voltage to reduce onto 41.2V.Charging
Device enters floating charge.
S200：When judging that estimate S is more than the threshold value of setting, into intelligent driving pattern；When judgement estimate S is less than
Or equal to setting threshold value when, start timing, when timing duration T be more than setting duration T0 after, when judge estimate S be less than or
Equal to setting threshold value when, exit intelligent driving pattern.
For electric car, the handling and comfortableness that is taking of its vehicle depends primarily on vehicle suspension system damping
Size, three aspects of the type of drive of the size of tire pressure and motor.In order to reach preferably it is handling with comfortableness, it is necessary to
By multiple electronic devices to being adjusted in real time in terms of above three, this control model adjusted in real time can be referred to as intelligence
Energy driving model, intelligent driving pattern undoubtedly adds the consumption of electric power, in order to when battery electric quantity SOC is too low so that dynamic
Power battery meets the needs of normally travel, only just enters intelligence when judging that estimate S is more than the threshold value of setting in the present invention
Driving model, this threshold value can be the 30% of power battery total electricity, i.e., when estimate S is more than the 30% of battery total electricity
When, then allow vehicle to enter intelligent driving pattern, the current suspension system of vehicle is then maintained when estimate S is less than or equal to 30%
The type of drive of size, the size of tire pressure and motor that system damps.Further, because electrokinetic cell has showing for " power down "
As, i.e., when moment obtaining larger electric power from electrokinetic cell, now estimate S can be less than its actual electricity, such as when vehicle is real
During border electricity residue 35%, the driving force of now moment raising vehicle, then estimate S can be 25% or so, and ought recover again
During driven, estimate S can be risen to 35%, and this has resulted in the abnormal of intelligent driving pattern and exited.On the other hand, in order to
It can preferably judge now whether vehicle answers into/out intelligent driving pattern, and the present invention sets a timing module, when judgement is estimated
When evaluation S is less than or equal to the threshold value of setting, timing module starts timing, after timing duration T is more than the duration T0 of setting, if
Now estimate S is still less than or equal to the threshold value of setting, then exits intelligent driving pattern.Duration T0 setting, shows herein
The electricity of battery is in lasting reduction in period, and this reduction is due to not caused by " power down ", so just to sentence
It is fixed more accurate.
S300：Obtain the gear and accelerator pedal information of vehicle.
Entering the gear and accelerator pedal information of intelligence acquisition vehicle first, gear information and accelerator pedal information show
Driver current driving intention, for example, high tap position and the accelerator pedal stepped on deeply show now driver want to obtain it is bigger plus
Speed, and low-grade location and the accelerator pedal stepped on deeply show that now driver wants to obtain bigger torque.Acquisition for pedal information
It can be detected by corresponding detector, these detection means are prior art, are repeated no more.Because gearshift wraps
Mechanical structure is contained and also contains numerous electrical equipments, the failure of any one mechanism can cause that correct shelves can not be obtained
Position information.On the other hand, the present invention provides a gear position detecting unit, as shown in figure 3, it can include gearshift plectrum, the first detection mould
Block, the second detection module and comparison module, gearshift plectrum are connected with first detection module and the second detection module, the first detection mould
Block and the second detection module are connected with comparison module, after driver sends gearshift/gear signal by plectrum of shifting gears, the first inspection
Survey module and the second detection module receives the signal that gearshift plectrum is sent, first detection module and the second detection module will detect
The first gear information and the second gear information send to comparison module, comparison module compares the first gear information and the second gear
Information, then using the first gear information or the second gear information as current gear information, is sent to the control of vehicle when the two is consistent
System processed, when the two is inconsistent, then judge gearshift failure be present, this failure can be for example open circuit, short circuit or
Mechanical breakdown lamp, comparison module send alarm, such as can be sound and light alarms.
S400：Obtain and comprise at least the traffic information that driver selectes road conditions and bend information, the bend information includes
The quantity of bend length, bend curvature and preset distance inner curve.
Road conditions be determine the size of vehicle suspension system damping, the main of the type of drive of the size of tire pressure and motor because
Element, in order to improve handling and riding comfort, such as wet and slippery road conditions require low tire pressure, and the road surface of hollow then requires less
Damping, and the more road of bend then requires larger damping and relatively low tire pressure, straight road then needs to use high rotating speed
Type of drive etc..
For for example wet and slippery road conditions of some road conditions, hollow road conditions etc., driver can readily be recognized by observation, be passed through
Selection key can be so that corresponding traffic information be sent to vehicle control system, and these buttons can include wet and slippery, hollow, put down
Directly, accumulated snow etc., and can not be obtained for bend information driver by observing, bend information can include bend length, curved
The quantity of road curvature and preset distance inner curve, such as the quantity of the inner curve in 2 kms.Bend length, curvature and quantity
Damping and tire pressure with vehicle is closely bound up, and it affects the handling of vehicle and the comfort taken.Such as larger curvature
Then need bigger suspension damping and relatively low tire pressure.
Therefore, the present invention is pre-stored the traffic information of a plurality of road, the road according to where vehicle present position judges vehicle,
The information of the road is read from pre-stored traffic information.The location of vehicle can be by such as global positioning system
(GPS) provide.The location of bend, length, curvature and quantity on this road are contained in pre-stored traffic information.
S500：Vehicle damping and tire pressure are adjusted according to gear information, accelerator pedal information and traffic information.Such as Fig. 3 institutes
Show, the present invention passes through to trailer reversing behavior and condition of road surface, the damping of adjustment vehicle, tire pressure, so as to be the behaviour for improving vehicle
Control property and the comfort driven.
S501：According to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P.Specifically,
Driver selects corresponding road conditions by selection key as previously described, and this road conditions can be wet and slippery, hollow, straight, accumulated snow etc.
Deng different damping a reference value Z and tire pressure benchmark Value Data corresponding to every kind of road conditions being pre-stored with vehicle, when getting road
After condition information, vehicle selects corresponding damping a reference value and tire pressure a reference value P from pre-stored data, a reference value that will be selected
Send to electronic regulation unit, vehicle damping and tire pressure size are adjusted by electronic regulation unit, to reach a reference value.It is such as right
For damping, it can be damped by adjusting the decrement of elastomeric element to adjust vehicle, for tire pressure, electricity can be passed through
The stroke of cylinder that machine driving is connected with tire adjusts tire pressure.
S502：According to gear information and accelerator pedal information calculate the first damping repair Z1 on the occasion of with the first tire pressure correction value
P1.The vehicle of the present invention has high tap position and low-grade location, and high tap position has bigger gearratio, low suitable for high vehicle speeds
Gear contributes to vehicle to obtain bigger moment of torsion.The depression amount of accelerator pedal can reflect that driver currently wishes vehicle output work
The size of rate.To in this present invention, when vehicle is in high tap position and accelerator pedal depression amount is more than the threshold value of setting, now table
Bright driver wants to obtain bigger acceleration, faster speed, now demonstrates the need for the chassis compared with " hard ", hindered for this present invention
Subtracted on the basis of Buddhist nun's a reference value Z plus setting value △ Z1 with obtaining the first damping correction value Z1 on the basis of tire pressure a reference value P
Setting value △ P1 are removed to obtain the first tire pressure correction value P1, i.e., when vehicle is in high tap position and accelerator pedal depression amount is more than setting
Threshold value when：Z1=Z+ △ Z1, P1=P- △ P1, improved by the damping of this adjustment vehicle, tire pressure reduces, that is, damps
Rise improve the handling of high speed, the reduction of tire pressure improves the comfortableness of seating.Accordingly when vehicle is in high tap position
And accelerator pedal depression amount, when being less than or equal to the threshold value of setting, now driver is in the driving condition of more " gentle ", this
When maintain vehicle damping a reference value Z and tire pressure a reference value P it is constant；Set when vehicle is in low-grade location and accelerator pedal depression amount and is more than
When determining threshold value, now show that driver wants to obtain more high pulling torque, setting is subtracted on the basis of a reference value Z is damped for this present invention
Value △ Z2 add setting value △ P2 to obtain the first tire to obtain the first damping correction value Z1 on the basis of tire pressure a reference value P
Correction value P1 is pressed, i.e., when vehicle is in low-grade location and accelerator pedal depression amount is more than the threshold value of setting：Z1=Z- △ Z2, P1=
P+ △ P2, the increase of the reduction tire pressure of damping contribute to vehicle to export bigger moment of torsion；When vehicle is in low-grade location and accelerates to step on
When plate depression amount is less than or equal to given threshold, now show that vehicle is in starting state or in the poor road surface row of road conditions
Sail, such as potted road surface or wet-skid road surface, now need to improve the earth-grasping force of tire, be that this present invention maintains damping a reference value Z not
Become, setting value △ P3 are subtracted on the basis of tire pressure a reference value P to obtain the first tire pressure correction value P1, i.e. Z1=Z, P1=P- △
P3, the appropriate reduction of tire pressure help to obtain bigger earth-grasping force, improved Vehicle handling.
S503：Second damping correction value Z2 and the second tire pressure correction value P2 is calculated according to bend information.
Whether the position that the bend information and vehicle that vehicle control system is got before are presently in determines vehicle
" turning ", i.e. whether vehicle is on bend or in the predetermined distance into bend or in the scheduled time, for example, entering
In being waited in 600 meters of bend or in 5 seconds etc..When bend length D is more than the angle set more than the threshold value and bend curvature of setting
When spending, now show that the bend that vehicle is passed through is more difficult by the way that vehicle needs bigger earth-grasping force and lower center of gravity, is this
Invention subtracts setting value △ Z3 to obtain the second damping correction value Z2, in the first tire pressure on the basis of the first damping correction value Z1
Setting value △ P4 are subtracted on the basis of correction value P1 to obtain the second tire pressure correction value P2, i.e., when bend length D is more than setting
When threshold value and bend curvature are more than the angle of setting：Z2=Z1- △ Z3, P2=P1- △ P4, damping and the reduction of tire pressure reduce
Vehicle's center of gravity adds vehicle earth-grasping force, contributes to curved；When bend length D be more than setting threshold value and bend curvature be less than or
Equal to setting angle when, now show that the bend that vehicle is passed through more relaxes, be this present invention maintain first damping amendment
Value Z1 and the first tire pressure correction value P1 are constant, i.e.,：Z2=Z1, P2=P1；When bend length D is less than the threshold value of setting and bend song
Degree more than setting angle when, now show that bend that vehicle is passed through is more difficult needs bigger earth-grasping force and more by, vehicle
Low center of gravity, but for length is curved, vehicle is relatively easy to by being that this is of the invention on the first damping correction value Z1 basis
On subtract setting value △ Z4 to obtain the second damping correction value Z2, remained unchanged i.e. in the first tire pressure correction value P1：Z2=Z1- △
Z4, P2=P1；When bend length D is less than the threshold value of setting and bend curvature is less than the angle of setting, now show that vehicle exists
More relaxed by one small curved, be that this present invention maintains first damping correction value Z1 constant, in the first tire pressure correction value P1
On the basis of subtract setting value △ P5 to obtain the second tire pressure correction value P2, i.e., when bend length D is less than the threshold value of setting and curved
When road curvature is less than the angle of setting：Z2=Z1, P2=P1- △ P5.
Further, it is now easy if speed is too high to endanger when the quantity of preset distance inner curve is more than setting value
Danger, to this present invention when the quantity of preset distance inner curve is more than setting value, the speed of vehicle is obtained, when speed is more than setting
During threshold value, such as 80KM/h, alarm now is sent to driver, reminds driver's slow down.Tire pressure and the tune of damping
It is whole to be carried out according to the scheduled time.For example, a trailer reversing signal can be updated within each minute.
Many details are elaborated in the above description in order to fully understand the present invention.But above description is only
Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this
Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously
In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible
Changes and modifications, or it is revised as the equivalent embodiment of equivalent variations.Every content without departing from technical solution of the present invention, according to this
The technical spirit of invention still falls within skill of the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of the protection of art scheme.
Claims (1)
1. a kind of electric vehicle control method, it is characterised in that comprise the following steps：
S100：The voltage and current signal at electrokinetic cell end is obtained, according to the mathematical modeling for the electrokinetic cell established, using peace
Shi Jifen, state observer and adaptive extended kalman filtering method estimate battery SOC respectively, and meter is weighted to estimate
Calculate, obtain the current SOC value S of electrokinetic cell；
S200：When judging that estimate S is more than the threshold value of setting, into intelligent driving pattern；When judgement estimate S is less than or waits
When the threshold value of setting, start timing, after timing duration T is more than the duration T0 of setting, when judgement estimate S is less than or equal to
During the threshold value of setting, intelligent driving pattern is exited；
S300：Obtain the gear and accelerator pedal information of vehicle；
S400：Obtain and comprise at least the traffic information that driver selectes road conditions and bend information, the bend information includes bend
The quantity of length, bend curvature and preset distance inner curve；
S500：According to the traffic information got, setting vehicle damping a reference value Z and tire pressure a reference value P；According to gear information and
Accelerator pedal information is repaiied Z1 based on vehicle damping a reference value Z and tire pressure a reference value P the first dampings of calculating and repaiied on the occasion of with the first tire pressure
On the occasion of P1；First damping is based on according to bend information and repaiies Z1 on the occasion of calculating the second damping correction value Z2 with the first tire pressure correction value P1
With the second tire pressure correction value P2；
The mathematical modeling of the electrokinetic cell is：
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In formula, XkRepresent the state vector of battery pack, ykBattery terminal voltage is represented, η is the coulombic efficiency factor, and C is total capacity, E0
For full of the open-circuit voltage under electricity condition, R is the internal resistance of cell, K0、K1、K2、K3For battery polarization internal resistance, △ t are the sampling period,
imkFor current measurement value, iskFor current sensor current drift estimate, W1And W2、VkFor separate white noise, SOC is
Battery electric quantity, K represent k-th state value, K=0,1,2,3,4,5 ....
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| CN201711038222.2A CN107825995A (en) | 2015-11-30 | 2015-11-30 | Electric vehicle control method |
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| CN201711023810.9A Pending CN107933375A (en) | 2015-11-30 | 2015-11-30 | Electric vehicle control method |
| CN201711025661.XA Pending CN107825994A (en) | 2015-11-30 | 2015-11-30 | Electric vehicle control method |
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| CN112659982A (en) * | 2020-04-03 | 2021-04-16 | 长城汽车股份有限公司 | Energy management method and battery control system for plug-in fuel cell vehicle |
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| CN106274310B (en) * | 2016-08-31 | 2019-04-23 | 北京兴科迪科技有限公司 | A kind of tire pressure monitoring and alarm system |
| KR102634357B1 (en) * | 2018-12-04 | 2024-02-07 | 현대자동차주식회사 | Apparatus and method for tire pressure monitoring |
| CN111537895B (en) * | 2020-07-13 | 2020-10-30 | 延锋伟世通电子科技（南京）有限公司 | Multi-parameter joint SOC estimation method |
| CN113002367B (en) * | 2021-02-22 | 2023-03-21 | 深兰科技（上海）有限公司 | Control method of vehicle-mounted fuel cell system and related device |
| CN113034904B (en) * | 2021-03-05 | 2022-06-24 | 交通运输部公路科学研究所 | ETC data-based traffic state estimation method and device |
| CN113829898B (en) * | 2021-11-15 | 2023-09-12 | 合众新能源汽车股份有限公司 | Vehicle control method and vehicle |
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| CN107825994A (en) | 2018-03-23 |
| CN105501074B (en) | 2017-12-05 |
| CN107933375A (en) | 2018-04-20 |
| CN105501074A (en) | 2016-04-20 |
| CN107839541A (en) | 2018-03-27 |
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