The invention discloses a method for achieving gradient keeping through combination of VCU crawling torque control and EPB parking, and the method comprises the following steps: in a Ready state, releasing a hand brake, and starting to release a brake pedal, enabling crawling PID control, and starting to output torque; the EPB gradually reduces the braking torque output by the EPB according to the signal sent by the VCU and the feedback torque value of the driving motor, and when the driving torque of the motor is larger than the braking torque of the EPB, the EPB completely cancels the braking force; when the VCU outputs the torque, whether the rotating speed of the motor is matched with the gear or not is detected through the VCU; a PID feed-forward torque and a PID coefficient of a slope sliding state are looked up through VCU detection data; according to the detected feedforward torque and the PID coefficient, the torque output of the VCU is seamlessly switched from the creeping torque to the torque calculated by the gradient keeping strategy; during uphill driving, after a driver steps on an accelerator pedal and starts to accelerate, the crawling and gradient keeping strategy exits; according to the invention, the stability of the vehicle during starting or backing on the ramp is ensured, and the possibility of sliding on the ramp is reduced.

    本发明公开一种VCU蠕行扭矩控制结合EPB驻车实现坡度保持的方法,包括以下步骤:Ready状态,松掉手刹,再开始松刹车踏板的同时,蠕行的PID控制就会使能,开始输出扭矩;EPB根据VCU发送的信号和驱动电机的反馈扭矩值,逐步的减小EPB输出的制动扭矩,当电机的驱动扭矩大于EPB的制动扭矩的时,EPB完全取消制动力;在VCU输出扭矩的同时,通过VCU检测电机转速是否与档位匹配;通过VCU检测数据查表出一个PID前馈扭矩和溜坡状态的PID系数;根据检测的前馈扭矩与PID系数,VCU的扭矩输出由蠕行扭矩无缝切换到坡度保持策略计算的扭矩;上坡行驶,驾驶员踩到油门踏板开始加速后,蠕行与坡度保持策略退出;本发明保证了车子在坡道上起步或倒车时的稳定性,减小溜坡的可能性。


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    Titel :

    Method for achieving gradient keeping through combination of VCU crawling torque control and EPB parking


    Weitere Titelangaben:

    一种VCU蠕行扭矩控制结合EPB驻车实现坡度保持的方法


    Beteiligte:
    RUAN JILIAN (Autor:in) / GE CHAO (Autor:in) / WANG ZHENQING (Autor:in) / FENG HANDUI (Autor:in) / DONG LEI (Autor:in) / LOU BIN (Autor:in) / WANG YAN (Autor:in) / HUO YANTONG (Autor:in) / XIE FENGQUN (Autor:in) / ZHANG DONG (Autor:in)

    Erscheinungsdatum :

    2022-07-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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