The invention provides a vehicle slope stabilizing control method and device and a vehicle. The vehicle slope stabilizing control method comprises the steps that state parameters of the vehicle are obtained; when it is determined that the vehicle is in a slope sliding state according to the state parameters, target state parameters in the state parameters are input into a two-degree-of-freedom controller, and target slope stabilizing torque parameters are obtained; wherein the two-degree-of-freedom controller comprises a first sub-controller and a second sub-controller for performing negative feedback on the first sub-controller; according to the target slope stabilizing torque parameter, a driving motor of the vehicle is controlled to output slope stabilizing torque; the slope stabilizing torque is used for enabling the vehicle to enter a slope stabilizing state. According to the two-degree-of-freedom controller, when the parameter of the first controller is set to be large, the output slope stabilizing torque parameter can be reduced based on the negative feedback mechanism, in the process of controlling the vehicle to stabilize the slope, the occurrence probability of the overshoot phenomenon is reduced, the jumping of the vehicle is reduced, and the stability of slope stabilizing control is effectively guaranteed.
本发明提供一种车辆稳坡控制方法、装置和车辆,其中车辆稳坡控制方法包括:获取车辆的状态参数;在根据所述状态参数,确定所述车辆处于溜坡状态时,将所述状态参数中的目标状态参数,输入双自由度控制器,获得目标稳坡扭矩参数;其中,所述双自由度控制器包括第一子控制器和对所述第一子控制器进行负反馈的第二子控制器;根据所述目标稳坡扭矩参数,控制所述车辆的驱动电机输出稳坡扭矩;所述稳坡扭矩用于使所述车辆进入稳坡状态。本发明的双自由度控制器在第一控制器的参数设置较大时,可以基于该负反馈机制,减小输出的稳坡扭矩参数,在控制车辆进行稳坡的过程中,降低超调现象发生的几率,减小车辆的蹿动,有效地保证稳坡控制的稳定性。
Vehicle slope stabilizing control method and device and vehicle
车辆稳坡控制方法、装置和车辆
2023-02-17
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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