CN-122009151-A - Automatic control method and device for vehicle and vehicle

CN122009151ACN 122009151 ACN122009151 ACN 122009151ACN-122009151-A

Abstract

The invention discloses an automatic control method and device of a vehicle and the vehicle, comprising the steps of obtaining real-time speed, bus current, acceleration, steering angle and angular speed of the vehicle; the method comprises the steps of determining a gradient value of road conditions according to steering angles, angular speeds, real-time speeds and bus currents, determining operation conditions of the vehicle according to the real-time speeds, the steering angles, the bus currents, the gradient values and the accelerations, and adjusting output currents of the vehicle according to the gradient values and the operation conditions. The automatic control method provided by the invention can automatically identify the running condition and road condition information of the vehicle, and realize the automatic control of the vehicle by combining the road condition information and the running condition, thereby improving the accuracy, running safety and power stability of the power output of the vehicle.

Inventors

SHENG GANGXIANG
WANG YUFENG
GAO YANG
XIAO YAOYAO
YANG SHUAIYING

Assignees

浙江绿源电动车有限公司

Dates

Publication Date: 20260512
Application Date: 20260401

Claims (10)

1. An automatic control method of a vehicle, comprising: acquiring real-time speed, bus current, acceleration, steering angle and angular speed of a vehicle; Determining a gradient value of the road condition according to the steering angle, the angular speed, the real-time speed and the bus current; determining an operating condition of the vehicle according to the real-time speed, the steering angle, the bus current, the gradient value and the acceleration; and adjusting the output current of the vehicle according to the gradient value and the running condition.
2. The automatic control method of a vehicle according to claim 1, characterized in that determining an operation condition of the vehicle from the real-time speed, the steering angle, the bus current, the gradient value, and the acceleration includes: When the real-time speed is greater than 0, the acceleration is less than 0 and the bus current is greater than or equal to a first threshold value, judging that the vehicle is in a speed ascending working condition; when the real-time speed is 0 and the gradient value is greater than 0, judging that the vehicle is in a 0-speed ascending working condition; When the real-time speed is greater than 0, the acceleration is greater than or equal to 0 and the bus current is less than or equal to a second threshold value, determining that the vehicle is in a downhill working condition; when the real-time speed is greater than 0, the bus current is greater than the second threshold value and smaller than the first threshold value, judging that the vehicle is in a flat road working condition; wherein the first threshold is greater than the second threshold.
3. The automatic control method of a vehicle according to claim 2, characterized by further comprising, after determining that the vehicle is in a flat road condition when the real-time speed is greater than 0, the bus current is greater than the second threshold value and less than the first threshold value: When the steering angle is larger than or equal to a third threshold value, judging that the vehicle is in a flat road turning condition; And when the steering angle is smaller than or equal to a fourth threshold value, judging that the vehicle is in a straight road working condition, wherein the third threshold value is larger than the fourth threshold value.
4. The automatic control method of a vehicle according to claim 3, characterized in that adjusting the output current of the vehicle according to the gradient value and the operating condition includes: When the vehicle is in the speed ascending working condition and the gradient value is smaller than or equal to a fifth threshold value, the output current is controlled to be lifted to a first preset interval; When the vehicle is in the speed ascending working condition and the gradient value is larger than a fifth threshold value and smaller than or equal to a sixth threshold value, the output current is controlled to be raised to a second preset interval; when the vehicle is in the speed ascending working condition and the gradient value is larger than the sixth threshold value, controlling the output current to rise to the maximum value, and controlling a motor of the vehicle to start a preset moment; When the vehicle is in the 0-speed uphill working condition, controlling the motor to trigger uphill starting moment compensation; when the vehicle is in the flat road working condition, controlling the output current to be in a third preset interval; and when the vehicle is in the downhill working condition, controlling the output current to be smaller than or equal to the second threshold value, and controlling the vehicle to start a kinetic energy recovery mode.
5. The automatic control method of a vehicle according to claim 3, characterized by further comprising, after adjusting the output current of the vehicle according to the gradient value and the operating condition: When the vehicle is in the downhill working condition and the real-time speed is greater than or equal to a seventh threshold value, the vehicle is decelerated through kinetic energy recovery; When the vehicle is in the downhill working condition and the real-time speed is greater than or equal to an eighth threshold value, controlling the vehicle to start hydraulic or electronic auxiliary braking to decelerate; when the steering angle is smaller than the third threshold value, controlling the vehicle to perform primary deceleration; And when the steering angle is greater than or equal to the third threshold value, controlling the vehicle to perform secondary deceleration.
6. The automatic control method of a vehicle according to claim 3, characterized by further comprising, after adjusting the output current of the vehicle according to the gradient value and the operating condition: The real-time distance acquired by the ranging sensor is acquired, When the real-time distance is smaller than or equal to a ninth threshold value, triggering primary kinetic energy recovery to decelerate, and starting a voice alarm of the vehicle; When the real-time distance is smaller than or equal to a tenth threshold value, triggering the secondary kinetic energy recovery to decelerate, and starting the primary braking; And when the real-time distance is smaller than or equal to an eleventh threshold value, triggering three-stage kinetic energy recovery to decelerate and starting a second-stage brake, wherein the distance measuring sensor is used for detecting the distance between the vehicle and the obstacle.
7. The automatic control method of a vehicle according to claim 3, characterized by further comprising, after adjusting the output current of the vehicle according to the gradient value and the operating condition: Acquiring the motor temperature of the vehicle; when the temperature of the motor is less than or equal to a twelfth threshold value, controlling a water pump of the vehicle to operate at a first preset power; when the temperature of the motor is greater than the twelfth threshold value and less than or equal to the thirteenth threshold value, controlling the water pump to operate at a second preset power and controlling the cooling fan of the vehicle to operate at a first preset rotating speed; When the temperature of the motor is greater than the thirteenth threshold value and less than or equal to the fourteenth threshold value, controlling the water pump to operate at a third preset power and controlling the cooling fan to operate at a second preset rotating speed; when the temperature of the motor is greater than the fourteenth threshold, the water pump is controlled to operate at a third preset power, the cooling fan is controlled to operate at a second preset rotating speed, and the output power of the vehicle is reduced.
8. An automatic control system of a vehicle, which is characterized by being used for executing the automatic control method of the vehicle according to any one of claims 1-7, and comprises a main control module, a road condition sensing module, a power control module, a safety braking module and a liquid cooling heat dissipation module; the road condition sensing module is connected with the main control module and is used for collecting real-time speed, bus current, acceleration, steering angle and angular speed of the vehicle and transmitting the real-time speed, bus current, acceleration, steering angle and angular speed to the main control module; the power control module is connected with the main control module and is used for adjusting the output current and the output torque of the vehicle according to the instruction of the main control module; The safety braking module is connected with the main control module and is used for controlling the kinetic energy recovery efficiency of the vehicle according to the instruction of the main control module; the liquid cooling heat dissipation module is connected with the main control module and is used for adjusting the temperatures of a motor and a battery of the vehicle; the main control module is used for determining the gradient value of the road condition according to the steering angle, the angular speed, the real-time speed and the bus current, and determining the running condition of the vehicle according to the real-time speed, the steering angle, the bus current, the gradient value and the acceleration.
9. The automatic control system of a vehicle of claim 8, further comprising a human-machine interaction module and a data iteration module; the man-machine interaction module is connected with the main control module and is used for displaying running information and alarm information of the vehicle; the data iteration module is connected with the main control module and is used for recording historical operation data of the vehicle.
10. A vehicle comprising the automatic control system of the vehicle according to any one of claims 8 to 9.

Description

Automatic control method and device for vehicle and vehicle Technical Field The invention relates to the technical field of intelligent control and power of vehicles, in particular to an automatic control method and device of a vehicle and the vehicle. Background The power control and the running safety of the electric vehicle are the core of the intelligent development of the electric vehicle, the power control scheme of the existing electric vehicle only realizes a single gradient boosting function, the power compensation of an ascending slope is realized through simple current and acceleration judgment, an all-terrain road condition recognition system is not constructed, complex road conditions such as turning, descending slope, bumpy road, wet road and the like cannot be adapted, the descending slope only depends on manual braking, safety accidents caused by too fast speed easily occur, the self-adaptive deceleration strategy is not available during turning, and the side turning risk is high. Meanwhile, the existing anti-collision measures of the vehicle are mostly single early warning functions, no grading early deceleration braking strategy exists, tail flick and sideslip are easy to occur during emergency braking, and safety is insufficient. Disclosure of Invention The invention provides an automatic control method and device for a vehicle and the vehicle, which are used for collecting various parameter information of the vehicle, determining the running condition and road condition information of the vehicle, and determining the output current of the vehicle according to the running condition and the road condition information so as to realize automatic control of the vehicle, realize full-automatic auxiliary control under the full-terrain road condition sensing of the vehicle and intelligent regulation of power, and give consideration to the power output accuracy, the running safety and the stability of a power system, thereby greatly improving the full-terrain trafficability of the vehicle, the running safety and the service life of the power system. According to a first aspect of the present invention, there is provided an automatic control method of a vehicle, comprising: acquiring real-time speed, bus current, acceleration, steering angle and angular speed of a vehicle; Determining a gradient value of the road condition according to the steering angle, the angular speed, the real-time speed and the bus current; determining an operating condition of the vehicle according to the real-time speed, the steering angle, the bus current, the gradient value and the acceleration; and adjusting the output current of the vehicle according to the gradient value and the running condition. Optionally, determining the operation condition of the vehicle according to the real-time speed, the steering angle, the bus current, the gradient value and the acceleration comprises: When the real-time speed is greater than 0, the acceleration is less than 0 and the bus current is greater than or equal to a first threshold value, judging that the vehicle is in a speed ascending working condition; when the real-time speed is 0 and the gradient value is greater than 0, judging that the vehicle is in a 0-speed ascending working condition; When the real-time speed is greater than 0, the acceleration is greater than or equal to 0 and the bus current is less than or equal to a second threshold value, determining that the vehicle is in a downhill working condition; when the real-time speed is greater than 0, the bus current is greater than the second threshold value and smaller than the first threshold value, judging that the vehicle is in a flat road working condition; wherein the first threshold is greater than the second threshold. Optionally, after determining that the vehicle is in the flat road condition when the real-time speed is greater than 0, the bus current is greater than the second threshold and less than the first threshold, the method further includes: When the steering angle is larger than or equal to a third threshold value, judging that the vehicle is in a flat road turning condition; And when the steering angle is smaller than or equal to a fourth threshold value, judging that the vehicle is in a straight road working condition, wherein the third threshold value is larger than the fourth threshold value. Optionally, adjusting the output current of the vehicle according to the gradient value and the operating condition includes: when the vehicle is in the speed ascending working condition and the gradient value is smaller than or equal to a fifth threshold value, the output current is controlled to be lifted to a first preset interval; When the vehicle is in the speed ascending working condition and the gradient value is larger than a fifth threshold value and smaller than or equal to a sixth threshold value, the output current is controlled to be raised to a second preset interval; when the vehicle is in the