CN-122009182-A - New energy bus ramp parking safety protection method and system based on fuzzy control

CN122009182ACN 122009182 ACN122009182 ACN 122009182ACN-122009182-A

Abstract

The invention provides a new energy bus ramp parking safety protection method and system based on fuzzy control, which belong to the technical field of new energy buses and comprise the steps of monitoring and acquiring state information of a vehicle in real time, processing the acquired information by adopting a fuzzy control algorithm, identifying and outputting a current ramp sliding risk level, wherein the risk level at least comprises low risk, medium risk and high risk, executing a corresponding control strategy according to the risk level, starting active braking control when the risk level is high risk, monitoring the rotating speed and the wheel speed of a motor in real time, calculating the slip rate, taking the rotating speed of the motor as feedback quantity, dynamically adjusting the target braking deceleration sent to an EBS by a PI control algorithm to enable the vehicle to be stably decelerated, judging that the vehicle is stopped after the rotating speed and the wheel speed of the motor are both zero and lasting for a preset time, and executing parking instruction to an EPB. The invention realizes smooth and reliable full-automatic ramp safety protection.

Inventors

CHEN ZHENGUO
LI WENHAO
QI HONGLEI
HUANG YUPENG
YANG CHUANKAI
ZHANG GANG

Assignees

中通客车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260316

Claims (10)

1. The new energy bus ramp parking safety protection method based on fuzzy control is characterized by comprising the following steps of: The method comprises the steps of monitoring and acquiring state information of a vehicle in real time, wherein the state information comprises an EPB state signal, a gradient signal, a gear signal, a motor rotating speed, a wheel speed signal, a driver's seat-leaving state and a brake pedal opening; processing the acquired information by adopting a fuzzy control algorithm, identifying and outputting the current landslide risk level, wherein the risk level at least comprises low risk, medium risk and high risk; When the risk level is high risk, starting active braking control, monitoring the rotating speed and the wheel speed of the motor in real time, calculating the slip rate, and dynamically adjusting the target braking deceleration sent to the EBS by taking the rotating speed of the motor as a feedback quantity through a PI control algorithm to enable the vehicle to be stably decelerated; and when the motor rotating speed and the wheel speed are detected to be zero and the preset time is continued, judging that the vehicle is stopped stably, sending a parking instruction to the EPB, and executing parking locking.
2. The new energy bus hill-hold safety protection method based on fuzzy control as claimed in claim 1, wherein under the precondition that the current gear is neutral, the fuzzy control algorithm is adopted to carry out fuzzy processing on the state information: dividing the gradient signal into three fuzzy subsets { flat, gentle slope and steep slope }; Dividing the opening of the brake pedal into three fuzzy subsets { lightly treaded and heavily treaded }; the EPB states are divided into two subsets { strained, unstrained }; The driver status includes two subsets { sitting and unseating }; And (3) reasoning by applying a preset fuzzy rule base according to the state of the fuzzification processing to obtain a landslide risk level, wherein the landslide risk level at least comprises low risk, medium risk and high risk.
3. The new energy bus hill-hold safety protection method based on fuzzy control as claimed in claim 2, wherein the fuzzy rule base comprises: If the driver state is "unset" and the EPB state is "untensioned" and the grade is not "flat", the risk level is high; if the gradient is a steep slope, the EPB state is not tensioned, and the opening degree of the brake pedal is lightly stepped, the risk level is high; if the gradient is a steep slope, the driver state is a seat, the EPB state is an unstrained state, and the brake pedal opening is a light pedal, the risk level is high; If the gradient is a steep slope, the EPB state is not tensioned, and the opening degree of the brake pedal is not heavy stepping, the risk level is medium; if the gradient is a gentle slope and the driver state is a seat and the EPB state is an unstrained state, the risk level is medium; If the grade is "flat" and the EPB state is "taut", the risk level is low; if the grade is "flat" and the EPB state is "untensioned" and the brake pedal opening is not "0", the risk level is low.
4. The method for hill-hold security protection of a new energy bus based on fuzzy control as set forth in claim 1, wherein said executing a corresponding control strategy according to the risk level comprises: If the risk level is low, the system is kept in a standby state and does not trigger any intervention action; If the risk level is medium, the whole vehicle controller VCU sends an alarm instruction to the instrument through the CAN bus, executes intermittent acousto-optic prompt and displays the 'paying attention to the risk of sliding the vehicle'; If the risk level is high, the whole vehicle controller VCU triggers an active braking and parking program.
5. The fuzzy control-based new energy bus hill-hold safety protection method as set forth in claim 1, wherein when the risk level is high, the whole bus controller continuously monitors the motor rotation speed and the wheel speed, and calculates the slip ratio: Wherein, the In order for the slip ratio to be the same, Is the vehicle speed calculated by the whole vehicle controller through the motor rotation speed, Is the wheel speed.
6. The fuzzy control-based new energy bus hill-hold safety protection method as set forth in claim 5, wherein when the slip ratio is greater than or equal to a preset threshold, the active braking function is immediately exited, and when the slip ratio is less than the preset threshold, the motor speed is used as a feedback signal, and a PI control algorithm is adopted to calculate and dynamically adjust the target deceleration value sent to the EBS in real time, so that the vehicle is decelerated smoothly.
7. The fuzzy control-based new energy bus hill-hold safety protection method as set forth in claim 1, wherein the PI control algorithm is: Defining control deviation, setting a target parking state as a motor rotating speed of 0, and defining a real-time motor rotating speed as a deviation amount of a control system; The target braking deceleration is calculated in real time, the target braking deceleration A target (m/s 2 ) is formed by superposing the output of two links of a proportion (P) and an integral (I), and the calculation formula is as follows: Wherein Kp proportionality coefficient, ki integral coefficient, e (t) is deviation; is the sampling time.
8. New forms of energy passenger train ramp parking safety protection system based on fuzzy control, its characterized in that includes: The state acquisition module is configured to monitor and acquire state information of the vehicle in real time, wherein the state information comprises an EPB state signal, a gradient signal, a gear signal, a motor rotating speed, a wheel speed signal, a driver off-seat state and a brake pedal opening; The risk judging module is configured to process the acquired information by adopting a fuzzy control algorithm, identify and output the current landslide risk level, wherein the risk level at least comprises low risk, medium risk and high risk; When the risk level is high risk, starting active braking control, monitoring the motor rotating speed and the wheel speed in real time, calculating the slip rate, and dynamically adjusting the target braking deceleration sent to the EBS by taking the motor rotating speed as a feedback quantity through a PI control algorithm to enable the vehicle to be stably decelerated; And the parking execution module is configured to judge that the vehicle is stationary after detecting that the motor rotation speed and the wheel speed are both zero and the preset time is continuous, send a parking instruction to the EPB and execute parking locking.
9. An electronic device comprising a memory and a processor, and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the fuzzy control-based new energy passenger vehicle hill-hold security method of any of claims 1-7.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the new energy passenger car hill-hold security method based on fuzzy control of any of claims 1-7.

Description

New energy bus ramp parking safety protection method and system based on fuzzy control Technical Field The invention belongs to the technical field of new energy buses, and particularly relates to a new energy bus ramp parking safety protection method and system based on fuzzy control. Background The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. In the prior art, an electronic parking system (EPB) can effectively prevent a slide slope, but needs to be actively triggered by a driver. In the event of driver inattention or failure to operate in time, the system cannot actively intervene. An Electronic Brake System (EBS) can provide accurate braking force, but when a driver fails to tighten the hand brake in time due to negligence, particularly when a slope is stopped at neutral gear, a vehicle is extremely easy to slip, and serious potential safety hazards exist. In the existing hill-hold control strategy, a fixed threshold value is generally used for quantitative judgment, and the problems that scene adaptability is poor, risk difference of 'heavy-gradient light-stepping braking' and 'small-gradient light-stepping braking' cannot be distinguished, false triggering is easy to occur under the working condition without intervention or missed triggering is easy to occur under the working condition without intervention, driver intention and vehicle state are continuously-changed physical quantities, frequent shaking of a system near the threshold value boundary is caused by using accurate threshold value cutting, control is not smooth, and in addition, comprehensive reasoning cannot be conducted by combining a plurality of conditions, so that the intelligent degree of the system is low, and potential risks under complex working conditions cannot be identified. On the other hand, existing control strategies focus all functions on the execution efficiency and adaptability of the control strategy in one control loop. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides a new energy bus ramp parking safety protection method and system based on fuzzy control, which are used for solving the technical problems of single operation, single risk judgment and unsmooth control of a driver in the prior art, comprehensively sensing the state of the driver, the state of the vehicle and the environmental information, and realizing full-automatic safety protection of stable braking and reliable locking through layered logic. To achieve the above object, one or more embodiments of the present invention provide the following technical solutions: the invention discloses a new energy bus ramp parking safety protection method based on fuzzy control, which comprises the following steps: The method comprises the steps of monitoring and acquiring state information of a vehicle in real time, wherein the state information comprises an EPB state signal, a gradient signal, a gear signal, a motor rotating speed, a wheel speed signal, a driver's seat-leaving state and a brake pedal opening; processing the acquired information by adopting a fuzzy control algorithm, identifying and outputting the current landslide risk level, wherein the risk level at least comprises low risk, medium risk and high risk; When the risk level is high risk, starting active braking control, monitoring the rotating speed and the wheel speed of the motor in real time, calculating the slip rate, and dynamically adjusting the target braking deceleration sent to the EBS by taking the rotating speed of the motor as a feedback quantity through a PI control algorithm to enable the vehicle to be stably decelerated; and when the motor rotating speed and the wheel speed are detected to be zero and the preset time is continued, judging that the vehicle is stopped stably, sending a parking instruction to the EPB, and executing parking locking. In a second aspect, the invention discloses a new energy bus ramp parking safety protection system based on fuzzy control, which comprises: The state acquisition module is configured to monitor and acquire state information of the vehicle in real time, wherein the state information comprises an EPB state signal, a gradient signal, a gear signal, a motor rotating speed, a wheel speed signal, a driver off-seat state and a brake pedal opening; The risk judging module is configured to process the acquired information by adopting a fuzzy control algorithm, identify and output the current landslide risk level, wherein the risk level at least comprises low risk, medium risk and high risk; When the risk level is high risk, starting active braking control, monitoring the motor rotating speed and the wheel speed in real time, calculating the slip rate, and dynamically adjusting the target braking deceleration sent to the EBS by taking the motor rotating speed as a feedback quantity through a PI control algorit