CN114670816B - Reversing control method and device and electric automobile - Google Patents
Reversing control method and device and electric automobile Download PDFInfo
- Publication number
- CN114670816B CN114670816B CN202110378660.3A CN202110378660A CN114670816B CN 114670816 B CN114670816 B CN 114670816B CN 202110378660 A CN202110378660 A CN 202110378660A CN 114670816 B CN114670816 B CN 114670816B
- Authority
- CN
- China
- Prior art keywords
- target
- torque
- vehicle speed
- reversing
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000009467 reduction Effects 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 9
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a reversing control method and device and an electric automobile, and relates to the technical field of electric automobile control, wherein the reversing control method starts an auxiliary reversing function when judging that the current rear obstacle distance and the current speed of the automobile meet the starting conditions of the auxiliary reversing function under reversing working conditions; determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle when the auxiliary reversing function is started; and controlling reversing according to the target output torque. The scheme of the invention can control the speed reduction in the reversing process and avoid the collision of the vehicle.
Description
Technical Field
The invention belongs to the technical field of electric automobile control, and particularly relates to a reversing control method and device and an electric automobile.
Background
In the current automobile market, a reversing radar is widely applied, and can give out an alarm through a buzzer in the reversing process, so that the distance of a barrier behind a driver is timely reminded, and the vehicle is prevented from collision. However, if the driver does not respond to the warning sounds in time due to tension or distraction, the vehicle may collide with a rear obstacle, resulting in property loss and even threatening personal safety.
Disclosure of Invention
The embodiment of the invention aims to provide a reversing control method and device and an electric automobile, so that the problem of vehicle collision in the reversing process in the prior art is solved.
In order to achieve the above object, an embodiment of the present invention provides a reverse control method, including:
Under the reversing working condition, when the current rear obstacle distance and the vehicle speed of the vehicle are judged to meet the starting condition of the auxiliary reversing function, the auxiliary reversing function is started;
Determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle when the auxiliary reversing function is started;
And controlling reversing according to the target output torque.
Optionally, the method further comprises:
And when the rear obstacle distance is smaller than a preset distance and the vehicle speed is smaller than a preset vehicle speed, judging that the rear obstacle distance and the vehicle speed meet the starting condition of the auxiliary reversing function.
Optionally, the target output torque is any one of:
target demand torque, target calculation torque, and target braking torque;
When the target output torque is the target required torque or the target calculated torque, the controlling reversing according to the target output torque includes:
transmitting the target required torque or the target calculated torque to a motor controller;
when the target output torque is the target braking torque, the controlling reversing according to the target output torque includes:
and sending the target braking torque to an electronic stabilization system.
Optionally, when the target output torque is the target required torque, determining, with the auxiliary reverse function turned on, a target output torque for controlling a decrease in vehicle speed according to at least one of the rear obstacle distance, the vehicle speed, and a current accelerator pedal opening of the vehicle, includes:
Obtaining a target required torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored required torque corresponding relation table; the required torque corresponding relation table comprises required torques corresponding to different rear obstacle distances and vehicle speed combinations.
Optionally, when the target output torque is the target calculated torque, determining the target output torque for controlling the vehicle speed to decrease according to at least one of the rear obstacle distance, the vehicle speed, and the current accelerator pedal opening of the vehicle when the auxiliary reverse function is turned on, includes:
Acquiring a target acceleration torque according to the vehicle speed and the accelerator pedal opening;
Determining the target calculated torque according to the target required torque and the target acceleration torque; wherein the target demand torque is obtained from the rear obstacle distance and the vehicle speed.
Optionally, when the target output torque is the target braking torque, determining, with the auxiliary reverse function turned on, a target output torque for controlling a decrease in vehicle speed according to at least one of the rear obstacle distance, the vehicle speed, and a current accelerator pedal opening of the vehicle, includes: comprising the following steps:
Acquiring a target braking torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored braking torque corresponding relation table; the braking torque corresponding relation table comprises braking torques corresponding to different rear obstacle distances and vehicle speed combinations.
Optionally, the method further comprises:
And when the vehicle speed is reduced to 0m/s, the auxiliary reversing function is withdrawn.
The embodiment of the invention also provides a reversing control device, which comprises:
The judging module is used for judging that the current rear obstacle distance and the current vehicle speed of the vehicle meet the starting conditions of the auxiliary reversing function under the reversing working condition, and starting the auxiliary reversing function;
The acquisition module is used for determining target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle under the condition that the auxiliary reversing function is started;
And the control module is used for controlling reversing according to the target output torque.
Optionally, the target output torque is any one of:
target demand torque, target calculation torque, and target braking torque;
when the target output torque is the target demand torque or the target calculation torque, the apparatus further includes:
When the target output torque is the target demand torque or the target calculation torque, the control module includes:
A first transmitting unit for transmitting the target required torque or the target calculated torque to a motor controller;
When the target output torque is the target braking torque, the control module includes:
And the second sending unit is used for sending the target braking torque to the electronic stabilizing system.
The embodiment of the invention also provides an electric automobile, which comprises the reversing control device.
The technical scheme of the invention has at least the following beneficial effects:
In the above scheme, the reversing control method starts the reversing auxiliary function when judging that the current distance between the rear obstacle and the vehicle speed of the vehicle meet the starting condition of the reversing auxiliary function under the reversing working condition; determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle when the auxiliary reversing function is started; and controlling reversing according to the target output torque, so as to reduce the speed of the vehicle in the reversing process, avoid collision between the vehicle and a rear obstacle, and ensure the property and personal safety.
Drawings
FIG. 1 is a schematic flow chart of a reverse control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a reverse control method according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a reversing control device according to an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a reversing control method and device and an electric automobile aiming at the problem of vehicle collision in the reversing process in the prior art.
As shown in fig. 1, an embodiment of the present invention provides a reverse control method, including:
Step 101, under a reversing working condition, when judging that the current rear obstacle distance and the current vehicle speed of a vehicle meet the starting conditions of an auxiliary reversing function, starting the auxiliary reversing function; it should be noted that, the reversing control method provided by the embodiment of the invention is applied to a vehicle controller of a vehicle, the vehicle controller judges according to the distance between the rear obstacle and the vehicle speed, and when a pre-stored starting condition of the auxiliary reversing function is satisfied, the auxiliary reversing function is activated to be started.
Here, the vehicle controller acquires the rear obstacle distance by using an ultrasonic detection principle through a reverse radar, and acquires the vehicle speed by using a vehicle speed sensor.
102, Determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle under the condition that the auxiliary reversing function is started;
and step 103, controlling reversing according to the target output torque.
The vehicle controller sends the target output torque to a relevant controller of the vehicle, so that the vehicle speed in the reversing process is reduced.
According to the embodiment of the invention, when the current rear obstacle distance and the current vehicle speed of the vehicle meet the starting conditions of the auxiliary reversing function under the reversing working condition, the auxiliary reversing function is started; determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle when the auxiliary reversing function is started; and controlling reversing according to the target output torque, so as to reduce the speed of the vehicle in the reversing process, avoid collision between the vehicle and a rear obstacle, and ensure the property and personal safety.
It should be noted that, the reversing control method can be applied to a vehicle controller of a vehicle, and can be realized only by adjusting the strategies of the vehicle controller and related controllers, and compared with a vehicle with an automatic parking function, the reversing control method has the advantage of greatly reducing the cost.
Optionally, the method further comprises:
And when the rear obstacle distance is smaller than a preset distance and the vehicle speed is smaller than a preset vehicle speed, judging that the rear obstacle distance and the vehicle speed meet the starting condition of the auxiliary reversing function.
Here, the preset distance is in the range of 1.5m to 2.5m, preferably, the preset distance is 2m; the preset vehicle speed is in the range of 7m/s to 13m/s, preferably 10m/s.
Optionally, the target output torque is any one of:
target demand torque, target calculation torque, and target braking torque;
When the target output torque is the target required torque or the target calculated torque, the controlling reversing according to the target output torque includes:
transmitting the target required torque or the target calculated torque to a motor controller;
When the target output torque is the target braking torque, the step 103 includes:
and sending the target braking torque to an electronic stabilization system.
The vehicle controller sends the target required torque or the target calculated torque to the motor controller, and the motor controller adjusts the driving torque of the motor to reduce the vehicle speed, so as to realize reversing.
When the vehicle is equipped with the electronic stability system, the target braking torque is sent to the electronic stability system, the target required torque or the target calculated torque is not required to be sent to the motor controller, and the electronic stability system is used for controlling to cut off power output, so that the vehicle speed is reduced, and the reversing is realized.
Optionally, when the target output torque is the target required torque, the step 102 includes:
Obtaining a target required torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored required torque corresponding relation table; the required torque corresponding relation table comprises required torques corresponding to different rear obstacle distances and vehicle speed combinations.
The required torque corresponding relation table is a two-dimensional table and can be obtained through calibration in a real vehicle testing stage, wherein the target required torque is a positive value.
When the vehicle speed is higher and the rear obstacle distance is closer, the target required torque is larger, so that the vehicle is ensured to stop in time; when the vehicle speed is lower and the distance between the rear obstacles is longer, the target required torque is smaller, the uncomfortable feeling brought to the driver by the reduction of the vehicle speed is reduced on the premise of ensuring the timely parking of the vehicle, and the experience feeling of the driver is improved.
Optionally, when the target output torque is the target calculated torque, the step 102 includes:
Acquiring a target acceleration torque according to the vehicle speed and the accelerator pedal opening;
Determining the target calculated torque according to the target required torque and the target acceleration torque; wherein the target demand torque is obtained from the rear obstacle distance and the vehicle speed.
Here, the target calculated torque is determined to be the larger of the target required torque and the target acceleration torque.
It should be noted that, when the auxiliary reversing function is turned on, if the driver steps on the accelerator pedal by mistake due to tension, the vehicle may collide during the acceleration and reversing. Since the target demand torque is positive; under a reversing working condition, the target acceleration torque is a negative value, so the target required torque is constantly larger than the target acceleration torque, the target calculated torque is determined to be the target required torque, the target required torque is sent to the motor controller, and the motor controller is prevented from responding to the target acceleration torque, so that the vehicle is accelerated urgently and collision occurs.
Optionally, when the target output torque is the target braking torque, the step 102 includes:
Acquiring a target braking torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored braking torque corresponding relation table; the braking torque corresponding relation table comprises braking torques corresponding to different rear obstacle distances and vehicle speed combinations.
It should be noted that, the brake torque corresponding relation table is a two-dimensional table, and can be obtained through calibration in a real vehicle test stage.
Optionally, the method further comprises:
And when the vehicle speed is reduced to 0m/s, the auxiliary reversing function is withdrawn.
In the process of gradually reducing the vehicle speed to 0m/s, the auxiliary reversing function is always in an activated and opened state, and reversing is completed and the auxiliary reversing function is withdrawn when the vehicle speed is 0 m/s.
As shown in fig. 2, another flow chart of the reverse control method according to the embodiment of the present invention is described as follows:
The reversing radar detects the distance of the rear obstacle, and the vehicle speed sensor collects the vehicle speed and sends the vehicle speed to the whole vehicle controller respectively;
the whole vehicle controller judges whether the distance between the rear obstacle and the vehicle speed meet the starting condition of an auxiliary reversing function or not;
When the starting condition of the auxiliary reversing function is met, the whole vehicle controller determines a target required torque according to the rear obstacle distance and the vehicle speed and sends the target required torque to a motor controller;
the motor controller adjusts the driving torque of the motor according to the target required torque so as to reduce the speed of the vehicle;
and when the vehicle speed is reduced to 0m/s, finishing the reversing of the time, and exiting the reversing auxiliary function.
As shown in fig. 3, an embodiment of the present invention further provides a reversing control device, including:
The judging module 301 is configured to judge, under a reverse working condition, that when a current distance between a rear obstacle and a vehicle speed of a vehicle meet an opening condition of an auxiliary reverse function, open the auxiliary reverse function;
An obtaining module 302, configured to determine, when the auxiliary reverse function is turned on, a target output torque for controlling a decrease in vehicle speed according to at least one of the rear obstacle distance, the vehicle speed, and a current accelerator opening of the vehicle;
a control module 303 for controlling reverse according to the target output torque.
According to the embodiment of the invention, when the current rear obstacle distance and the current vehicle speed of the vehicle meet the starting conditions of the auxiliary reversing function under the reversing working condition, the auxiliary reversing function is started; determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle when the auxiliary reversing function is started; and controlling reversing according to the target output torque, so as to reduce the speed of the vehicle in the reversing process, avoid collision between the vehicle and a rear obstacle, and ensure the property and personal safety.
Optionally, the apparatus further comprises:
and the judging sub-module is used for judging that the rear obstacle distance and the vehicle speed meet the starting condition of the auxiliary reversing function when the rear obstacle distance is smaller than the preset distance and the vehicle speed is smaller than the preset vehicle speed.
Optionally, the target output torque is any one of:
target demand torque, target calculation torque, and target braking torque;
When the target output torque is the target demand torque or the target calculation torque, the control module 303 includes:
A first transmitting unit for transmitting the target required torque or the target calculated torque to a motor controller;
when the target output torque is the target braking torque, the control module 303 includes:
And the second sending unit is used for sending the target braking torque to the electronic stabilizing system.
Optionally, when the target output torque is the target required torque, the obtaining module 302 includes:
A first obtaining unit, configured to obtain a target required torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored required torque correspondence table; the required torque corresponding relation table comprises required torques corresponding to different rear obstacle distances and vehicle speed combinations.
Optionally, when the target output torque is the target calculated torque, the obtaining module 302 includes:
a second acquisition unit for acquiring a target acceleration torque according to the vehicle speed and the accelerator pedal opening;
A determining unit configured to determine the target calculated torque according to the target required torque and the target acceleration torque; wherein the target demand torque is obtained from the rear obstacle distance and the vehicle speed.
Optionally, when the target output torque is the target braking torque, the obtaining module 302 includes:
A third acquisition unit that acquires a target braking torque corresponding to the rear obstacle distance and the vehicle speed, according to a pre-stored braking torque correspondence table; the braking torque corresponding relation table comprises braking torques corresponding to different rear obstacle distances and vehicle speed combinations.
Optionally, the apparatus further comprises:
and the exit module is used for exiting the auxiliary reversing function when the vehicle speed is reduced to 0 m/s.
The embodiment of the invention also provides an electric automobile, which comprises the reversing control device.
The electric automobile provided by the embodiment of the invention comprises the reversing control device, so that all the embodiments of the reversing control device are applicable to the electric automobile and can achieve the same or similar beneficial effects.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (7)
1. A reverse control method, comprising:
Under the reversing working condition, when the current rear obstacle distance and the vehicle speed of the vehicle are judged to meet the starting condition of the auxiliary reversing function, the auxiliary reversing function is started;
Determining a target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle when the auxiliary reversing function is started;
Controlling reversing according to the target output torque;
Wherein the target output torque is any one of:
target demand torque, target calculation torque, and target braking torque;
When the target output torque is the target required torque or the target calculated torque, the controlling reversing according to the target output torque includes:
transmitting the target required torque or the target calculated torque to a motor controller;
when the target output torque is the target braking torque, the controlling reversing according to the target output torque includes:
transmitting the target braking torque to an electronic stability system;
When the target output torque is the target calculated torque, and when the auxiliary reverse function is on, determining a target output torque for controlling a decrease in vehicle speed according to at least one of the rear obstacle distance, the vehicle speed, and a current accelerator pedal opening of the vehicle, comprising:
Acquiring a target acceleration torque according to the vehicle speed and the accelerator pedal opening;
determining the target calculated torque according to the larger one of the target required torque and the target accelerating torque; wherein the target demand torque is obtained from the rear obstacle distance and the vehicle speed.
2. The reverse control method according to claim 1, characterized in that the method further comprises:
And when the rear obstacle distance is smaller than a preset distance and the vehicle speed is smaller than a preset vehicle speed, judging that the rear obstacle distance and the vehicle speed meet the starting condition of the auxiliary reversing function.
3. The reverse control method according to claim 1, wherein when the target output torque is the target required torque, the determining the target output torque for controlling the vehicle speed reduction in accordance with at least one of the rear obstacle distance, the vehicle speed, and a current accelerator pedal opening of the vehicle in the case where the assist reverse function is on, comprises:
Obtaining a target required torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored required torque corresponding relation table; the required torque corresponding relation table comprises required torques corresponding to different rear obstacle distances and vehicle speed combinations.
4. The reverse control method according to claim 1, wherein when the target output torque is the target brake torque, the determining the target output torque for controlling the vehicle speed reduction in accordance with at least one of the rear obstacle distance, the vehicle speed, and a current accelerator pedal opening of the vehicle in the case where the assist reverse function is on, comprises: comprising the following steps:
Acquiring a target braking torque corresponding to the rear obstacle distance and the vehicle speed according to a pre-stored braking torque corresponding relation table; the braking torque corresponding relation table comprises braking torques corresponding to different rear obstacle distances and vehicle speed combinations.
5. The reverse control method according to claim 1, characterized in that the method further comprises:
And when the vehicle speed is reduced to 0m/s, the auxiliary reversing function is withdrawn.
6. A reverse control device, comprising:
The judging module is used for judging that the current rear obstacle distance and the current vehicle speed of the vehicle meet the starting conditions of the auxiliary reversing function under the reversing working condition, and starting the auxiliary reversing function;
The acquisition module is used for determining target output torque for controlling the reduction of the vehicle speed according to at least one of the rear obstacle distance, the vehicle speed and the current accelerator pedal opening of the vehicle under the condition that the auxiliary reversing function is started;
the control module is used for controlling reversing according to the target output torque;
Wherein the target output torque is any one of:
target demand torque, target calculation torque, and target braking torque;
when the target output torque is the target demand torque or the target calculation torque, the apparatus further includes:
When the target output torque is the target demand torque or the target calculation torque, the control module includes:
A first transmitting unit for transmitting the target required torque or the target calculated torque to a motor controller;
When the target output torque is the target braking torque, the control module includes:
a second transmitting unit for transmitting the target braking torque to an electronic stabilization system;
when the target output torque is the target calculated torque, the acquisition module includes:
a second acquisition unit for acquiring a target acceleration torque according to the vehicle speed and the accelerator pedal opening;
A determining unit configured to determine the target calculated torque according to the larger one of the target required torque and the target acceleration torque; wherein the target demand torque is obtained from the rear obstacle distance and the vehicle speed.
7. An electric vehicle comprising the reverse control device according to claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110378660.3A CN114670816B (en) | 2021-04-08 | 2021-04-08 | Reversing control method and device and electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110378660.3A CN114670816B (en) | 2021-04-08 | 2021-04-08 | Reversing control method and device and electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114670816A CN114670816A (en) | 2022-06-28 |
| CN114670816B true CN114670816B (en) | 2024-08-23 |
Family
ID=82070514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110378660.3A Active CN114670816B (en) | 2021-04-08 | 2021-04-08 | Reversing control method and device and electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114670816B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116252775A (en) * | 2023-03-24 | 2023-06-13 | 重庆长安新能源汽车科技有限公司 | Vehicle power control method, system, equipment and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2804485A1 (en) * | 2010-07-09 | 2012-01-12 | Allison Transmission, Inc. | Closed-loop transmission integration with forward and/or reverse assist system |
| CN103770781A (en) * | 2012-10-25 | 2014-05-07 | 现代摩比斯株式会社 | Collision prevention system for car and control method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3713995B2 (en) * | 1999-01-29 | 2005-11-09 | 日産自動車株式会社 | Vehicle travel control device |
| CN104828066B (en) * | 2014-12-04 | 2017-07-11 | 北汽福田汽车股份有限公司 | Vehicle and its reversing protection control method |
| CN108583282B (en) * | 2018-04-28 | 2020-06-19 | 北京新能源汽车股份有限公司 | Reverse auxiliary control method and device and electric automobile |
-
2021
- 2021-04-08 CN CN202110378660.3A patent/CN114670816B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2804485A1 (en) * | 2010-07-09 | 2012-01-12 | Allison Transmission, Inc. | Closed-loop transmission integration with forward and/or reverse assist system |
| CN103770781A (en) * | 2012-10-25 | 2014-05-07 | 现代摩比斯株式会社 | Collision prevention system for car and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114670816A (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107458376B (en) | Self-adaptive cruise control method and device and automobile | |
| US6889140B2 (en) | Collision avoidance control system for vehicle | |
| CN112078576B (en) | Adaptive cruise control method for simulating driver characteristics based on fuzzy control | |
| US5215159A (en) | System for controlling a driving device of a vehicle | |
| US9248811B2 (en) | Vehicle driving support apparatus | |
| JP3531640B2 (en) | Driving operation assist device for vehicles | |
| EP1872998B1 (en) | Adaptive cruise control with limiting of lateral acceleration | |
| EP4446188A1 (en) | Control apparatus and control method for adaptive cruise control of vehicle | |
| US20100023226A1 (en) | Vehicle-mounted safety control apparatus | |
| US20080288150A1 (en) | Vehicle control apparatus | |
| GB2265242A (en) | Method for controlling the distance between moving motor vehicles | |
| CN109532833B (en) | Adaptive cruise system overbending control method and computer readable storage medium | |
| JP2001113979A (en) | Method and system for controlling inter-vehicle distance and vehicle speed | |
| CN114670816B (en) | Reversing control method and device and electric automobile | |
| US12351200B2 (en) | Method and control system for limiting a driver acceleration request | |
| EP4098519A1 (en) | Vehicle control method and device, computer storage medium, and vehicle | |
| CN114013438A (en) | ACC control system based on GPS system | |
| CN113085821A (en) | Short braking control method of front collision early warning system | |
| CN112693460A (en) | Vehicle control method and system based on override mode | |
| US20230182735A1 (en) | Method and control system for limiting a driver acceleration request | |
| CN116946129A (en) | Front vehicle fatigue driving safety control system and method and vehicle | |
| CN118850067A (en) | Method and device for controlling vehicle and vehicle | |
| JP7510116B2 (en) | Vehicle Driving Assistance Device | |
| JP5194822B2 (en) | Vehicle travel control device | |
| CN106314323B (en) | Joint driving control method and system based on ECU and ACC |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |