CN109421550A - Constant-speed-cruise control method, apparatus and vehicle - Google Patents
Constant-speed-cruise control method, apparatus and vehicle Download PDFInfo
- Publication number
- CN109421550A CN109421550A CN201710757435.4A CN201710757435A CN109421550A CN 109421550 A CN109421550 A CN 109421550A CN 201710757435 A CN201710757435 A CN 201710757435A CN 109421550 A CN109421550 A CN 109421550A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- speed
- cruise
- acceleration
- desired speed
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
-
- 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)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The present invention provides a kind of constant-speed-cruise control method, apparatus and vehicles, which comprises obtains the desired speed of cruise；According to the desired speed, expectation acceleration needed for reaching the desired speed is determined；According to the expectation acceleration, the target torque of the motor output of vehicle is determined；Target torque described in the motor output is controlled, to drive vehicle cruise under the desired speed.Scheme in the disclosure directly controls acceleration, and realization is more convenient, meanwhile, speed is adjusted by control acceleration, speed can be made more steady during the adjustment, improve the comfort of seating.
Description
Technical field
The present invention relates to technical field of automotive electronics, in particular to a kind of constant-speed-cruise control method, apparatus and vehicle.
Background technique
Energy crisis and environmental pollution are more and more obvious the restriction of human social development, zero-emission, free of contamination electronic
The advantage of automobile gradually highlights.Electric car can open cruise function in highway or gentle road traveling,
The function, which can be realized, is automatically adjusted actual speed according to the desired speed of cruise.That is, in cruise state
Under, driver is without operating gas pedal and speed automatically can be maintained at desired speed.Therefore, cruise
It can reduce driving fatigue.
In the related technology, cruise is controlled by PID (proportional integral differential) to establish velocity deviation (actual speed
With desired speed) and cruise torque between relationship, pid parameter is related to P (ratio) portion, I (integral) portion, D (differential)
Portion, parameter is more, and adjustment process is complicated and time for needing is longer, so influence the precision that speed is adjusted in cruise with
And real-time, when carrying out constant-speed-cruise control additionally by PID, there can be speed and adjust jiggly situation, lead to vehicle
Riding comfort is poor.
Summary of the invention
In view of this, the present invention is directed to propose a kind of constant-speed-cruise control method, apparatus and vehicle, to improve multiplying for vehicle
Sit comfort.
According to the first aspect of the embodiments of the present disclosure, a kind of constant-speed-cruise control method is provided, which comprises
Obtain the desired speed of cruise；
According to the desired speed, expectation acceleration needed for reaching the desired speed is determined；
According to the expectation acceleration, the target torque of the motor output of vehicle is determined；
Target torque described in the motor output is controlled, to drive vehicle constant speed under the desired speed to patrol
Boat.
Optionally, described according to the desired speed, determine expectation acceleration needed for reaching the desired speed, packet
It includes:
Obtain the actual speed of the vehicle；
According to the actual speed and the speed difference of the desired speed and the correspondence of preset speed difference and acceleration
Relationship determines the expectation acceleration.
Optionally, described according to the expectation acceleration, determine the target torque of the motor output of vehicle, comprising:
Obtain the actual acceleration of the vehicle and the actual torque of the motor；
According to the actual acceleration, the actual torque, the biography of the complete vehicle quality of the vehicle and the motor
Dynamic ratio, determines the running resistance of the vehicle；
According to the running resistance and the expectation acceleration, the target torque is determined.
Optionally, described according to the actual acceleration, the actual torque, the complete vehicle quality of the vehicle, and
The transmission ratio of the motor, before the running resistance for determining the vehicle, the method also includes:
The actual acceleration and the actual torque are filtered；
Described according to the running resistance and the expectation acceleration, before determining the target torque, the side
Method further include:
The expectation acceleration is filtered.
Optionally, the method also includes:
When detecting the operation for exiting cruise, exits current cruise and record the desired speed；
When detecting the operation for restoring cruise, according to the desired speed, the target for restoring cruise is determined
Acceleration；
According to the aimed acceleration, the output torque for restoring cruise is determined；
It controls the motor and the vehicle is driven with the output torque, so that the speed of the vehicle is restored to described
Desired speed is to carry out cruise.
Optionally, the method also includes:
When detecting cruise fault-signal, controls the vehicle and exit cruise；
Obtain the instruction for entering cruise for controlling the vehicle；
If the vehicle, without electricity under vehicle, controls the vehicle and is not responding to described instruction after exiting cruise.
Optionally, the difference of the actual speed of the desired speed and the vehicle is greater than first threshold, is controlling the electricity
Motivation exports the target torque, and to drive the vehicle under the desired speed after cruise, the method is also wrapped
It includes:
When detecting that the difference between the actual speed of the vehicle and the desired speed is less than second threshold, control
The motor stops output torque, so that the vehicle reaches the desired speed under the action of inertia or resistance, it is described
First threshold is greater than the second threshold.
According to the second aspect of an embodiment of the present disclosure, a kind of vehicle is provided, the vehicle includes:
Memory for storage control executable instruction；
Controller, for executing the constant-speed-cruise control method of disclosure first aspect offer.
According to the third aspect of an embodiment of the present disclosure, a kind of cruise control device is provided, described device includes:
Module is obtained, is configured as obtaining the desired speed of cruise；
Acceleration determining module is configured as determining the phase needed for reaching the desired speed according to the desired speed
Hope acceleration；
Torque determination module is configured as determining that the target of the motor output of vehicle is turned round according to the expectation acceleration
Square；
Control module is configured as controlling target torque described in the motor output, to drive the vehicle described
Cruise under desired speed.
According to a fourth aspect of embodiments of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
Machine program instruction realizes constant-speed-cruise control method provided by the disclosure first aspect when program instruction is executed by processor
The step of.
In the embodiment of the present disclosure, desired acceleration is determined according to the desired speed of cruise, further according to the phase
Acceleration is hoped to determine that motor needs the target torque that exports, and then the speed of vehicle is made to reach desired speed and in expectation speed
Degree is lower to carry out cruise.Scheme in the disclosure directly controls acceleration, compared to existing pid control algorithm,
Implement it is more convenient, meanwhile, speed is adjusted by control acceleration, speed can be made more flat during the adjustment
Surely, the comfort of seating is improved.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart that the disclosure one implements a kind of constant-speed-cruise control method exemplified.
Fig. 2 is the method flow diagram that the disclosure one implements the last cruise of the recovery exemplified.
Fig. 3 is that the disclosure one implements the cruise exemplified when the error occurs, and limitation vehicle enters the side of cruise
Method flow chart.
Fig. 4 is the schematic diagram that the disclosure one implements a kind of constant-speed-cruise control method exemplified.
The position Fig. 5 disclosure one implements a kind of schematic diagram of the cruise control device exemplified.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
A cruise operation panel can be set in the disclosure, on vehicle, driver is by grasping the panel
Make to select the correlation function of cruise.Cruise operation panel can be include physical button panel,
It is also possible to show the touch panel of virtual key.
In one embodiment, the key on cruise operation panel includes four: CRUISE key, and CANCEL is pressed
Key, SET/- key, RESET/+ key.Wherein, CRUISE key is starting cruise key, and CANCEL key is to exit to determine
Speed cruise key, SET/- key are setting speed/deceleration key, and RESET/+ key is recovery/turbo.When vehicle is in
When driving status, enter cruise by pressing CRUISE key, when the speed of vehicle reaches the speed adjustable range of cruise
When (such as 40km/h-120km/h), present speed is set as to the desired speed of cruise by pressing SET/- key.When
When vehicle is in cruise state, desired speed can be reduced by a predetermined speed by short-press SET/- key, such as reduced
Desired speed is reduced a predetermined speed by long-pressing SET/- key by 1km/h at predetermined time intervals, such as will expectation speed every 2 seconds
Degree reduces 2km/h, and desired speed is increased by a predetermined speed by short-press RESET/+ key, such as increases 1km/h, passes through long-pressing
Desired speed is increased by a predetermined speed by RESET/+ key at predetermined time intervals, and desired speed is such as increased 2km/h every 2 seconds.
Above-mentioned predetermined time corresponding with the long press operation of each key and short-press operation and predetermined speed can according to need to carry out
Setting, the disclosure is without limitation.
When vehicle is in cruise, cruise is exited by pressing CANCEL key, in addition, if in cruise process
In detect that brake pedal is operated, gear shift operation, car speed are beyond speed adjustable range, vehicle generating system failure etc., in order to
The safety for guaranteeing traveling, can also automatically exit from cruise.After exiting cruise, turn again to if necessary original
Desired speed carry out cruise, can be restored by pressing RESET/+ key.
In the disclosure, a kind of constant-speed-cruise control method is provided, it is fixed to realize to be adjusted by the acceleration to vehicle
Speed cruise, as shown in Figure 1, this method comprises:
In step s 11, the desired speed of cruise is obtained；
In step s 12, according to the desired speed, expectation acceleration needed for reaching the desired speed is determined；
In step s 13, according to the expectation acceleration, the target torque of the motor output of vehicle is determined；
In step S14, target torque described in the motor output is controlled, to drive the vehicle in the expectation speed
Spend lower cruise.
In the disclosure, when desired speed can be car speed and meet the speed adjustable range of cruise, by pressing
The present speed of vehicle is set as desired speed by SETSET/- key, and desired speed is also possible to the last time stored in memory
The desired speed of cruise, desired speed can also be the speed that driver is manually entered.Correspondingly, desired speed can be by
Velocity sensor acquisition obtains, and can also be obtained, can also be used by detection by reading the speed data stored in memory
The input at family operates to obtain.Of course it is desirable to which speed can also obtain by other means, no longer enumerate here.
Cruise is carried out with desired speed in order to realize, the traveling acceleration by adjusting vehicle is needed to make vehicle
Actual speed reaches desired speed.When actual speed is greater than desired speed, vehicle carries out retarded motion, at this point, determining expectation
Acceleration is negative value, and when actual speed is less than desired speed, vehicle is accelerated, at this point, determining that expectation acceleration is
Positive value, when actual speed is identical as desired speed, vehicle carries out uniform motion, at this point, determining that expectation acceleration is zero.It is expected that
The determination of acceleration can determine according to the corresponding relationship between the desired speed that pre-sets and expectation acceleration, can also
To be determined according to the calculating function of the expectation acceleration pre-set, can also be joined by desired speed and other vehicles
Number is to determine, the disclosure is without limitation.
Can be set entire car controller and motor controller in the disclosure, on vehicle, entire car controller with it is electronic
Machine controller is connected by CAN bus, and the motor of motor controller and vehicle connects, for controlling motor rotation with defeated
Torque out.Entire car controller can determine expectation acceleration according to the desired speed of acquisition, and determine that vehicle reaches expectation and adds
The target torque that motor required for speed provides.Entire car controller by include target torque information torque request signal send out
It sending to motor controller, motor controller responds the request signal, the size of current and direction of motor is adjusted,
So that motor output target torque, driving vehicle carries out cruise under desired speed.
Optionally, according to the desired speed, expectation acceleration needed for reaching the desired speed is determined, comprising: obtain
Take the actual speed of the vehicle；According to the speed difference and preset speed difference of the actual speed and the desired speed
With the corresponding relationship of acceleration, the expectation acceleration is determined.
The actual speed of vehicle can be acquired by velocity sensor and be obtained, and a default speed is stored in the memory of vehicle
The corresponding relationship of degree difference and acceleration, which can be a preset mapping table, or preset function
Relational expression etc..By taking preset mapping table as an example, after obtaining actual speed, according to desired speed and actual speed
Speed difference can find expectation acceleration corresponding with the speed difference in mapping table.
Optionally, according to the expectation acceleration, the target torque of the motor output of vehicle is determined, comprising: obtain institute
State the actual acceleration of vehicle and the actual torque of the motor；According to the actual acceleration, the actual torque, institute
The complete vehicle quality of vehicle and the transmission ratio of the motor are stated, determines the running resistance of the vehicle；It is hindered according to the traveling
Power and the expectation acceleration, determine the target torque.
The actual acceleration of vehicle can calculate in real time according to the variation of speed: before present speed and a period of time
The difference of speed, divided by this time difference, the as actual acceleration of vehicle.The actual torque of motor can pass through torque sensing
Device acquisition obtain, complete vehicle quality, motor transmission ratio can be stored in advance in memory.
In one embodiment, the method for determination of running resistance are as follows: reflection is obtained multiplied by transmission ratio by actual torque and is arrived
Torque on axletree, then divided by the rolling radius of wheel, the driving force on wheel side is obtained, then subtract actual acceleration and vehicle matter
The product of amount, the as running resistance of vehicle.The method of determination of target torque are as follows: running resistance adds desired acceleration and vehicle
The product of quality, obtains the expectation driving force on wheel side, which obtains being reflected in wheel multiplied by the rolling radius of wheel
Expectation torque on axis, then divided by transmission ratio to get arrive target torque.
In the disclosure, actual acceleration is real-time change, in order to make actual acceleration smooth change, needs to add to practical
Speed is filtered, and filters out the jitter section of signal.In addition, actual torque can also have some fluctuations, in order to guarantee
The accuracy for calculating running resistance, needs to be filtered actual torque.According to the actual acceleration after filtering processing with
And the actual torque after filtering processing determines the running resistance.Since expectation acceleration can become with the variation of speed difference
Change, in order to make it is expected that acceleration output is smooth, prevent expectation acceleration signal from shaking, influence the stationarity of target torque,
It is also required to be filtered desired acceleration.According to the expectation acceleration and running resistance after filtering processing, to determine
The target torque.Filtering processing can be selected according to actual needs, such as low-pass filtering treatment, gradient processing etc..
The disclosure by actual acceleration, actual torque, expectation acceleration be filtered, reduce the fluctuation of target torque,
The ride performance for improving cruise, improves driving experience.
In order to make vehicle rapidly enter cruise, simplify the operation of driver, the scheme in the disclosure further includes realizing
Restore the method for last cruise, as shown in Fig. 2, this method comprises:
In the step s 21, it when detecting the operation for exiting cruise, exits current cruise and records the phase
Hope speed；
In step S22, when detecting the operation for restoring cruise, according to the desired speed, determines and restore fixed
The aimed acceleration of speed cruise；
In step S23, according to the aimed acceleration, the output torque for restoring cruise is determined；
In step s 24, it controls the motor and the vehicle is driven with the output torque, so that the speed of the vehicle
Degree restores to the desired speed to carry out cruise.
The operation for exiting cruise can be to press CANCEL key, brake pedal, gear shift operation, car speed
Beyond speed adjustable range etc., the operation for restoring cruise can be to press RESET/+ key.In one embodiment, it is detecting
To when the operation for exiting cruise, control vehicle exits cruise, and the write-in of the desired speed of the cruise is deposited
Reservoir reads the desired speed for saving last time cruise in memory when detecting that RESET/+ key is pressed,
The entire car controller actual speed current according to the desired speed and vehicle, by determining aimed acceleration of tabling look-up, and according to
Aimed acceleration, actual torque, complete vehicle quality, electric-motor drive are than determining the torque for currently needing to export.Car speed exists
Change under the action of output torque, entire car controller according to after variation car speed and desired speed again determine mesh
Acceleration, and output torque corresponding with aimed acceleration are marked, by repeating the step, so that car speed is finally extensive
Again to desired speed, the cruise under desired speed is realized.
Referring to FIG. 3, the driving safety in order to guarantee vehicle, during cruise when the error occurs, the disclosure is also
Including following methods:
In step S31, when detecting cruise fault-signal, controls the vehicle and exit cruise；
In step s 32, the instruction for entering cruise for controlling the vehicle is obtained；
In step S33, if the vehicle after exiting cruise without electric under vehicle, control the vehicle and be not responding to
Described instruction.
For vehicle during cruise, motor, Vehicular system, driving parameters etc. are all likely to occur failure, for example, electric
Motivation failure, battery temperature is excessively high, cruise key electric voltage exception, and vehicle acceleration is beyond preset range etc..There is event
When barrier, entire car controller can detect corresponding cruise fault-signal, at this point, the safety in order to guarantee traveling, control vehicle is moved back
Cruise out.Before the not lower electricity of vehicle, even if receiving the instruction that request enters cruise again, this will not be responded
Instruction, i.e. limitation vehicle are again introduced into cruise.It is powered on again after electricity under vehicle, the failure occurred to last time is examined
Survey, when failure that last time occurs is repaired and also failure is not present in other key positions of vehicle, just permission vehicle into
Enter cruise.In this way, avoiding vehicle is again introduced into cruise in the case where failure is not eliminated, the peace of vehicle is improved
Quan Xing.
Optionally, in order to save the energy of vehicle, it is greater than in the difference of the actual speed of the desired speed and the vehicle
When first threshold, stagnant ring processing is carried out to the output torque of motor, to recycle the energy under cruise, the mistake of stagnant ring processing
Journey includes: the control when detecting that the difference between the actual speed of the vehicle and the desired speed is less than second threshold
The motor stops output torque, so that the vehicle reaches the desired speed under the action of inertia or resistance, it is described
First threshold is greater than the second threshold.
In one embodiment, the actual speed of vehicle is greater than the desired speed of cruise, and actual speed and expectation
The speed difference of speed is greater than first threshold, in order to which actual speed is quickly adjusted to desired speed, at this point, motor output negative twist
The actual speed of square, vehicle is gradually reduced under the action of negative torque, when the speed difference of actual speed and desired speed is less than
When two threshold values, control motor stops output torque, and actual speed is made to be down to desired speed under the action of running resistance.
It should be understood that in first threshold and equal second threshold, motor can frequently in output negative torque and
It is not toggled between output torque.By taking first threshold and second threshold are 5km/h as an example, when actual speed and desired speed
When speed difference is greater than 5km/h, motor output negative torque is controlled, when speed difference is less than 5km/h, control motor stops output
Torque.Since actual speed is real-time change, leading to speed difference is also real-time change, when speed difference comes in 5km/h or so
When returning shake, motor appears in the frequent switching between output torque and non-output torque, can make to motor performance
At damage, and it is unfavorable for energy saving.Therefore, first threshold is set greater than second threshold in the disclosure, permissible velocity is poor
It shakes in a certain range, avoids the frequent switching of motor output torque.
In another embodiment, the desired speed of cruise is greater than the actual speed of vehicle, and desired speed and reality
The speed difference of border speed is greater than first threshold, in order to which actual speed is quickly adjusted to desired speed, at this point, motor output is just
The actual speed of torque, vehicle is gradually increased under the action of output torque, when the speed difference of actual speed and desired speed is small
When second threshold, control motor traveling stops output torque, and actual speed is made to reach desired speed under the action of inertia.
For example, making actual speed increase to desired speed by the inertia during descending when vehicle is in descending.
Certainly, stagnant ring processing can be used only in the case where actual speed is greater than desired speed, can also be in practical speed
Degree uses in the case where being less than desired speed, can also use in both cases, the disclosure is not specifically limited.
Referring to FIG. 4, the flow chart for the constant-speed-cruise control method for implementing to exemplify for the application one.In the present embodiment
In, the operation of driver is received by detection cruise push button signalling, determines whether to exit by detection cruise exit criteria
Cruise.In the present embodiment, after detecting cruise push button signalling or cruise exit criteria, the shape of cruise is further determined that
State, for example, cruising condition is to detect CANCEL key letter into cruising condition when detecting CRUISE push button signalling
Number when, cruising condition be exit cruising condition, when detecting SET/- push button signalling, cruising condition be deceleration cruising condition,
When detecting RESET/+ push button signalling, cruising condition is to accelerate cruising condition, is moved back in the cruise for detecting that motor breaks down
Out when condition, cruising condition is cruise malfunction, in the cruise exit criteria for detecting brake pedal, cruising condition
Normally to exit cruising condition etc..After cruising condition has been determined, cruising condition can be shown by display unit, such as
It is shown in instrument region, or lights corresponding cruising condition indicator light.Next, being patrolled under determining cruising condition according to constant speed
The desired speed of boat determines current desired expectation acceleration, and according to desired acceleration, determines the mesh exported required for motor
Mark torque.Entire car controller according to target torque to motor controller issue torque request so that motor controller according to
Torque request controls motor output target torque.
Referring to FIG. 5, based on the same inventive concept, the embodiment of the present invention provides a kind of cruise control device, described
Device includes:
Module 51 is obtained, is configured as obtaining the desired speed of cruise；
Acceleration determining module 52 is configured as according to the desired speed, and determination reaches needed for the desired speed
It is expected that acceleration；
Torque determination module 53 is configured as determining the target of the motor output of vehicle according to the expectation acceleration
Torque；
Control module 54 is configured as controlling target torque described in the motor output, to drive the vehicle in institute
State cruise under desired speed.
Optionally, acceleration determining module includes:
First acquisition submodule is configured as obtaining the actual speed of the vehicle；
Acceleration determines submodule, is configured as the speed difference according to the actual speed and the desired speed, and
The corresponding relationship of preset speed difference and acceleration determines the expectation acceleration.
Optionally, torque determination module includes:
Second acquisition submodule is configured as obtaining the practical torsion of the actual acceleration of the vehicle and the motor
Square；
Running resistance determines submodule, is configured as according to the actual acceleration, the actual torque, the vehicle
The transmission ratio of complete vehicle quality and the motor determines the running resistance of the vehicle；
Torque determines submodule, according to the running resistance and the expectation acceleration, determines the target torque.
Optionally, described device further include:
First filter module is configured as being filtered the actual acceleration and the actual torque；
Second filter module is configured as being filtered the expectation acceleration.
Optionally, described device further include:
First processing module is configured as when detecting the operation for exiting cruise, exits current cruise simultaneously
Record the desired speed；
Second processing module is configured as when detecting the operation for restoring cruise, according to the desired speed, really
Surely restore the aimed acceleration of cruise；
Third processing module is configured as determining the output torque for restoring cruise according to the aimed acceleration；
Fourth processing module controls the motor with the output torque and drives the vehicle, so that the vehicle
Speed is restored to the desired speed to carry out cruise.
Optionally, described device further include:
5th processing module is configured as controlling the vehicle when detecting cruise fault-signal and exiting cruise；
Instruction acquisition module is configured as obtaining the instruction for entering cruise for controlling the vehicle；
6th processing module, if being configured as the vehicle after exiting cruise without electric under vehicle, described in control
Vehicle is not responding to described instruction.
Optionally, described device further include:
7th processing module, the difference for being configured as the actual speed of the desired speed and the vehicle are greater than the first threshold
Value, controls target torque described in the motor output, to drive the vehicle under the desired speed after cruise,
When detecting that the difference between the actual speed of the vehicle and the desired speed is less than second threshold, control described electronic
Machine stops output torque, so that the vehicle reaches the desired speed, the first threshold under the action of inertia or resistance
Greater than the second threshold.
Based on the same inventive concept, the embodiment of the present invention provides a kind of vehicle, and the vehicle includes:
Memory for storage control executable instruction；
Controller, for executing the constant-speed-cruise control method of disclosure offer.
The disclosure also provides a kind of computer readable storage medium, is stored thereon with computer program instructions, which refers to
The step of enabling the constant-speed-cruise control method that disclosure offer is provided when being executed by processor.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of constant-speed-cruise control method, which is characterized in that the described method includes:
Obtain the desired speed of cruise；
According to the desired speed, expectation acceleration needed for reaching the desired speed is determined；
According to the expectation acceleration, the target torque of the motor output of vehicle is determined；
Target torque described in the motor output is controlled, to drive vehicle cruise under the desired speed.
2. determination reaches the phase the method according to claim 1, wherein described according to the desired speed
Expectation acceleration needed for hoping speed, comprising:
Obtain the actual speed of the vehicle；
It is closed according to the speed difference and preset speed difference of the actual speed and the desired speed and the corresponding of acceleration
System, determines the expectation acceleration.
3. method according to claim 1 or 2, which is characterized in that it is described according to the expectation acceleration, determine vehicle
The target torque of motor output, comprising:
Obtain the actual acceleration of the vehicle and the actual torque of the motor；
According to the actual acceleration, the actual torque, the transmission of the complete vehicle quality of the vehicle and the motor
Than determining the running resistance of the vehicle；
According to the running resistance and the expectation acceleration, the target torque is determined.
4. according to the method described in claim 3, it is characterized in that, described according to the actual acceleration, the practical torsion
Square, the transmission ratio of the complete vehicle quality of the vehicle and the motor are described before the running resistance for determining the vehicle
Method further include:
The actual acceleration and the actual torque are filtered；
Described according to the running resistance and the expectation acceleration, before determining the target torque, the method is also
Include:
The expectation acceleration is filtered.
5. the method according to claim 1, wherein the method also includes:
When detecting the operation for exiting cruise, exits current cruise and record the desired speed；
When detecting the operation for restoring cruise, according to the desired speed, determine that the target for restoring cruise accelerates
Degree；
According to the aimed acceleration, the output torque for restoring cruise is determined；
It controls the motor and the vehicle is driven with the output torque, so that the speed of the vehicle is restored to the expectation
Speed is to carry out cruise.
6. the method according to claim 1, wherein the method also includes:
When detecting cruise fault-signal, controls the vehicle and exit cruise；
Obtain the instruction for entering cruise for controlling the vehicle；
If the vehicle, without electricity under vehicle, controls the vehicle and is not responding to described instruction after exiting cruise.
7. according to the method described in claim 3, it is characterized in that, the difference of the actual speed of the desired speed and the vehicle
Greater than first threshold, target torque described in the motor output is being controlled, to drive the vehicle under the desired speed
After cruise, the method also includes:
When detecting that the difference between the actual speed of the vehicle and the desired speed is less than second threshold, described in control
Motor stops output torque, so that the vehicle reaches the desired speed under the action of inertia or resistance, described first
Threshold value is greater than the second threshold.
8. a kind of vehicle, which is characterized in that the vehicle includes:
Memory for storage control executable instruction；
Controller requires any method of 1-7 for perform claim.
9. a kind of cruise control device, which is characterized in that described device includes:
Module is obtained, is configured as obtaining the desired speed of cruise；
Acceleration determining module is configured as determining that expectation needed for reaching the desired speed adds according to the desired speed
Speed；
Torque determination module is configured as determining the target torque of the motor output of vehicle according to the expectation acceleration；
Control module is configured as controlling target torque described in the motor output, to drive the vehicle in the expectation
Cruise under speed.
10. a kind of computer readable storage medium, is stored thereon with computer program instructions, which is characterized in that the program instruction
The step of method of any of claims 1-7 is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757435.4A CN109421550A (en) | 2017-08-29 | 2017-08-29 | Constant-speed-cruise control method, apparatus and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757435.4A CN109421550A (en) | 2017-08-29 | 2017-08-29 | Constant-speed-cruise control method, apparatus and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109421550A true CN109421550A (en) | 2019-03-05 |
Family
ID=65503586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710757435.4A Pending CN109421550A (en) | 2017-08-29 | 2017-08-29 | Constant-speed-cruise control method, apparatus and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109421550A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341710A (en) * | 2019-07-02 | 2019-10-18 | 浙江吉利控股集团有限公司 | A kind of self-adapting cruise control method, device and equipment |
| CN111284475A (en) * | 2020-02-27 | 2020-06-16 | 中国重汽集团济南动力有限公司 | Method and system for constant-speed cruise control of heavy truck |
| CN111688664A (en) * | 2020-05-11 | 2020-09-22 | 武汉理工大学 | Vehicle speed control method and system for unmanned target collision platform vehicle |
| CN111824168A (en) * | 2019-04-15 | 2020-10-27 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN114572014A (en) * | 2022-02-07 | 2022-06-03 | 达闼机器人股份有限公司 | Device control method, device, electronic device and storage medium |
| CN116394989A (en) * | 2023-03-20 | 2023-07-07 | 中国铁建高新装备股份有限公司 | A rail flaw detection vehicle and a method for controlling constant speed operation of the flaw detection vehicle |
| CN117533308A (en) * | 2023-12-08 | 2024-02-09 | 岚图汽车科技有限公司 | Cruise control method, device, equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100828757B1 (en) * | 2006-11-10 | 2008-05-09 | 현대자동차주식회사 | Vehicle speed control device and method for inter-vehicle distance control system |
| CN102037258A (en) * | 2008-09-30 | 2011-04-27 | 爱信艾达株式会社 | Controller for automatic transmission |
| CN104925057A (en) * | 2015-06-26 | 2015-09-23 | 武汉理工大学 | Automotive self-adaptive cruising system with multi-mode switching system and control method thereof |
| CN205872038U (en) * | 2016-06-16 | 2017-01-11 | 宝沃汽车（中国）有限公司 | Constant speed cruise system and console switch thereof |
| JP2017024586A (en) * | 2015-07-23 | 2017-02-02 | 三菱自動車工業株式会社 | Electric vehicle cruise control device |
| CN106904098A (en) * | 2017-02-13 | 2017-06-30 | 江西江铃集团新能源汽车有限公司 | Method for controlling driving speed and system |
-
2017
- 2017-08-29 CN CN201710757435.4A patent/CN109421550A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100828757B1 (en) * | 2006-11-10 | 2008-05-09 | 현대자동차주식회사 | Vehicle speed control device and method for inter-vehicle distance control system |
| CN102037258A (en) * | 2008-09-30 | 2011-04-27 | 爱信艾达株式会社 | Controller for automatic transmission |
| CN104925057A (en) * | 2015-06-26 | 2015-09-23 | 武汉理工大学 | Automotive self-adaptive cruising system with multi-mode switching system and control method thereof |
| JP2017024586A (en) * | 2015-07-23 | 2017-02-02 | 三菱自動車工業株式会社 | Electric vehicle cruise control device |
| CN205872038U (en) * | 2016-06-16 | 2017-01-11 | 宝沃汽车（中国）有限公司 | Constant speed cruise system and console switch thereof |
| CN106904098A (en) * | 2017-02-13 | 2017-06-30 | 江西江铃集团新能源汽车有限公司 | Method for controlling driving speed and system |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824168A (en) * | 2019-04-15 | 2020-10-27 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN111824168B (en) * | 2019-04-15 | 2022-01-07 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN110341710A (en) * | 2019-07-02 | 2019-10-18 | 浙江吉利控股集团有限公司 | A kind of self-adapting cruise control method, device and equipment |
| CN110341710B (en) * | 2019-07-02 | 2021-07-23 | 浙江吉利控股集团有限公司 | Self-adaptive cruise control method, device and equipment |
| CN111284475A (en) * | 2020-02-27 | 2020-06-16 | 中国重汽集团济南动力有限公司 | Method and system for constant-speed cruise control of heavy truck |
| CN111688664A (en) * | 2020-05-11 | 2020-09-22 | 武汉理工大学 | Vehicle speed control method and system for unmanned target collision platform vehicle |
| CN111688664B (en) * | 2020-05-11 | 2021-11-30 | 武汉理工大学 | Vehicle speed control method and system for unmanned target collision platform vehicle |
| CN114572014A (en) * | 2022-02-07 | 2022-06-03 | 达闼机器人股份有限公司 | Device control method, device, electronic device and storage medium |
| CN114572014B (en) * | 2022-02-07 | 2023-12-22 | 达闼机器人股份有限公司 | Equipment control method, device, electronic equipment and storage medium |
| CN116394989A (en) * | 2023-03-20 | 2023-07-07 | 中国铁建高新装备股份有限公司 | A rail flaw detection vehicle and a method for controlling constant speed operation of the flaw detection vehicle |
| CN117533308A (en) * | 2023-12-08 | 2024-02-09 | 岚图汽车科技有限公司 | Cruise control method, device, equipment and storage medium |
| CN117533308B (en) * | 2023-12-08 | 2025-01-24 | 岚图汽车科技有限公司 | Cruise control method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109421550A (en) | Constant-speed-cruise control method, apparatus and vehicle | |
| EP2842812B1 (en) | Eco drive support apparatus | |
| CN110385997A (en) | A kind of energy reclaiming method and system | |
| CN106004878B (en) | A kind of adaptive cruise comfortableness control system and control method | |
| CN105531141B (en) | Vehicle control system and method | |
| CN103144631B (en) | Control the system and method for the electromotor of motor vehicle driven by mixed power | |
| CN103481887B (en) | Vibration detection in vehicle and alleviation | |
| US20140336885A1 (en) | Method and system for controlling anti-jerk of vehicle | |
| CN110217239A (en) | A kind of vehicle yaw velocity measurement method and apparatus | |
| US11738804B2 (en) | Training a vehicle to accommodate a driver | |
| CN104057952A (en) | Ramp resistance obtaining method for hybrid electric vehicle | |
| US20210371009A1 (en) | Generating steering wheel torques as tactile feedback in vehicle steering systems | |
| CN104822920A (en) | Method and device for improved switching over between accelerator pedal characteristic curves | |
| CN109466629A (en) | The method for determining the assist torque of power steering system | |
| CN101947957A (en) | Use the method and system of two request closed loop request control driving engines and change-speed box | |
| JP2009115535A (en) | Power display device and power display method | |
| CN106564375A (en) | Automobile reversing control method and device and automobile | |
| JP2009156132A (en) | Eco driving support device | |
| JP2008283836A (en) | vehicle | |
| CN116572967A (en) | Identification method and device for automobile pavement information, vehicle and storage medium | |
| CN107757627B (en) | Vehicle control device and information providing method | |
| CN114084135A (en) | Vehicle launch from a standstill under adaptive cruise control | |
| JP7210995B2 (en) | hybrid car | |
| US20240317223A1 (en) | Low-speed vehicle control | |
| JP4895208B2 (en) | Fuel efficient driving evaluation device |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190305 |
|
| RJ01 | Rejection of invention patent application after publication |