CN114347986A - Intelligent energy-saving and safety control method for new energy vehicle - Google Patents
Intelligent energy-saving and safety control method for new energy vehicle Download PDFInfo
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- CN114347986A CN114347986A CN202210084625.5A CN202210084625A CN114347986A CN 114347986 A CN114347986 A CN 114347986A CN 202210084625 A CN202210084625 A CN 202210084625A CN 114347986 A CN114347986 A CN 114347986A
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- 238000005265 energy consumption Methods 0.000 description 2
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- 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
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- 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
-
- 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
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
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- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Physics & Mathematics (AREA)
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Abstract
The invention relates to an intelligent energy-saving and safety control method for a new energy vehicle, which can effectively improve the driving safety of the vehicle and achieve a certain energy-saving effect by judging the operation of a driver on an accelerator pedal, a brake pedal, a steering wheel and the like, combining information such as relative speed, relative distance, distance collision time and the like identified by a sensing module and identifying the current state of the vehicle and a road adhesion coefficient, adopting a calculation method of a reserved distance collision time threshold value suitable for different vehicle speeds and different relative speeds, and a control method of limiting an accelerator, recovering smooth control and designing a safety threshold value, and combining other reliability safety conditions to carry out comprehensive judgment and driving torque self-adaptive control.
Description
Technical Field
The invention relates to the technical field of new energy vehicle drive control, in particular to an intelligent energy-saving and safety control method for a new energy vehicle.
Background
The driving torque control of the new energy vehicle is directly related to the energy saving and the safety of the vehicle, and due to the fact that the difference of the driving technologies of a driver is large, the working conditions of too close following distance, rapid acceleration and rapid deceleration possibly exist in the actual driving process, so that the running energy consumption of the vehicle is high, and certain driving safety hidden dangers exist in individual vehicles.
In order to solve the problems, the invention patent of China with the application number of 201710787432.5 provides a vehicle energy-saving control method, a system and a vehicle, the current working condition area of the vehicle is judged by collecting the speed and position information of the vehicle, the working condition area comprises an uphill road section and a downhill road section, the throttle opening degree of the vehicle, the torque percentage of an engine, the health degree of a battery, the charge state of the battery and the like are also collected, if the set values corresponding to the uphill road section are respectively met, the generator is controlled to reduce the output voltage of the generator, and if the current vehicle is judged to be in the downhill road section, the generator is controlled to improve the output voltage of the generator. The invention mainly combines the current working condition area of the whole vehicle to intelligently control the generator to work as required, thereby achieving the effect of energy conservation. If the invention patent in china with application number 201810435004.0 provides a vehicle energy saving system and an energy saving method, the data acquisition module acquires driving data in real time, the energy saving controller determines the energy saving type corresponding to the driving information according to the preset energy saving type judgment rule, and the human-computer interaction is used for reminding the driver to drive according to the energy saving driving prompt. For example, the chinese patent application No. 202110492306.3 provides a method and an apparatus for controlling energy consumption of a vehicle, and an electric vehicle, where the method and the apparatus determine an energy saving level corresponding to road condition information based on the road condition information by detecting the current road condition information of the vehicle, and then adjust torque of the vehicle based on the energy saving level.
The invention mainly controls the output voltage of the generator or adjusts the torque based on different road condition information so as to achieve the purpose of energy saving. But the distance between the vehicle and the front vehicle cannot be detected in real time, the influence of the road adhesion coefficient is considered, and the like, so that the driving safety of the vehicle cannot be improved, and a certain energy-saving effect cannot be achieved.
Disclosure of Invention
The invention provides an intelligent energy-saving and safety control method for a new energy vehicle, which aims to overcome the defects that the existing new energy vehicle is not thorough in driving torque control, cannot improve the driving safety of the vehicle and achieve a certain energy-saving effect and the like.
The invention adopts the following technical scheme:
an intelligent energy-saving and safety control method for a new energy vehicle comprises the following steps:
(1) the VCU receives the recognition signal of the sensing module and the steering wheel corner signal through the CAN bus, detects a brake signal, an accelerator signal and a gear signal through a hard wire signal and acquires other state information of the vehicle;
(2) identifying the road adhesion coefficient, and determining a reserved distance collision time threshold T1 adjusted by the road adhesion coefficient;
(3) judging the effective condition of the function, which specifically comprises the following steps: the distance collision time is less than a reserved distance collision time threshold T1 and lasts for a plurality of times, a driver does not step on a large accelerator and the opening of the accelerator is less than a set threshold and lasts for a plurality of times, a sensing module signal does not suddenly change, the vehicle speed is greater than the set threshold and lasts for a plurality of times, the function quits for a plurality of times, the vehicle is in a normal driving mode, and the whole vehicle has no fault and no turning working condition;
(4) if the vehicle meets all the conditions in the step (3), the function is effective, the VCU of the vehicle controller controls the virtual accelerator opening limiting value to continuously reduce from the current actual accelerator opening value at a set change rate and sets a lower limit threshold, and the virtual accelerator opening limiting value and the current actual accelerator opening are reduced;
(5) judging a function exit condition, specifically comprising: the distance collision time is greater than a reserved distance collision time threshold T2 and lasts for a plurality of times, the driver deeply steps on the accelerator and lasts for a plurality of times or the driver deeply steps on the brake pedal and lasts for a plurality of times, the sensing module signals suddenly change, the vehicle speed is less than the set threshold and lasts for a plurality of times, the vehicle is in an abnormal driving mode or has a vehicle fault, and the vehicle is in a turning working condition;
(6) and (5) if the vehicle meets any condition in the step (5), the function is quitted, and the vehicle control unit VCU controls the virtual accelerator opening limit to quickly recover the set change rate to the current actual accelerator opening value.
In a preferred embodiment, the sensing module identification signal includes a relative speed, a relative distance and a distance collision time between the vehicle and the preceding vehicle, and the other state information includes a vehicle speed and a driving mode of the vehicle.
In a preferred embodiment, the method for calculating the reserved time to collision threshold is to divide the difference between the estimated braking distance of the vehicle and the estimated braking distance of the preceding vehicle by the relative speed of the vehicle and the preceding vehicle, and reserve a certain time margin.
In a preferred embodiment, the road surface adhesion coefficient in the step (2) is identified according to a vehicle tire dynamic model and a non-linear estimation method; the reserved distance collision time threshold value needs to be properly adjusted according to different road adhesion coefficients; and multiplying the reserved distance collision time threshold by the road surface adhesion coefficient divided by the normal road surface adhesion coefficient calibration value to obtain a final reserved distance collision time threshold T1.
In a preferred embodiment, the reserved impact time threshold T2 is the sum of the reserved impact time threshold T1 and the set time margin.
In a preferred embodiment, the sensing module signal is not changed suddenly, which means that the relative distance change rate between the vehicle and the preceding vehicle is less than a set threshold value and lasts for a plurality of times, the direction is close, and the relative speed change rate is less than the set threshold value and lasts for a plurality of times.
In a preferred embodiment, the sudden change of the sensing module signal means that the relative distance change rate between the vehicle and the preceding vehicle is greater than a set threshold and lasts for a plurality of times, or the relative vehicle speed change rate is greater than a set threshold and lasts for a plurality of times.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
the invention judges the operation of a driver on an accelerator pedal, a brake pedal, a steering wheel and the like, combines the information of relative speed, relative distance, distance collision time and the like identified by a sensing module and the identification of the current state of the vehicle and road adhesion coefficient, adopts a calculation method of the threshold value of the reserved distance collision time suitable for different vehicle speeds and different relative speeds of the vehicle, and a control method of throttle limitation, smoothness recovery control and safety threshold value design, combines other reliability and safety conditions to carry out comprehensive judgment and driving torque self-adaptive control, and can effectively improve the driving safety of the vehicle and achieve certain energy-saving effect.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
FIG. 2 is a functional exit condition block diagram of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings. Numerous details are set forth below in order to provide a thorough understanding of the present invention, but it will be apparent to those skilled in the art that the present invention may be practiced without these details. Well-known components, methods and processes are not described in detail below.
The invention relates to an intelligent energy-saving and safety control method for a new energy vehicle, which carries out comprehensive judgment and driving torque self-adaptive control by judging the operation of a driver on an accelerator pedal, a brake pedal and a steering wheel and combining information such as relative speed, relative distance, distance collision time and the like identified by a sensing module and the identification of the current state of the vehicle and road adhesion coefficient, and comprises the following specific steps:
the VCU of the vehicle controller receives the relative speed, the relative distance and the distance collision time of the vehicle and the front vehicle identified by the sensing module through the CAN bus, receives a steering wheel angle signal sent by a steering wheel angle sensor, detects a brake switch signal, a brake pedal opening signal, an accelerator pedal opening signal and a gear signal through hard wire signals, and acquires state information such as the vehicle speed, the driving mode and the like of the vehicle.
Secondly, carrying out road adhesion coefficient identification, and determining a reserved distance collision time threshold T1 adjusted by the road adhesion coefficient.
The above-described identification of road adhesion coefficients is based on vehicle tire dynamics models and non-linear estimation methods. The method for calculating the reserved distance collision time threshold is to divide the difference between the estimated braking distance value of the vehicle and the estimated braking distance value of the front vehicle by the relative speed of the vehicle and the front vehicle and reserve a certain time margin.
The reserved distance collision time threshold value needs to be properly adjusted according to different road surface adhesion coefficients. Specifically, the reserved distance collision time threshold T1 in the embodiment of the present invention is calculated by multiplying the reserved distance collision time threshold by the road surface adhesion coefficient and dividing the road surface adhesion coefficient by the normal road surface adhesion coefficient calibration value.
And thirdly, judging the effective condition of the function. The function validation conditions specifically include:
(1) and the distance collision time is less than a reserved distance collision time threshold T1 and lasts for a certain time, and the distance collision time is the relative distance between the vehicle and the front vehicle divided by the relative speed between the vehicle and the front vehicle.
(2) The driver does not step on the brake pedal, and simultaneously the driver does not step on the accelerator greatly, and the opening degree of the accelerator is smaller than a set threshold value and lasts for a certain time.
(3) The signal of the sensing module does not change suddenly, the relative distance change rate is smaller than a set threshold value and lasts for a certain time, the direction is close, and the relative speed change rate is smaller than the set threshold value and lasts for a certain time.
(4) The vehicle speed is greater than a set threshold value and lasts for a certain time.
(5) In order to avoid frequent triggering, the function can be delayed for a certain time to enter again after exiting.
(6) The vehicle is in a normal driving mode and the whole vehicle has no fault.
(7) In order to avoid function unexpected effectiveness caused by false recognition of the sensing module under a turning working condition, the function unexpected effectiveness can be realized under a non-turning working condition; meanwhile, the vehicle is in a normal driving mode, and the whole vehicle has no fault.
And fourthly, if the vehicle meets all the conditions in the third step, the function is effective, the VCU of the vehicle controller controls the virtual accelerator opening limiting value to continuously reduce from the current actual accelerator opening value at a set change rate, a lower limit threshold value is set, and the virtual accelerator opening limiting value and the current actual accelerator opening are reduced.
And if the vehicle cannot meet all the conditions of the step three, repeating the step two and the step three.
And fifthly, judging a function quitting condition. The function exit condition specifically includes:
(1) the distance collision time is greater than a reserved distance collision time threshold T2 and lasts for a certain time, and the reserved distance collision time threshold T2 is the sum of the reserved distance collision time threshold T1 and the set time margin.
(2) The driver deeply steps on the accelerator for a certain time longer than a set threshold value, or the driver deeply steps on the brake pedal for a certain time longer than a set threshold value.
(3) The signal of the sensing module changes suddenly, the relative distance change rate is greater than a set threshold value and lasts for a certain time, or the relative speed change rate is greater than the set threshold value and lasts for a certain time.
(4) The vehicle speed is less than the set threshold value and lasts for a certain time.
(5) The vehicle is in an abnormal driving mode or has a fault of the whole vehicle.
(6) The vehicle is in a turning condition.
And sixthly, if the vehicle meets any condition in the step (5), the function is quitted, and the VCU of the vehicle control unit controls the virtual accelerator opening limit to quickly recover to the current actual accelerator opening value at the set change rate. And if all the conditions are not met, continuing to keep the function in effect.
The certain time mentioned in the above steps can be set according to actual conditions, for example: when the reserved distance collision time threshold is calculated, a certain time margin is reserved, and the certain time can be 0.5-1 s. And the other time may be set to 0.5-2s, etc.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (7)
1. The intelligent energy-saving and safety control method for the new energy vehicle is characterized by comprising the following steps of:
(1) the VCU receives the recognition signal of the sensing module and the steering wheel corner signal through the CAN bus, detects a brake signal, an accelerator signal and a gear signal through a hard wire signal and acquires other state information of the vehicle;
(2) identifying the road adhesion coefficient, and determining a reserved distance collision time threshold T1 adjusted by the road adhesion coefficient;
(3) judging the effective condition of the function, which specifically comprises the following steps: the distance collision time is less than a reserved distance collision time threshold T1 and lasts for a plurality of times, a driver does not step on a large accelerator and the opening of the accelerator is less than a set threshold and lasts for a plurality of times, a sensing module signal does not suddenly change, the vehicle speed is greater than the set threshold and lasts for a plurality of times, the function quits for a plurality of times, the vehicle is in a normal driving mode, and the whole vehicle has no fault and no turning working condition;
(4) if the vehicle meets all the conditions in the step (3), the function is effective, the VCU of the vehicle controller controls the virtual accelerator opening limiting value to continuously reduce from the current actual accelerator opening value at a set change rate and sets a lower limit threshold, and the virtual accelerator opening limiting value and the current actual accelerator opening are reduced;
(5) judging a function exit condition, specifically comprising: the distance collision time is greater than a reserved distance collision time threshold T2 and lasts for a plurality of times, the driver deeply steps on the accelerator and lasts for a plurality of times or the driver deeply steps on the brake pedal and lasts for a plurality of times, the sensing module signals suddenly change, the vehicle speed is less than the set threshold and lasts for a plurality of times, the vehicle is in an abnormal driving mode or has a vehicle fault, and the vehicle is in a turning working condition;
(6) and (5) if the vehicle meets any condition in the step (5), the function is quitted, and the vehicle control unit VCU controls the virtual accelerator opening limit to quickly recover the set change rate to the current actual accelerator opening value.
2. The intelligent energy-saving and safety control method for the new energy vehicle as claimed in claim 1, wherein: the sensing module identification signal comprises the relative speed, the relative distance and the distance collision time of the vehicle and the front vehicle, and other state information comprises the vehicle speed and the driving mode of the vehicle.
3. The intelligent energy-saving and safety control method for the new energy vehicle as claimed in claim 1, wherein: the method for calculating the reserved distance collision time threshold is to divide the difference between the estimated value of the braking distance of the vehicle and the estimated value of the braking distance of the front vehicle by the relative speed of the vehicle and the front vehicle and reserve a certain time margin at the same time.
4. The intelligent energy-saving and safety control method for the new energy vehicle as claimed in claim 3, wherein: the road adhesion coefficient in the step (2) is identified according to a vehicle tire dynamic model and a nonlinear estimation method; the reserved distance collision time threshold value needs to be properly adjusted according to different road adhesion coefficients; and multiplying the reserved distance collision time threshold by the road surface adhesion coefficient divided by the normal road surface adhesion coefficient calibration value to obtain a final reserved distance collision time threshold T1.
5. The intelligent energy-saving and safety control method for the new energy vehicle as claimed in claim 3, wherein: the reserved distance collision time threshold T2 is the sum of the reserved distance collision time threshold T1 and a set time margin.
6. The intelligent energy-saving and safety control method for the new energy vehicle as claimed in claim 1, wherein: the sensing module signal has no sudden change, namely the relative distance change rate of the vehicle and the front vehicle is less than a set threshold value and lasts for a plurality of time, the direction of the vehicle is close to the direction of the front vehicle, and the relative speed change rate of the vehicle is less than the set threshold value and lasts for a plurality of time.
7. The intelligent energy-saving and safety control method for the new energy vehicle as claimed in claim 1, wherein: the sudden change of the sensing module signal means that the change rate of the relative distance between the vehicle and the front vehicle is greater than a set threshold value and lasts for a plurality of times, or the change rate of the relative vehicle speed is greater than the set threshold value and lasts for a plurality of times.
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Cited By (2)
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| CN115071696A (en) * | 2022-06-20 | 2022-09-20 | 重庆理工大学 | Automatic emergency collision avoidance control method for intelligent automobile intersection based on V2X |
| CN115257387A (en) * | 2022-08-31 | 2022-11-01 | 奇瑞汽车股份有限公司 | A high-voltage unloading protection method and device based on collision pre-judgment logic |
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| CN114347986B (en) | 2023-03-31 |
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