CN117774969A - Vehicle speed limit control method and device, readable storage medium and vehicle - Google Patents
Vehicle speed limit control method and device, readable storage medium and vehicle Download PDFInfo
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- CN117774969A CN117774969A CN202410137561.XA CN202410137561A CN117774969A CN 117774969 A CN117774969 A CN 117774969A CN 202410137561 A CN202410137561 A CN 202410137561A CN 117774969 A CN117774969 A CN 117774969A
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- 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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a vehicle speed limit control method, a device, a readable storage medium and a vehicle, wherein the method comprises the following steps: acquiring the maximum allowable acceleration and the whole vehicle resistance torque of the vehicle; determining the maximum available torque according to the maximum allowable acceleration and the whole vehicle resistance torque; the actual output torque is determined based on the maximum available torque and the actual demand torque. According to the invention, the maximum allowable acceleration of the vehicle is set to obtain the maximum available torque required by speed limitation of the vehicle, and the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in a target speed range.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle speed limit control method and device, a readable storage medium, and a vehicle.
Background
With the continuous development of new energy automobile technology, the application of new energy commercial vehicles is becoming wider and wider. In the prior art, the speed-limiting torque is regulated by a PID (Proportional-Integral-derivative) closed-loop control system, however, the problems of balanced vehicle speed torque, acceleration and deceleration rate, overshoot control, smooth torque and the like are required to be considered in PID speed-limiting regulation control, the calibration experiment working condition is complex, time is consumed, and the PID control parameters are required to be readjusted and calibrated for different vehicle types, so that the difficulty in borrowing the PID control parameters by the different vehicle types is caused, and the data applicability is lower.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art.
Therefore, an object of the present invention is to provide a vehicle speed limit control method that can realize the limitation of the vehicle speed by setting the maximum allowable acceleration of the vehicle, which has a smooth torque response and a more stable vehicle speed control.
To this end, a second object of the present invention is to propose a vehicle speed limit control device.
To this end, a third object of the invention is to propose a non-transitory computer readable storage medium.
To this end, a fourth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention proposes a vehicle speed limit control method including: acquiring the maximum allowable acceleration and the whole vehicle resistance torque of the vehicle; determining the maximum available torque according to the maximum allowable acceleration and the whole vehicle resistance torque; and determining the actual output torque according to the maximum available torque and the actual required torque.
According to the vehicle speed limit control method provided by the embodiment of the invention, the maximum available torque required by vehicle speed limit is obtained by setting the maximum allowable acceleration of the vehicle, the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range, compared with the PID limit torque, the speed of the vehicle is limited by setting the maximum allowable acceleration of the vehicle, the torque response is smooth, the speed control is more stable, the control strategy is more convenient, the resource consumption and the time consumption are reduced, and the applicability of the data between different vehicle types is higher.
In addition, the vehicle speed limit control method according to the embodiment of the invention may further have the following additional technical features:
in some embodiments, obtaining a maximum allowable acceleration of the vehicle includes: acquiring a target speed and an actual speed of a vehicle; and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
In some embodiments, determining the maximum allowable acceleration from the target vehicle speed and the actual vehicle speed includes: calculating a speed difference between the target vehicle speed and the actual vehicle speed; and the speed difference is brought into a preset corresponding relation table of the speed difference and the maximum allowable acceleration, and the maximum allowable acceleration is obtained.
In some embodiments, obtaining the vehicle resistance torque includes: acquiring the driving torque and the acceleration of the whole vehicle; and determining the resistance torque of the whole vehicle according to the whole vehicle driving torque, the conversion coefficient between the acceleration and the torque and the acceleration of the whole vehicle.
In some embodiments, determining the maximum available torque from the maximum allowable acceleration and the vehicle resistance torque includes: and determining the maximum available torque according to the conversion coefficient between the acceleration and the torque, the whole vehicle resistance torque and the maximum allowable acceleration.
In some embodiments, determining the actual output torque from the maximum available torque and the actual demand torque includes: the maximum available torque and the actual required torque are determined, and the smaller one of the actual output torques is determined as the actual output torque.
In order to achieve the above object, an embodiment of a second aspect of the present invention proposes a vehicle speed limit control device including: the acquisition module is used for acquiring the maximum allowable acceleration of the vehicle and the resistance torque of the whole vehicle; the first determining module is used for determining the maximum available torque according to the maximum allowable acceleration and the whole vehicle resistance torque; and the second determining module is used for determining the actual output torque according to the maximum available torque and the actual required torque.
In some embodiments, the acquiring module is specifically configured to: acquiring a target speed and an actual speed of a vehicle; and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
According to the vehicle speed limiting control device provided by the embodiment of the invention, the maximum available torque required by vehicle speed limiting is obtained by setting the maximum allowable acceleration of the vehicle, the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range, compared with the PID limit torque, the speed of the vehicle is limited by setting the maximum allowable acceleration of the vehicle, the torque response is smooth, the speed control is more stable, the control strategy is more convenient, the resource consumption and the time consumption are reduced, and the applicability of the data between different vehicle types is higher.
In order to achieve the above object, an embodiment of a third aspect of the present invention proposes a non-transitory computer-readable storage medium having stored thereon a vehicle speed limit control program which, when executed by a processor, implements the vehicle speed limit control method according to the above-described embodiment of the first aspect of the present invention.
In order to achieve the above object, an embodiment of a fourth aspect of the present invention provides a vehicle including the vehicle speed limit control device according to the above embodiment of the second aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, the maximum allowable acceleration of the vehicle is set to obtain the maximum available torque required by the speed limit of the vehicle, and the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a vehicle speed limit control method according to one embodiment of the invention;
FIG. 2 is a flow chart of a vehicle speed limit control strategy according to one embodiment of the invention;
fig. 3 is a block diagram of a vehicle speed limit control apparatus according to an embodiment of the present invention;
fig. 4 is a vehicle according to one embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
A vehicle speed limit control method according to an embodiment of the present invention is described below with reference to fig. 1 and 2.
Fig. 1 is a flowchart of a vehicle speed limit control method according to one embodiment of the invention. As shown in fig. 1, the vehicle speed limit control method includes the steps of:
and S1, acquiring the maximum allowable acceleration of the vehicle and the resistance torque of the whole vehicle.
Wherein the maximum allowable acceleration of the vehicle is the maximum acceleration that is allowed to be reached when the vehicle is speed-limited, and the setting of the maximum allowable acceleration is determined by the target vehicle speed and the actual vehicle speed.
In the embodiment, in the running process of the vehicle, the maximum allowable acceleration of the vehicle is obtained, the speed of the vehicle is limited, for example, under different vehicle working conditions, the target speed of the vehicle is different from the actual speed, and the speed limiting control under different working conditions is realized by setting different maximum allowable accelerations, so that the speed of the vehicle is limited within the target speed range, the torque response is smooth, and the speed control is more stable.
The obtained maximum allowable acceleration and the obtained whole vehicle resistance torque can be effectively applied to vehicle speed limiting control, and stability and safety of the vehicle under the speed limiting control are ensured.
And S2, determining the maximum available torque according to the maximum allowable acceleration and the whole vehicle resistance torque.
The maximum available torque is the maximum torque which can be provided by the vehicle under the speed limiting control, and the maximum available torque is determined by the maximum allowable acceleration and the whole vehicle resistance torque.
In the embodiment, after the maximum allowable acceleration and the whole vehicle resistance torque of the vehicle are determined, the corresponding maximum available torque can be calculated according to the acquired parameters, which can limit the acceleration performance of the vehicle, ensure that the vehicle cannot exceed the set speed limit value and maintain a stable running state.
And S3, determining the actual output torque according to the maximum available torque and the actual required torque.
In the embodiment, the actual output torque is the actual power output torque when the vehicle runs, the actual output torque value is determined according to the maximum available torque and the actual demand torque after the actual demand torque and the maximum available torque are obtained, and the purpose of limiting the vehicle speed is achieved, so that the stability and the safety of the vehicle under the speed limiting control are ensured.
Therefore, according to the vehicle speed limit control method provided by the embodiment of the invention, the maximum available torque required by vehicle speed limit is obtained by setting the maximum allowable acceleration of the vehicle, the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range, compared with the PID limit torque, the speed of the vehicle is limited by setting the maximum allowable acceleration of the vehicle, the torque response is smooth, the speed control is more stable, the control strategy is more convenient, the resource consumption and the time consumption are reduced, and the applicability of the data between different vehicle types is higher.
In one embodiment of the invention, obtaining a maximum allowable acceleration of a vehicle includes: acquiring a target speed and an actual speed of a vehicle; and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
The target vehicle speed is the expected vehicle speed of the vehicle under different working conditions, and the actual vehicle speed is the current running speed of the vehicle.
In an embodiment, the maximum allowable acceleration of the vehicle is determined by acquiring a target vehicle speed and an actual vehicle speed of the vehicle, for example, when the target vehicle speed is greater than the actual vehicle speed, i.e., the target vehicle speed-the actual vehicle speed is greater than 0, the maximum allowable acceleration may be determined to be greater than 0; when the target vehicle speed is equal to the actual vehicle speed, namely, the target vehicle speed-actual vehicle speed is equal to 0, the maximum allowable acceleration is determined to be equal to 0; when the target vehicle speed is smaller than the actual vehicle speed, i.e., the target vehicle speed-actual vehicle speed is smaller than 0, it can be determined that the maximum allowable acceleration is smaller than 0. The maximum allowable acceleration is determined based on the obtained target vehicle speed and the actual vehicle speed, and the vehicle speed control method can be used for controlling the vehicle speed of the vehicle, so that the vehicle can stably control the vehicle speed, the speed limit is achieved, and the safety and the stability of the vehicle are further improved.
In one embodiment of the present invention, determining the maximum allowable acceleration from the target vehicle speed and the actual vehicle speed includes: calculating the speed difference between the target vehicle speed and the actual vehicle speed; and the speed difference is brought into a preset corresponding relation table of the speed difference and the maximum allowable acceleration, and the maximum allowable acceleration is obtained.
As shown in table 1, the speed difference between the target vehicle speed and the actual vehicle speed corresponds to the maximum allowable acceleration.
In the embodiment, after the target speed and the actual speed of the vehicle are obtained, the speed difference between the target speed and the actual speed is calculated according to the obtained parameters, the calculated speed difference is brought into a corresponding relation table of the speed difference between the target speed and the actual speed and the maximum allowable acceleration shown in the table 1, the corresponding maximum allowable acceleration is searched according to different speed differences,for example, if the speed difference between the target vehicle speed and the actual vehicle speed is 2km/h, the maximum allowable acceleration at the current speed difference is 0.3m/s by looking up Table 1 2 The method comprises the steps of carrying out a first treatment on the surface of the If the speed difference between the target speed and the actual speed is 0km/h, the maximum allowable acceleration under the current speed difference is 0m/s through looking up the table 1 2 The method comprises the steps of carrying out a first treatment on the surface of the If the speed difference between the target speed and the actual speed is-2 km/h, the maximum allowable acceleration under the current speed difference is-0.3 m/s can be obtained through the lookup table 1 2 . And, as the speed difference between the target vehicle speed and the actual vehicle speed increases, the corresponding maximum allowable acceleration increases gradually, whereas, if the speed difference between the target vehicle speed and the actual vehicle speed decreases, the corresponding maximum allowable acceleration decreases gradually, for example, the speed difference between the target vehicle speed and the actual vehicle speed is 14km/h, and the corresponding maximum allowable acceleration is 4.2m/s 2 The maximum allowable acceleration corresponding to the speed difference between the target vehicle speed and the actual vehicle speed is 2km/h is much larger than the maximum allowable acceleration corresponding to the speed difference between the target vehicle speed and the actual vehicle speed is 2 km/h; the speed difference between the target speed and the actual speed is-4 km/h, and the corresponding maximum allowable acceleration is-1 m/s 2 The maximum allowable acceleration corresponding to a speed difference of-2 km/h between the target vehicle speed and the actual vehicle speed is much smaller.
From this, it can be seen from table 1 that the larger the speed difference between the target vehicle speed and the actual vehicle speed (i.e., the speed difference is greater than 0), the larger the maximum allowable acceleration is, in order to enable the vehicle to have an appropriate acceleration capability to reach the speed-limited target vehicle speed value; when the speed difference between the target vehicle speed and the actual vehicle speed is equal (i.e., the speed difference is equal to 0), the maximum allowable acceleration is 0, so that the vehicle can be operated at a constant speed at the target vehicle speed for maintaining the speed limit; the smaller the speed difference between the target vehicle speed and the actual vehicle speed (i.e., the speed difference is smaller than 0), the smaller the maximum allowable acceleration is, which is the target vehicle speed in order to enable the vehicle to return to the speed limit after overspeed. By adopting a mode of searching the corresponding relation table, the maximum allowable acceleration can be rapidly and accurately determined, so that the speed limit requirement is better met, and the speed limit purpose is achieved.
In one embodiment of the present invention, obtaining the vehicle resistance torque includes: acquiring the driving torque and the acceleration of the whole vehicle; and determining the resistance torque of the whole vehicle according to the driving torque of the whole vehicle, the conversion coefficient between the acceleration and the torque and the acceleration of the whole vehicle.
The vehicle driving torque is the torque required to overcome resistance when the vehicle is in a driving state, and the vehicle resistance torque is generally influenced by the vehicle mass, the vehicle tire radius and the like.
In an embodiment, a vehicle driving torque and a vehicle acceleration of a vehicle are obtained, and a vehicle resistance torque is calculated according to the vehicle driving torque, a conversion coefficient between the acceleration and the torque, and the vehicle acceleration.
In a specific implementation process, the vehicle resistance torque of the vehicle can be calculated according to newton's second law f=m×a and a moment formula m=l×f, wherein F is the resultant force born by the vehicle, M is the vehicle mass, a is the vehicle acceleration, M is the vehicle resultant torque, and L is the vehicle tire radius, and the vehicle acceleration a is the actual acceleration of the vehicle.
Specifically, the conversion coefficient between acceleration and torque may be derived by newton's second law f=m×a and moment equation m=l×f, that is, m=m×l×a, so that the conversion coefficient between acceleration and torque may be expressed as m×l, where the conversion coefficient m×l between acceleration and torque varies with the vehicle tire radius L and the vehicle mass M, that is, one or both of the vehicle tire radius L and the vehicle mass M varies, and the conversion coefficient m×l between acceleration and torque correspondingly varies.
For example, the resultant force f=f1+f2 to which the vehicle is subjected, where F2 is the vehicle resistance, F1 is the vehicle driving force, and then according to the torque formula m=l×f, the vehicle total torque is m=m1+m2, the vehicle resistance torque is denoted as M2, and the vehicle driving torque is denoted as M1, and then the vehicle resistance torque m2=m-m1=f×a-m1=m×a-M1, so that the vehicle resistance torque M2 of the vehicle can be calculated according to the obtained vehicle mass M, the vehicle tire radius L, the vehicle driving torque M1, and the vehicle acceleration a.
In one embodiment of the invention, determining the maximum available torque from the maximum allowable acceleration and the vehicle resistance torque comprises: and determining the maximum available torque according to the conversion coefficient between the acceleration and the torque, the resistance torque of the whole vehicle and the maximum allowable acceleration.
In the embodiment, the vehicle resistance torque M2 may be obtained by the above-mentioned calculation method, that is, may be obtained according to the obtained vehicle driving torque M1, the conversion coefficient m×l between the acceleration and the torque, and the vehicle acceleration a. After the conversion coefficient m×l between the acceleration and the torque, the whole vehicle resistance torque M2 and the maximum allowable acceleration amax are obtained, the maximum available torque Mmax can be obtained through a formula mmax=m×l×amax+m2, the formula considers the whole vehicle resistance of the vehicle, the vehicle mass M and the vehicle tire radius L, and the influence of the maximum allowable acceleration amax on the maximum available torque Mmax, and the performance and the stability of the vehicle under speed limiting control can be ensured through multiple aspects of consideration, so that the speed limiting purpose is achieved.
In one embodiment of the invention, determining the actual output torque from the maximum available torque and the actual demand torque comprises: the maximum available torque and the actual demand torque are determined, and the smaller one of the actual output torques is determined as the actual output torque.
In an embodiment, after calculating the maximum available torque through the conversion coefficient between the acceleration and the torque, the resistance torque of the whole vehicle and the maximum allowable acceleration, the actual required torque of the vehicle needs to be obtained, wherein the actual required torque of the vehicle refers to the resistance torque to be overcome under different vehicle working conditions, for example, the request torque of a driver in the speed limiting process. And then comparing the obtained maximum available torque with the actual required torque, and selecting the smaller one of the maximum available torque and the actual required torque as the actual output torque, so that the actual output torque is always smaller than or equal to the maximum available torque allowed by speed limit, the aim of limiting the target vehicle speed is fulfilled, the driving safety and the driving stability of the road are improved, the power performance and the stability of the vehicle are improved, and better driving experience is provided for a driver.
As a specific example, the vehicle speed limit control strategy flowchart shown in fig. 2 may be used to describe in detail, including the following steps:
step S11, obtaining a target vehicle speed and an actual vehicle speed of the vehicle.
Step S12, calculating a speed difference between the target vehicle speed and the actual vehicle speed.
And step S13, searching a corresponding relation table of the speed difference between the target vehicle speed and the actual vehicle speed and the maximum allowable acceleration according to the speed difference.
Step S14, determining the maximum allowable acceleration.
Step S15, acquiring a vehicle tire radius and a vehicle mass.
Step S16, the radius of the vehicle tyre and the mass of the vehicle are brought into Newton' S second law and a moment formula to determine a conversion coefficient between acceleration and torque.
And S17, acquiring the whole vehicle driving torque and the whole vehicle acceleration.
And S18, determining the resistance torque of the whole vehicle according to the driving torque of the whole vehicle, the acceleration of the whole vehicle and the conversion coefficient between the acceleration and the torque.
And S19, determining the maximum available torque according to the conversion coefficient between the acceleration and the torque, the resistance torque of the whole vehicle and the maximum allowable acceleration.
Step S20, obtaining the actual required torque.
And S21, determining the actual output torque according to the maximum available torque and the actual required torque.
According to the vehicle speed limit control method provided by the embodiment of the invention, the maximum available torque required by vehicle speed limit is obtained by setting the maximum allowable acceleration of the vehicle, the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range, compared with the PID limit torque, the speed of the vehicle is limited by setting the maximum allowable acceleration of the vehicle, the torque response is smooth, the speed control is more stable, the control strategy is more convenient, the resource consumption and the time consumption are reduced, and the applicability of the data between different vehicle types is higher.
The further embodiment of the invention also provides a vehicle speed limit control device.
Fig. 3 is a block diagram of a vehicle speed limit control device according to an embodiment of the present invention. As shown in fig. 3, the vehicle speed limit control device 2 includes: an acquisition module 21, a first determination module 22 and a second determination module 23, wherein,
the acquisition module 21 is used for acquiring the maximum allowable acceleration of the vehicle and the resistance torque of the whole vehicle; the first determining module 22 is configured to determine a maximum available torque according to a maximum allowable acceleration and a vehicle resistance torque; the second determination module 23 is configured to determine the actual output torque based on the maximum available torque and the actual demand torque.
In one embodiment of the present invention, the obtaining module 21 is specifically configured to: acquiring a target speed and an actual speed of a vehicle; and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
According to the vehicle speed limit control device 2 provided by the embodiment of the invention, the maximum available torque required by vehicle speed limit is obtained by setting the maximum allowable acceleration of the vehicle, the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range, compared with the PID limit torque, the speed of the vehicle is limited by setting the maximum allowable acceleration of the vehicle, the torque response is smooth, the speed control is more stable, the control strategy is more convenient, the resource consumption and the time consumption are reduced, and the applicability of the data between different vehicle types is higher.
In some embodiments, the acquiring module 21 acquires a maximum allowable acceleration of the vehicle, including: acquiring a target speed and an actual speed of a vehicle; and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
In some embodiments, the first determination module 22 determines a maximum allowable acceleration from the target vehicle speed and the actual vehicle speed, including: calculating the speed difference between the target vehicle speed and the actual vehicle speed; and the speed difference is brought into a preset corresponding relation table of the speed difference and the maximum allowable acceleration, and the maximum allowable acceleration is obtained.
In some embodiments, the acquisition module 21 acquires the vehicle resistance torque, including: according to the whole vehicle driving torque and the whole vehicle acceleration; and determining the resistance torque of the whole vehicle according to the driving torque of the whole vehicle, the conversion coefficient between the acceleration and the torque and the acceleration of the whole vehicle.
In some embodiments, the first determination module 22 determines the maximum available torque based on the maximum allowable acceleration and the vehicle resistance torque, including: and determining the maximum available torque according to the conversion coefficient between the acceleration and the torque, the resistance torque of the whole vehicle and the maximum allowable acceleration.
In some embodiments, the second determination module 23 determines the actual output torque based on the maximum available torque and the actual demand torque, including: the maximum available torque and the actual demand torque are determined, and the smaller one of the actual output torques is determined as the actual output torque.
It should be noted that, in the vehicle speed limit control, the specific implementation manner of the vehicle speed limit control device is similar to the specific implementation manner of the vehicle speed limit control method described in any of the above embodiments of the present invention, so for a detailed exemplary description of the vehicle speed limit control device, please refer to the foregoing description about the vehicle speed limit control method, and for redundancy reduction, a detailed description is not repeated here.
According to the vehicle speed limit control device 2 provided by the embodiment of the invention, the maximum available torque required by vehicle speed limit is obtained by setting the maximum allowable acceleration of the vehicle, the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range, compared with the PID limit torque, the speed of the vehicle is limited by setting the maximum allowable acceleration of the vehicle, the torque response is smooth, the speed control is more stable, the control strategy is more convenient, the resource consumption and the time consumption are reduced, and the applicability of the data between different vehicle types is higher.
The invention further provides a non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores a vehicle speed limit control program, and the vehicle speed limit control program realizes the vehicle speed limit control method according to any one of the embodiments of the invention when being executed by a processor.
A further embodiment of the present invention proposes a vehicle.
Fig. 4 is a block diagram of a vehicle according to an embodiment of the present invention. As shown in fig. 4, the vehicle 3 includes the vehicle speed limit control device 2 as described in any one of the above embodiments of the invention.
It should be noted that, when the vehicle performs vehicle speed limit control, the specific implementation manner of the vehicle speed limit control device or method according to any one of the embodiments of the present invention is similar to that of the vehicle speed limit control device or method according to any one of the embodiments of the present invention, so that a detailed exemplary description of the vehicle speed limit control may be found in the foregoing description of the vehicle speed limit control device or method, and for redundancy reduction, a detailed description thereof will not be repeated here.
According to the vehicle 3 provided by the embodiment of the invention, the maximum available torque required by vehicle speed limitation is obtained by setting the maximum allowable acceleration of the vehicle, and the actual output torque is determined according to the maximum available torque and the actual demand torque, so that the speed of the vehicle is limited in the target speed range.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A vehicle speed limit control method, characterized by comprising:
acquiring the maximum allowable acceleration and the whole vehicle resistance torque of the vehicle;
determining the maximum available torque according to the maximum allowable acceleration and the whole vehicle resistance torque;
and determining the actual output torque according to the maximum available torque and the actual required torque.
2. The vehicle speed limit control method according to claim 1, characterized in that acquiring a maximum allowable acceleration of the vehicle includes:
acquiring a target speed and an actual speed of a vehicle;
and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
3. The vehicle speed limit control method according to claim 2, characterized in that determining the maximum allowable acceleration from the target vehicle speed and the actual vehicle speed includes:
calculating a speed difference between the target vehicle speed and the actual vehicle speed;
and the speed difference is brought into a preset corresponding relation table of the speed difference and the maximum allowable acceleration, and the maximum allowable acceleration is obtained.
4. The vehicle speed limit control method according to claim 1, wherein obtaining the vehicle resistance torque includes:
acquiring the driving torque and the acceleration of the whole vehicle;
and determining the resistance torque of the whole vehicle according to the whole vehicle driving torque, the conversion coefficient between the acceleration and the torque and the acceleration of the whole vehicle.
5. The vehicle speed limit control method according to claim 1, characterized in that determining a maximum available torque from the maximum allowable acceleration and the vehicle resistance torque includes:
and determining the maximum available torque according to the conversion coefficient between the acceleration and the torque, the whole vehicle resistance torque and the maximum allowable acceleration.
6. The vehicle speed limit control method according to claim 1, wherein determining an actual output torque from the maximum available torque and an actual demand torque includes:
the maximum available torque and the actual required torque are determined, and the smaller one of the actual output torques is determined as the actual output torque.
7. A vehicle speed limit control device, characterized by comprising:
the acquisition module is used for acquiring the maximum allowable acceleration of the vehicle and the resistance torque of the whole vehicle;
the first determining module is used for determining the maximum available torque according to the maximum allowable acceleration and the whole vehicle resistance torque;
and the second determining module is used for determining the actual output torque according to the maximum available torque and the actual required torque.
8. The vehicle speed limit control device of claim 7, wherein the acquisition module is specifically configured to:
acquiring a target speed and an actual speed of a vehicle;
and determining the maximum allowable acceleration according to the target vehicle speed and the actual vehicle speed.
9. A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium has stored thereon a vehicle speed limit control program that when executed by a processor implements the vehicle speed limit control method of any one of claims 1-6.
10. A vehicle, characterized by comprising: the vehicle speed limit control apparatus according to claim 7 or 8.
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| CN202410137561.XA CN117774969A (en) | 2024-01-31 | 2024-01-31 | Vehicle speed limit control method and device, readable storage medium and vehicle |
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| CN202410137561.XA CN117774969A (en) | 2024-01-31 | 2024-01-31 | Vehicle speed limit control method and device, readable storage medium and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115434817A (en) * | 2022-08-04 | 2022-12-06 | 潍柴动力股份有限公司 | Engine torque control method and device, electronic equipment and storage medium |
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- 2024-01-31 CN CN202410137561.XA patent/CN117774969A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115434817A (en) * | 2022-08-04 | 2022-12-06 | 潍柴动力股份有限公司 | Engine torque control method and device, electronic equipment and storage medium |
| CN115434817B (en) * | 2022-08-04 | 2024-06-18 | 潍柴动力股份有限公司 | Engine torque control method and device, electronic equipment and storage medium |
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