CN109835188B - Vehicle speed limit control method - Google Patents
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Abstract
The invention discloses a vehicle speed limit control method, which belongs to the technical field of vehicle control, wherein a vehicle speed limit control mode is divided into 3 modes, namely a free mode, a following opening mode and a following ending mode, by the current vehicle speed, the vehicle speed of a following point in the corresponding mode is calculated, and the vehicle speed of the following point in the following opening mode is obtained by filtering; when the vehicle is in a following opening or following ending mode, the difference between the vehicle speed at the following point and the actual vehicle speed is used as the input of a PI controller to obtain a PI control value, and the PI control value is added with the torque required by a driver, so that the limited torque is obtained; if the driver request torque is larger than the limit torque, the torque output is limited, and the driver request torque is corrected. The vehicle speed limiting method provided by the invention can effectively avoid the phenomena of oscillation and overshoot generated by a system when the limited torque is calculated only by the actual vehicle speed and the set limited vehicle speed by calculating the vehicle speed of the following point, can effectively improve the driving feeling and the riding comfort, and is easy to implement and popularize.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle speed limit control method.
Background
The driver is easy to produce mental fatigue in the long-time driving process, the driver often overspeeds the vehicle due to the fact that the driver is unconsciously trodden too deep by mental dispersion and fatigue driving, and for the driver, the trouble of an overspeed ticket is brought by the fact that the vehicle is overspeed, and meanwhile potential safety hazards exist. At present, according to the standards of national laws and regulations on the speed limit of vehicles, under different environments, different speed limit requirements are imposed on the vehicles.
However, most of the existing vehicle speed limiting methods are mechanical methods for limiting the opening degree of an accelerator pedal, so that a driver feels mechanical obstruction when stepping on the accelerator pedal, and the mechanical obstruction easily makes the driver feel an illusion of mechanical failure, so that the utilization rate of a speed limiting function is low, the applicability is poor, and the safety problem of driving cannot be really solved.
In the patent of vehicle speed limit actuating device and method (with the publication number of CN103568840B), a vehicle speed limit actuating device is disclosed, which achieves the purpose of speed limit by limiting the stepping depth of an accelerator pedal, when the vehicle is overspeed, the effective length of an accelerator cable is relatively lengthened to reduce the power of an engine, and when the vehicle speed is lower than the specified speed limit, the length is gradually shortened to the initial length, but the accelerator feeling of a driver is obviously changed.
In the patent vehicle speed limiting system and method (application publication number is CN106585378A), a vehicle speed limiting system and method is disclosed, which can solve the mechanical obstruction in the speed limiting process and realize intelligent speed limiting, the current actual vehicle speed is different from the target vehicle speed limiting, if the difference is negative, the opening degree of an accelerator pedal is responded, if the difference is positive, an oil injection quantity closed-loop control signal is sent to an engine, but the speed limiting control mode only using a single vehicle speed limiting target can cause the system to vibrate and overshoot, and the driving feeling and the dynamic property are influenced.
Disclosure of Invention
Aiming at the technical problems, the invention provides a vehicle speed limit control method, which can prevent the vehicle speed from increasing to exceed a limited vehicle speed value through a mode of limiting the torque output of a power source when the vehicle speed is higher, control the vehicle speed within an allowable range, simultaneously calculate the vehicle speed at a following point of the vehicle to preprocess a target limited vehicle speed, avoid the phenomena of oscillation and overshoot of a vehicle speed regulating system caused by overlarge difference between a set value and the current vehicle speed value after the target limited vehicle speed is set, and ensure stable transition of working conditions.
The technical scheme of the invention is as follows:
1. a vehicle speed limit control method comprising the steps of:
firstly, calculating the vehicle speed of a vehicle following point,
1.1: the vehicle speed limit control mode is divided into 3 modes according to the magnitude of the current vehicle speed, namely a free mode, a following opening mode and a following ending mode:
firstly, the vehicle is started to increase from a lower speed after each restart, so that the vehicle initialization mode is a free mode, or the vehicle is judged to start to enter the free mode, the corresponding vehicle speed of a vehicle following point is a set vehicle speed limit value (a calibration value), when the actual vehicle speed subtracted from the vehicle speed of the vehicle following point is less than or equal to a threshold value (the calibration value) for entering the following start mode, the vehicle enters the following start mode, otherwise, the vehicle is still the free mode;
if the following starting mode is judged and obtained in the first step, the following point vehicle speed is obtained by filtering the current actual vehicle speed, the vehicle speed when the following starting mode is started is taken as an initial value, and a following point vehicle speed calculation formula is as follows:
vtrack＝vinit+filt(vact-vinit)
in the formula, vtrackTo follow point vehicle speed, vinitFor an initial value of vehicle speed when entering the follow-on mode, vactFor the current actual vehicle speed, filt (v)act-vinit) In order to obtain a numerical value after filtering the difference between the current actual vehicle speed and the initial value of the vehicle speed when the vehicle enters the following opening mode, a first-order filter is adopted, and the filtering calculation formula is as follows:
yk+1＝α·yk+(1-α)·xk
in the formula, yk+1Represents the output value at time k +1, ykIs the output value at the moment k, the initial value is 0, alpha is the sampling time t1And the calculation is obtained by calculating the filtering time t, and the calculation formula is as follows:
xkthe input quantity at the moment k +1 is calculated according to the current actual vehicle speed vactSubtracting the vehicle speed v when entering the follow-on modeinitThe initial value is obtained, and the calculation formula is as follows:
xk＝vact-vinit
when the set vehicle speed limit value (calibration value) minus the following point vehicle speed is less than or equal to the threshold value (calibration value) for entering the following ending mode, otherwise, still being the following starting mode;
if the following ending mode is obtained through judgment in the second step, the following point vehicle speed is a set vehicle speed limit value (calibration value), and when the current actual vehicle speed subtracted by the vehicle speed of the vehicle following point is greater than a threshold value (calibration value) for entering the free mode, the vehicle enters the free mode;
and step two, calculating corresponding torque limit according to the current vehicle speed limit mode obtained by the judgment in the step one:
firstly, if the current mode is judged to be the free mode in the first step, limiting the torque to be the driver required torque obtained by analyzing an accelerator pedal of the driver;
secondly, if the current mode is judged to be the following opening mode or the following ending mode in the first step, the difference between the vehicle following point vehicle speed obtained by calculation in the first step and the current actual vehicle speed is used as the input of a PI controller, a PI control value is obtained by the PI controller and is added with the driver required torque obtained by analysis of a driver accelerator pedal, so that the limited torque is obtained,
the calculation formula of the PI controller is as follows:
u(k+1)＝Kp·x(k+1)+KI·tix(k+1)+uI(k)
wherein u (K +1) is the PI controller output value at the time of K +1, KpIs a proportionality coefficient, KIAs an integral coefficient, tiAs integration time constant, uI(k) Is the integral output value at the moment k, the initial value is 0,
x (k +1) is an input value at the moment k +1, and the vehicle speed following point vehicle speed v is at the moment k +1track(k +1) and the current actual vehicle speed vactThe difference (k +1) is calculated as follows:
x(k+1)＝vtrack(k+1)-vact(k+1)
for the proportionality coefficient KpAnd integral coefficient KIDifferent values can be selected for different gears, and K is selected for high-gradepAnd KIShould be larger, in low gear, KpAnd KIThe vehicle speed limiting device is smaller so as to ensure good vehicle speed limiting effect;
and thirdly, if the driver demand torque analyzed by the driver accelerator pedal is larger than the limit torque calculated in the second step, the torque output is limited, namely the current vehicle speed is limited by outputting the limit torque without responding to the driver demand torque, and the limit torque is used as the corrected driver demand torque.
Compared with the prior art, the invention has the following advantages:
the method includes the steps of dividing the speed limit into 3 modes, calculating the speed of a following point, adjusting the limit torque through the deviation of the speed of the following point and the actual speed, avoiding the phenomena of system oscillation and overshoot when the actual speed reaches the set limit speed, and improving the driving feeling and riding comfort;
the proportional coefficient and the integral coefficient contained in the PI controller in the torque limiting calculation module are adjusted according to the fact that the current gear of the vehicle is different, the vehicle speed is increased faster than that of the vehicle in a low gear during high gear, and therefore the vehicle speed can be effectively limited through reasonably adjusting the proportional coefficient and the integral coefficient.
Drawings
Fig. 1 is a schematic structural diagram of a planetary hybrid power system according to an embodiment of the invention.
Fig. 2 is a flowchart of a vehicle speed limit control method according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
A vehicle speed limiting method is based on a planetary hybrid system, as shown in fig. 1, including an engine, an auxiliary motor MG1, an inverter, a power battery, a main drive motor MG2, a planetary row PG1, and a system output shaft;
the right end of an engine output shaft is connected with the left end of a planet carrier of a planet row PG1, an auxiliary motor MG1 is sleeved at the left end of the engine output shaft in a hollow mode, the left end of an auxiliary motor MG1 is connected with the right end of a planet row PG1, and a main driving motor MG2 is connected with the left end of a system output shaft;
the auxiliary motor MG1 and the main drive motor MG2 are respectively connected with an inverter through three-phase high-voltage cables, and the inverter is connected with a high-voltage energy storage device through two high-voltage cables.
A vehicle speed limiting method according to the present invention, as shown in fig. 2, is characterized in that:
1. a vehicle speed limit control method comprising the steps of:
firstly, calculating the vehicle speed of a vehicle following point,
1.1: the vehicle speed limit control mode is divided into 3 modes according to the magnitude of the current vehicle speed, namely a free mode, a following opening mode and a following ending mode:
firstly, because the vehicle starts to increase from a lower speed after each restart, the vehicle initialization mode is a free mode, or the vehicle initialization mode is judged to start to enter the free mode, the corresponding vehicle speed of a vehicle following point is a set vehicle speed limit value of 120km/h (a calibrated value), when the actual vehicle speed is subtracted from the vehicle speed of the vehicle following point and is less than or equal to 10km/h (the calibrated value), the vehicle follows the starting mode, otherwise, the vehicle still is the free mode;
if the following starting mode is judged and obtained in the first step, the following point vehicle speed is obtained by filtering the current actual vehicle speed, the vehicle speed when the following starting mode is started is taken as an initial value, and a following point vehicle speed calculation formula is as follows:
vtrack＝vinit+filt(vact-vinit)
in the formula, vtrackTo follow point vehicle speed, vinitFor an initial value of vehicle speed when entering the follow-on mode, vactFor the current actual vehicle speed, filt (v)act-vinit) In order to obtain a numerical value after filtering the difference between the current actual vehicle speed and the initial value of the vehicle speed when the vehicle enters the following opening mode, a first-order filter is adopted, and the filtering calculation formula is as follows:
yk+1＝α·yk+(1-α)·xk
in the formula, yk+1Represents the output value at time k +1, ykIs the output value at time k, the initial valueIs 0, alpha is measured by the sampling time t1And the calculation is obtained by calculating the filtering time t, and the calculation formula is as follows:
xkthe input quantity at the moment k +1 is calculated according to the current actual vehicle speed vactSubtracting the vehicle speed v when entering the follow-on modeinitThe initial value is obtained, and the calculation formula is as follows:
xk＝vact-vinit
when the set vehicle speed limit value (calibration value) minus the following point vehicle speed is less than or equal to 3km/h (calibration value), entering a following ending mode, otherwise, still being a following starting mode;
if the following ending mode is obtained through judgment in the second step, the following point vehicle speed is a set vehicle speed limit value (a calibration value), and when the current actual vehicle speed subtracted by the vehicle speed of the vehicle following point is greater than 20km/h (the calibration value), the vehicle enters a free mode;
and step two, calculating corresponding torque limit according to the current vehicle speed limit mode obtained by the judgment in the step one:
firstly, if the current mode is judged to be the free mode in the first step, limiting the torque to be the driver required torque obtained by analyzing an accelerator pedal of the driver;
secondly, if the current mode is judged to be the following opening mode or the following ending mode in the first step, the difference between the vehicle following point vehicle speed obtained by calculation in the first step and the current actual vehicle speed is used as the input of a PI controller, a PI control value is obtained by the PI controller and is added with the driver required torque obtained by analysis of a driver accelerator pedal, so that the limited torque is obtained,
the calculation formula of the PI controller is as follows:
u(k+1)＝Kp·x(k+1)+KI·tix(k+1)+uI(k)
wherein u (K +1) is the PI controller output value at the time of K +1, KpIs a proportionality coefficient, KIIs an integralCoefficient, tiAs integration time constant, uI(k) The integral output value at the time k is 0, x (k +1) is the input value at the time k +1 and is the vehicle speed following point vehicle speed v at the time k +1track(k +1) and the current actual vehicle speed vactThe difference (k +1) is calculated as follows:
x(k+1)＝vtrack(k+1)-vact(k+1)
for the proportionality coefficient KpAnd integral coefficient KIDifferent values can be selected for different gears, and K is selected for high-gradepAnd KIShould be larger, in low gear, KpAnd KIThe vehicle speed limiting device is smaller so as to ensure good vehicle speed limiting effect;
and thirdly, if the driver demand torque analyzed by the driver accelerator pedal is larger than the limit torque calculated in the second step, the torque output is limited, namely the current vehicle speed is limited by outputting the limit torque without responding to the driver demand torque, and the limit torque is used as the corrected driver demand torque.
And after the corrected driver required torque is calculated, reasonably distributing the required torque to the engine required torque and the main driving motor MG2 required torque according to a control strategy.
Claims (1)
1. A vehicle speed limit control method comprising the steps of:
firstly, calculating the vehicle speed of a vehicle following point,
1.1: the vehicle speed limit control mode is divided into 3 modes according to the magnitude of the current vehicle speed, namely a free mode, a following opening mode and a following ending mode:
firstly, the vehicle is started to increase from a lower speed after each restart, so that the vehicle initialization mode is a free mode, or the vehicle is judged to start to enter the free mode, the corresponding vehicle following point vehicle speed is a set vehicle speed limit value, when the actual vehicle speed subtracted from the vehicle following point vehicle speed is less than or equal to a threshold value for entering the following start mode, the following start mode is entered, otherwise, the vehicle is still the free mode;
if the following starting mode is judged and obtained in the first step, the following point vehicle speed is obtained by filtering the current actual vehicle speed, the vehicle speed when the following starting mode is started is taken as an initial value, and a following point vehicle speed calculation formula is as follows:
vtrack＝vinit+filt(vact-vinit)
in the formula, vtrackTo follow point vehicle speed, vinitFor an initial value of vehicle speed when entering the follow-on mode, vactFor the current actual vehicle speed, filt (v)act-vinit) In order to obtain a numerical value after filtering the difference between the current actual vehicle speed and the initial value of the vehicle speed when the vehicle enters the following opening mode, a first-order filter is adopted, and the filtering calculation formula is as follows:
yk+1＝α·yk+(1-α)·xk
in the formula, yk+1Represents the output value at time k +1, ykIs the output value at the moment k, the initial value is 0, alpha is the sampling time t1And the calculation is obtained by calculating the filtering time t, and the calculation formula is as follows:
xkthe input quantity at the moment k +1 is calculated according to the current actual vehicle speed vactSubtracting the vehicle speed v when entering the follow-on modeinitThe initial value is obtained, and the calculation formula is as follows:
xk＝vact-vinit
when the set vehicle speed limit value minus the following point vehicle speed is less than or equal to the threshold value for entering the following ending mode, otherwise, still being the following starting mode;
if the following ending mode is obtained through judgment in the second step, the following point vehicle speed is a set vehicle speed limit value, and when the current actual vehicle speed subtracted from the vehicle speed of the vehicle following point is greater than a threshold value for entering the free mode, the vehicle enters the free mode;
and step two, calculating corresponding torque limit according to the current vehicle speed limit mode obtained by the judgment in the step one:
firstly, if the current mode is judged to be the free mode in the first step, limiting the torque to be the driver required torque obtained by analyzing an accelerator pedal of the driver;
secondly, if the current mode is judged to be the following opening mode or the following ending mode in the first step, the difference between the vehicle following point vehicle speed obtained by calculation in the first step and the current actual vehicle speed is used as the input of a PI controller, a PI control value is obtained by the PI controller and is added with the driver required torque obtained by analysis of a driver accelerator pedal, so that the limited torque is obtained,
the calculation formula of the PI controller is as follows:
u(k+1)＝Kp·x(k+1)+KI·ti·x(k+1)+uI(k)
wherein u (K +1) is the PI controller output value at the time of K +1, KpIs a proportionality coefficient, KIAs an integral coefficient, tiAs integration time constant, uI(k) The integral output value at the time k is 0, x (k +1) is the input value at the time k +1 and is the vehicle speed following point vehicle speed v at the time k +1track(k +1) and the current actual vehicle speed vactThe difference (k +1) is calculated as follows:
x(k+1)＝vtrack(k+1)-vact(k+1)
for the proportionality coefficient KpAnd integral coefficient KIDifferent values can be selected for different gears, and K is selected for high-gradepAnd KIShould be larger, in low gear, KpAnd KIThe vehicle speed limiting device is smaller so as to ensure good vehicle speed limiting effect;
and thirdly, if the driver demand torque analyzed by the driver accelerator pedal is larger than the limit torque calculated in the second step, the torque output is limited, namely the current vehicle speed is limited by outputting the limit torque without responding to the driver demand torque, and the limit torque is used as the corrected driver demand torque.
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| US6449553B1 (en) * | 1998-05-09 | 2002-09-10 | Daimlerchrysler Ag | Motor vehicle control device with regulation and/or limitation of driving speed |
| CN1380858A (en) * | 2000-05-16 | 2002-11-20 | 日产自动车株式会社 | System and method for controling vehicle velocity and inter-vehicle distance |
| JP2004090788A (en) * | 2002-08-30 | 2004-03-25 | Mitsubishi Motors Corp | Vehicular travel control device |
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| CN105984342A (en) * | 2015-03-16 | 2016-10-05 | 丰田自动车株式会社 | Driving control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3775353B2 (en) * | 2002-06-19 | 2006-05-17 | 日産自動車株式会社 | Preceding vehicle tracking control device |
| FR2866281B1 (en) * | 2004-02-17 | 2007-04-20 | Renault Sas | METHOD AND SYSTEM FOR REMOTE CONTROL SPEED LIMITATION FOR MOTOR VEHICLE. |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6449553B1 (en) * | 1998-05-09 | 2002-09-10 | Daimlerchrysler Ag | Motor vehicle control device with regulation and/or limitation of driving speed |
| CN1380858A (en) * | 2000-05-16 | 2002-11-20 | 日产自动车株式会社 | System and method for controling vehicle velocity and inter-vehicle distance |
| JP2004090788A (en) * | 2002-08-30 | 2004-03-25 | Mitsubishi Motors Corp | Vehicular travel control device |
| CN102019929A (en) * | 2010-12-06 | 2011-04-20 | 联合汽车电子有限公司 | Cruising and active adjustable speed limiting system of vehicle |
| CN105984342A (en) * | 2015-03-16 | 2016-10-05 | 丰田自动车株式会社 | Driving control device |
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Effective date of registration: 20240410 Address after: 266000 No.1 Loushan Road, Licang District, Qingdao City, Shandong Province Patentee after: QINGDAO AUTOMOTIVE RESEARCH INSTITUTE, JILIN University Country or region after: China Patentee after: Jilin University Address before: 266043 No. 1, Loushan Road, Licang District, Qingdao, Shandong Patentee before: QINGDAO AUTOMOTIVE RESEARCH INSTITUTE, JILIN University Country or region before: China |