CN110182215A - A kind of vehicle economy cruise control method and device - Google Patents
A kind of vehicle economy cruise control method and device Download PDFInfo
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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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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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Abstract
The invention discloses a kind of vehicle economy cruise control method and device, control method includes step: establishing vehicle fuel consumption model and longitudinal vehicle dynamic model, and establishes speed optimization aim, solves economy cruise speed；Car running computer carries out coefficient of road adhesion estimation, determines corresponding economy cruise speed according to the attachment coefficient of the current road of estimation；The corresponding economy cruise speed of discrete location is converted into the corresponding economy cruise speed of discrete time；Using model predictive controller carry out speed tracking control, the present invention make vehicle road grade, coefficient of road adhesion real-time change complex road surface under can take into account driving safety and fuel economy.
Description
Technical field
It is main to consider road grade and road surface attachment system the present invention relates to the control that vehicle economy under complex road condition cruises
The influence of number and its variation to VE Vehicle Economy and travel safety.
Background technique
Intelligent automobile Internet-based is the trend of current China Automobile Industry, mainly passes through and obtains a large amount of vehicle
And road information, optimal decision is made by various optimization algorithms to promote vehicle driving quality.In recent years, both at home and abroad
A series of researchs based on net connection intelligent vehicle using environmental information planning vehicle economic speed are carried out.California, USA university streamside
The scholars such as branch school Matthew Barth have studied economic speed when vehicle passes through traffic lights, and vehicle is red green by obtaining in advance
Lamp phse conversion information carries out speed planning, and unnecessary acceleration and deceleration when avoiding vehicle by traffic light intersection promote vehicle
Fuel economy.The scholars such as Kyushu University M.A.S.Kamal are based on model prediction algorithm to vehicle in climb and fall process
In speed planned, effectively by reducing brake and anxious accelerating to reduce vehicle oil consumption.The Chu Duan of Wuhan University of Technology
The scholars such as peak propose the curved road safety speed calculation method based on bus or train route collaboration in patent of invention CN105118316B, complete
A kind of accurate method for calculating vehicle and entering curved safe speed is established in the speed optimization of negotiation of bends vehicle.The scholars such as sunrise are opened to exist
Patent CN 104200656B proposes a kind of speed optimization method based on traffic signal information, avoids vehicle and passes through traffic
The anxious deceleration of urgency acceleration when crossing is idle with long-time and controls speed in a certain range, promotes vehicle fuel with this
Economy.
It is controlled at present for the speed-optimization of road information, mainly considers traffic lights, bend and road both at home and abroad
The information such as the gradient consider that pavement conditions change influence to speed optimization process, wherein most typical road surface variation be because
Surface gathered water, icing caused by the mutation of road surface adhesive rate caused by weather, such as burst sleet etc., counts, the winter according to related data
Season, traffic accident incidence was apparently higher than average of the whole year level, and the more severe January accident rate of weather condition is that it is vaporous
5 times of condition preferable July, and ice and snow day contingency occurrence probability is 12 times of fine day, it can be seen that pavement conditions are not being considered
Speed is optimized in the case where variation, it will have an adverse effect to fuel economy and travel safety.
Summary of the invention:
In view of the above problems, the present invention proposes a kind of vehicle economy cruise control method, considers road grade
With road adhesion condition so that vehicle the changeable undulating topography of the gradient and road surface attachment complicated condition road conditions under can guarantee
Traffic safety and to reach fuel economy optimal.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of vehicle economy cruise control method includes
Following steps: step 1 establishes vehicle fuel consumption model and longitudinal vehicle dynamic model, and establishes speed optimization aim, solves
Economy cruise speed；Step 2, car running computer carry out coefficient of road adhesion estimation, according to the attachment system of the current road of estimation
Number determines corresponding economy cruise speed；The corresponding economy cruise speed of discrete location is converted to discrete time by step 3
Corresponding economy cruise speed；Step 4 carries out speed tracking control using model predictive controller.
Preferably, it specifically includes following three step that step 1, which solves economy cruise speed:
Step 1.1 establishes vehicle fuel consumption model,
Step 1.2 establishes the corresponding longitudinal vehicle dynamic model of discrete location,
Step 1.3, building optimization object function and constraint expression formula solve vehicle economy cruise speed,
The fuel oil consumption mould being fitted in its step 1.1 using motor torque and the relevant multiple item expression formula of revolving speed
Economy cruise speed optimization aim in longitudinal vehicle dynamic model, step 1.3 in type, step 1.2 based on discrete location
Function is respectively as shown in formula (1)~formula (3)；Shown in constraint expression formula such as formula (4):
mf=η1+η2ωe+η3Te+η4ωeTe+η5ωe 2Te+η6ωe 3 (1)
Wherein, mfFor fuel consumption rate, ωeFor engine speed, TeFor motor torque, η1, η2……η6For fitting system
Number,
Wherein, (sk) it is position skCorresponding parameter；Δ s is predetermined fixed value, position sk-1To position skDistance；
M is spring carried mass；v(sk) it is speed；Fe(sk) it is driving force；Fb(sk) it is brake force；Fg(sk) it is gradient resistance； Fr(sk)
For rolling frictional resistance；Fa(sk) it is air drag；
Wherein,Average speed is preset for driver；γ is weight coefficient, and optimization process is made to take into account fuel economy and row
Vehicle timeliness,
Constraint expression formula are as follows:
Wherein, vminAnd vmaxRespectively running section speed lower and upper limit；TeminAnd TemaxFor engine minimum and maximum
Torque；ωeminAnd ωemaxEngine is minimum respectively and maximum speed；ηbFor braking efficiency,For coefficient of road adhesion；
abmaxFor maximum braking deceleration；Γ is the sum of time of driver's reaction and brake response time；SbmaxMaximum braking away from
From；
Real-time solution carried out to above-mentioned nonlinear optimal problem containing constraint, the corresponding economy of obtained discrete location is patrolled
Airline speed not only includes vehicle speed information, further includes corresponding vehicle position information.
Location-based speed-optimization mode is used in vehicle speed cruise control method proposed by the present invention, is greatly eliminated
Invalid optimizing cycle caused by congested in traffic.So that vehicle is not needed in the re-optimization speed song after congested link
Line reduces the difficulty in computation of car running computer, has saved the calculating time, promotes VE Vehicle Economy and travel safety.
Preferably, by the coefficient of road adhesion of consecutive variations by interval division and using the attachment coefficient lower limit in section as calculating
Foundation successively calculates optimal speed sequence corresponding under the conditions of different road surfaces are adhered to
The attachment coefficient classification of consecutive variations is calculated so that difficulty in computation reduces, scheme has exploitativeness；With attachment
The lower limit value in coefficient section ensure that speed safety of the vehicle in the attachment coefficient section as calculation basis.Vehicle exists simultaneously
Coefficient of road adhesion need to only make a choice when mutating from existing optimal velocity curve, not need that the time is spent to count again
Vehicle optimal velocity curve corresponding to current road is calculated, vehicle can quickly complete speed handoff procedure.Vehicle is avoided to exist
Coefficient of road adhesion is needed to recalculate optimal speed and is travelled for a long time with unreasonable speed after mutating, ensure that vehicle
Traffic safety, while improving VE Vehicle Economy.
Preferably, step 2 economy cruise method for controlling driving speed comprises the following steps:
Step 2.1 carries out coefficient of road adhesion estimation, determines corresponding warp according to section where current road attachment coefficient
Ji property cruise speed, it is ensured that can guarantee that vehicle safety obtains higher fuel-economy simultaneously under the conditions of different road surface attachments
Property；
The corresponding economy cruise speed of discrete location is converted to the corresponding economy cruise of discrete time by step 2.2
Speed；
Step 2.3 establishes vehicle-state spatial model, building objective function and constraint expression formula, using model prediction control
Device processed carries out speed tracking control.
Preferably, step 2.2 using formula (5)~formula (7) by discrete location corresponding economy cruise speed be converted into from
Time corresponding position, economy cruise speed and acceleration are dissipated, in order to carry out speed tracking using model predictive controller
Control,
Wherein, (ti|tk) it is tkMoment is to tiThe predicted value at moment, i=k ..., k+Np-1；ΔtMPCFor MPC controller
Sampling time；For the corresponding economy cruise speed of discrete location；With a (ti|tk)
The respectively corresponding position of discrete time, economy cruise speed and acceleration；
Vehicle-state spatial model in step 2.3 are as follows:
x(ti+1|tk)=Ax (ti|tk)+Ba(ti|tk) (8)
Wherein,For state variable, the i.e. speed of vehicle and position；
Objective function are as follows:
Wherein, Qv、RaThe respectively weight coefficient of speed tracking error and acceleration fluctuation,
Constraint expression formula are as follows:
Wherein,For vehicle peak acceleration；a
(ti|tk)=- (Fb(ti|tk)+Fg(ti|tk)+Fa(ti|tk)+Fr(ti|tk))/m be vehicle maximum deceleration,a(ti|tk) by road
Face attachment coefficient influences and carries out dynamic adjustment.
Applied to the control device of control method described in claim 1, including data obtaining module, optimization computing module,
Real-time control module, the data obtaining module obtain current vehicle position and go to the road slope information of limited distance, obtain
Sensor and car status information are taken, the real-time control module, under the premise of guaranteeing traffic safety, economy is patrolled in realization
The tracing control of airline speed, it is characterised in that the optimization computing module, according to road slope information and real-time road surface attachment system
Number information carries out economy cruise speed optimization and calculates, carries out coefficient of road adhesion estimation.
Preferably, the data obtaining module obtains vehicle real time position by global position system GPS signal receiver,
And stroke planning is carried out according to the departure place and destination of driver's input；It is limited that front is obtained by Distribution GIS
The road slope information of distance, the information also include the location information that is corresponding to it；Real-time speed is obtained by vehicle speed sensor；It is logical
It crosses load transducer and obtains real-time spring carried mass；Real-time vehicle wheel rotational speed is obtained by wheel speed sensors.
Optimize computing module and calculates the corresponding economy cruise in position under different coefficient of road adhesion using formula (1) to (4)
Speed sequence carries out real-time road surface using Dugoff tire model combination speed, spring carried mass, wheel speed and car status information
Attachment coefficient estimation determines corresponding economy cruise speed according to current road attachment coefficient.
Vehicle cruise control method proposed by the present invention has fully considered road grade and road surface attachment in driving conditions
Index variation, and the optimal speed of vehicle is calculated based on this, so that vehicle is adapted to road grade not only with most sharp
It is travelled in the speed of vehicle economy；Controlling vehicle simultaneously can be with the speed in safe range under various coefficient of road adhesion
Traveling ensure that the safety got off in complex road surface attachment environment.
Preferably, real-time control module using economy cruise speed as reference, and combining geographic information system GIS and entirely
Ball position system GPS information converts time corresponding warp for the corresponding economy cruise speed in position using formula (5)~(7)
Ji property cruise speed.
Preferably, using model predictive controller speed tracking control, in conjunction with real-time control module by coordinate driving with
Braking system controls vehicle acceleration, realizes economy cruise speed tracking control；State space mould used by the controller
Shown in type such as formula (8), shown in objective function such as formula (9), constrain as shown in formula (10).
Vehicle-state is controlled using model predictive controller in vehicle cruise control method proposed by the present invention, guarantees control
The mechanism of system is relatively simple, while having stronger anti-interference, so that vehicle control process reliability, effectively promotion vehicle
The fuel economy of cruise process and safety.
Detailed description of the invention:
Fig. 1 is vehicle economy cruise optimization and control method flow chart；
Fig. 2 is automobile fixed speed cruise and economy cruise fuel consumption comparison diagram under different road surfaces；
Fig. 3 is road-adhesion coefficient schematic diagram；
Fig. 4 is optimization speed and road safety speed comparison diagram based on good road surface；
Fig. 5 is optimization speed and road safety speed comparison diagram based on wet-skid road surface；
Fig. 6 is the practical regulation speed of vehicle and road safety speed comparison diagram based on coefficient of road adhesion result of variations；
Fig. 7 is the structural schematic diagram of vehicle economy cruise optimal control device.
Specific embodiment
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
Embodiment one
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
A kind of vehicle economy cruise control method proposed according to embodiments of the present invention progress is described with reference to the accompanying drawings
Description describes a kind of vehicle economy cruise control method proposed with reference to the accompanying drawings first, and comprise the following steps: step 1 is built
Vertical vehicle fuel consumption model and longitudinal vehicle dynamic model, and speed optimization aim is established, solve economy cruise speed；Step
Rapid 2, car running computer carries out coefficient of road adhesion estimation, determines corresponding economy according to the attachment coefficient of the current road of estimation
Cruise speed；The corresponding economy cruise speed of discrete location is converted to the corresponding economy cruise vehicle of discrete time by step 3
Speed；Step 4 carries out speed tracking control using model predictive controller.
It is comprised the following steps as shown in Figure 1, solving economy cruise speed:
Step 1: establishing vehicle fuel consumption model；
mf=η1+η2ωe+η3Te+η4ωeTe+η5ωe 2Te+η6ωe 3 (1)
Wherein, mfFor fuel consumption rate, ωeFor engine speed, TeFor motor torque, η1, η2……η6For collaboration number.
Fuel oil consumption model is fitted to obtain using motor torque and the relevant multiple item expression formula of revolving speed, fitting result such as 3 institute of attached drawing
Show；
It should be pointed out that fuel oil consumption model is suitable for petrol engine, diesel engine, natural gas engine etc. and passes
System fuel oil (gas) engine.
Step 2: establishing the corresponding longitudinal vehicle dynamic model in position:
Wherein, (sk) it is position skCorresponding parameter；Δ s is predetermined fixed value, position sk-1To position skDistance；
M is spring carried mass；v(sk) it is speed；Fe(sk)=ηmPe(sk)/v(sk) it is driving force, Pe(sk)=f (Te,ωe) it is engine
Power, ηmFor transmission system mechanical efficiency；For brake force, ηbFor braking efficiency,For
Coefficient of road adhesion, α (sk) it is the angle of gradient；Fg(sk)=mgsin α (sk) it is gradient resistance； Fr(sk)=mgfcos α (sk) be
Rolling frictional resistance, f are coefficient of rolling resistance；Fa(sk)=0.5CDρAv(sk)2For air drag, CDFor coefficient of air resistance, A
For front face area, ρ is atmospheric density.
Step 3: building optimization object function and constraint expression formula, solve economy cruise speed；
Economy cruise speed optimization object function are as follows:
Wherein,Average speed is preset for driver；γ is weight coefficient, and optimization process is made to take into account fuel economy and row
Vehicle timeliness.
Constraint expression formula are as follows:
Wherein, vminAnd vmaxRespectively running section speed lower and upper limit；TeminAnd TemaxFor engine minimum and maximum
Torque；ωeminAnd ωemaxEngine is minimum respectively and maximum speed；For maximum
Braking deceleration；Γ is the sum of time of driver's reaction and brake response time；SbmaxIt is maximum braking distance, is set as 50m；
Real-time solution is carried out to the nonlinear optimal problem containing constraint, obtains the corresponding economy cruise speed of discrete location
Include not only vehicle speed information, further includes corresponding vehicle position information；
By the coefficient of road adhesion of consecutive variations by interval division and using the attachment coefficient lower limit in section as calculation basis,
Successively calculate optimal speed sequence corresponding under the conditions of different road surfaces are adhered toIt will
The attachment coefficient classification of consecutive variations calculates so that difficulty in computation reduces, and scheme has exploitativeness；With attachment coefficient section
Lower limit value ensure that speed safety of the vehicle in the attachment coefficient section as calculation basis.
Coefficient of road adhesion is divided into five sections: 0.05~0.2,0.2~0.4,0.4~0.6,0.6~0.8,0.8
~1, and calculating separately road surface coefficient is the cruise speed sequence of economy corresponding to 0.05,0.2,0.4,0.6,0.8
As shown in Figure 1, vehicle economy cruise method for controlling driving speed comprises the following steps:
Step 1: carrying out coefficient of road adhesion estimation according to sensor and car status information, and attached according to current road
Coefficient determine that corresponding economy is cruised speed；
Real-time estimation is carried out to vehicle road attachment coefficient using the kalman filter method based on Dugoff tire model；
According to present road attachment coefficientSelect corresponding speed as with reference to vehicle from economy cruise speed sequence
Speed.
Step 2: the corresponding economy cruise speed of discrete location is converted to the corresponding economy cruise vehicle of discrete time
Speed；
The corresponding position of discrete time is converted for the corresponding economy cruise speed of discrete location using formula (9)~formula (11)
It sets, economy cruise speed and acceleration, in order to carry out speed tracking control using model predictive controller；
Wherein, (ti|tk) it is tkMoment is to tiThe predicted value at moment, i=k ..., k+Np-1；ΔtMPCFor MPC controller
Sampling time；For the corresponding economy cruise speed of discrete location, passes through claim 3 the method and calculate
It obtains；With a (ti|tk) it is respectively the corresponding position of discrete time, economy cruise speed and acceleration.
Discrete speed point is fitted to continuous rate curve by interpolation method, as shown in Fig. 4.
Step 3: vehicle-state spatial model is established, building objective function and constraint expression formula, using Model Predictive Control
Device carries out speed tracking control；Vehicle-state spatial model are as follows:
x(ti+1|tk)=Ax (ti|tk)+Ba(ti|tk) (12)
Wherein,For state variable, the i.e. speed of vehicle and position；
Objective function are as follows:
Wherein, Qv、RaThe respectively weight coefficient of speed tracking error and acceleration fluctuation.
Constraint expression formula are as follows:
Wherein,For vehicle peak acceleration；a
(ti|tk)=- (Fb(ti|tk)+Fg(ti|tk)+Fa(ti|tk)+Fr(ti|tk))/m be vehicle maximum deceleration,a(ti|tk) by road
Face attachment coefficient influences and carries out dynamic adjustment.
In order to verify the effect of entire optimal control, the present embodiment combination Matlab and professional vehicle simulation software
Trucksim has carried out simulating, verifying to entire optimal control process.
As shown in Fig. 2, being travelled respectively with cruise and using optimal way of the invention in three different roads
When fuel consumption, left side is to travel to obtain Fuel consumption amount according to optimization speed curves, and right side fuel consumption is with 20
The fuel consumption that meter per second cruise passes through corresponding road；Simulation result shows the present invention proposition on three different roads
Cruise more traditional cruise of economy compare, fuel consumption reduces 9.3%, 14% and 8% respectively；Illustrate institute of the present invention
It is proposed speed optimization method must can effectively promote VE Vehicle Economy, it was demonstrated that designed control method is for vehicle row
Cross the validity of journey speed-optimization.
It should be pointed out that calculating the time to save, economy cruise optimization timeliness is promoted, the present invention draws total kilometres
If being divided into stem portion, speed optimization is carried out by the way of gradually optimizing, and speed optimization is carried out to the distance of limited distance every time,
After optimization, the speed optimization of next limited distance is carried out.
As shown in figure 3, Fig. 3 is road-adhesion coefficient situation, part way causes attachment coefficient to reduce due to weather conditions；
Fig. 4 be based on coefficient of road adhesion be 1, i.e. the economy cruise speed curves and safe speed that optimize of good road surface；Figure
5 is based on coefficient of road adhesion are 0.5, i.e. the economy cruise speed curves and safe speed that optimize of wet-skid road surface；Figure
The 6 economy cruise speed curves and safe speed obtained for Optimal Control Strategy proposed by the present invention.Analysis curve can obtain:
The possibility of safe speed is had more than in low attachment section based on the speed that single coefficient of road adhesion optimizes, easily leads to vehicle
Whipping or sideslip；Height attachment section although ensure that speed be in safe range, but entirety speed it is lower, and with economy
Property cruise speed difference it is larger, not only haulage time increases but also is unfavorable for the promotion of VE Vehicle Economy.The present invention avoids
The drawbacks of first two optimal way, obtained economy cruise speed is adapted to the transformation of road environment, attached according to road
Coefficient variation adjust speed, ensure that the safety of vehicle, while ensure that the timeliness of driving conditions, improving the combustion of vehicle
Oily economy.
Embodiment two
As shown in fig. 7, vehicle economy cruise control apparatus includes data obtaining module, optimization computing module, in real time control
Molding block, the data obtaining module obtain current vehicle position and go to the road slope information of limited distance, obtain sensing
Device and car status information, the real-time control module are realized under the premise of guaranteeing traffic safety to economy cruise speed
Tracing control, it is characterised in that the optimization computing module, according to road slope information and real-time coefficient of road adhesion information,
It carries out economy cruise speed optimization to calculate, carries out coefficient of road adhesion estimation.
Further, data obtaining module obtains vehicle real time position by global positioning system (GPS) signal receiver,
And stroke planning is carried out according to the departure place and destination of driver's input；
The road slope information of front limited distance is obtained by GIS-Geographic Information System (GIS), which also includes therewith
Corresponding position information；
Real-time speed is obtained by vehicle speed sensor；
Real-time spring carried mass is obtained by load transducer；And
Real-time vehicle wheel rotational speed is obtained by wheel speed sensors.
Further, optimization computing module calculates the corresponding warp in position under different coefficient of road adhesion using formula (1) to (4)
Ji property cruise speed sequence；
Using Dugoff tire model combination speed, spring carried mass, wheel speed and car status information etc., real-time road surface is carried out
Attachment coefficient estimation；
According to current road attachment coefficient, corresponding economy cruise speed is determined；When coefficient of road adhesion occurs
When variation, speed switching is carried out.
Further, real-time control module using economy cruise speed as reference, and combining geographic information system GIS with
It is corresponding by the corresponding economy in position cruise speed to convert the time using formula (5)~(7) for global position system GPS information
Economy cruise speed.
Further, it is controlled using model predictive controller speed tracking, state-space model used by the controller
As shown in formula (8), shown in objective function such as formula (9), constrain as shown in formula (10).
Further, real-time control module controls vehicle acceleration with braking system by coordinating driving, realizes economy
The speed tracking that cruises controls.
In the description of this specification, particular features, structures, materials, or characteristics can be in any one or more embodiments
Or it can be combined in any suitable manner in example.In addition, without conflicting with each other, those skilled in the art can say this
The feature of different embodiments or examples described in bright book and different embodiments or examples is combined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of vehicle economy cruise control method, comprises the following steps:
Step 1 establishes vehicle fuel consumption model and longitudinal vehicle dynamic model, and establishes speed optimization aim, solves economical
Property cruise speed；
Step 2, car running computer carry out coefficient of road adhesion estimation, are determined according to the attachment coefficient of the current road of estimation corresponding
Economy cruise speed；
The corresponding economy cruise speed of discrete location is converted to the corresponding economy cruise speed of discrete time by step 3；
Step 4 carries out speed tracking control using model predictive controller.
2. a kind of vehicle economy cruise control method according to claim 1, it is characterised in that: step 1 solves economy
Property cruise speed specifically include following three step:
Step 1.1 establishes vehicle fuel consumption model,
Step 1.2 establishes the corresponding longitudinal vehicle dynamic model of discrete location,
Step 1.3, building optimization object function and constraint expression formula solve vehicle economy cruise speed,
Model, step are consumed using the fuel oil that motor torque and the relevant multiple item expression formula of revolving speed are fitted in its step 1.1
Economy cruise speed optimization object function point in longitudinal vehicle dynamic model, step 1.3 in rapid 1.2 based on discrete location
Not as shown in formula (1)~formula (3)；Shown in constraint expression formula such as formula (4):
mf=η1+η2ωe+η3Te+η4ωeTe+η5ωe 2Te+η6ωe 3 (1)
Wherein, mfFor fuel consumption rate, ωeFor engine speed, TeFor motor torque, η1, η2……η6For fitting coefficient,
Wherein, (sk) it is position skCorresponding parameter；Δ s is predetermined fixed value, position sk-1To position skDistance；M is
Spring carried mass；v(sk) it is speed；Fe(sk) it is driving force；Fb(sk) it is brake force；Fg(sk) it is gradient resistance；Fr(sk) it is to roll
Frictional resistance；Fa(sk) it is air drag；
Wherein,Average speed is preset for driver；γ is weight coefficient, when optimization process being made to take into account fuel economy and driving
Effect property,
Constraint expression formula are as follows:
Wherein, vminAnd vmaxRespectively running section speed lower and upper limit；TeminAnd TemaxTurn for engine minimum and maximum
Square；ωeminAnd ωemaxEngine is minimum respectively and maximum speed；ηbFor braking efficiency,For coefficient of road adhesion；abmax
For maximum braking deceleration；Γ is the sum of time of driver's reaction and brake response time；SbmaxIt is maximum braking distance；
Real-time solution carried out to above-mentioned nonlinear optimal problem containing constraint, the corresponding economy cruise vehicle of obtained discrete location
Speed includes not only vehicle speed information, further includes corresponding vehicle position information.
3. a kind of vehicle economy cruise control method according to claim 1, which is characterized in that by the road of consecutive variations
Face attachment coefficient successively calculates different road surface attachments by interval division and using the attachment coefficient lower limit in section as calculation basis
Under the conditions of corresponding optimal speed sequenceThe attachment coefficient of consecutive variations is classified
It calculates so that difficulty in computation reduces, scheme has exploitativeness；Guaranteed using the lower limit value in attachment coefficient section as calculation basis
Speed safety of the vehicle in the attachment coefficient section.
4. a kind of vehicle economy cruise control method according to claim 1, which is characterized in that step 2 economy is patrolled
Airline speed control method comprises the following steps:
Step 2.1 carries out coefficient of road adhesion estimation, determines corresponding economy according to section where current road attachment coefficient
Cruise speed, it is ensured that can guarantee that vehicle safety obtains higher fuel economy simultaneously under the conditions of different road surfaces attachments；
The corresponding economy cruise speed of discrete location is converted to the corresponding economy cruise speed of discrete time by step 2.2；
Step 2.3 establishes vehicle-state spatial model, building objective function and constraint expression formula, using model predictive controller
Carry out speed tracking control.
5. a kind of vehicle economy cruise control method according to claim 4, which is characterized in that
It is corresponding that step 2.2 using formula (5)~formula (7) converts discrete time for discrete location corresponding economy cruise speed
Position, economy cruise speed and acceleration, in order to carry out speed tracking control using model predictive controller,
Wherein, (ti|tk) it is tkMoment is to tiThe predicted value at moment, i=k ..., k+Np-1；ΔtMPCFor MPC controller sampling
Time；For the corresponding economy cruise speed of discrete location；With a (ti|tk) respectively
For the corresponding position of discrete time, economy cruise speed and acceleration；
Vehicle-state spatial model in step 2.3 are as follows:
x(ti+1|tk)=Ax (ti|tk)+Ba(ti|tk) (8)
Wherein,For state variable, the i.e. speed of vehicle and position；
Objective function are as follows:
Wherein, Qv、RaThe respectively weight coefficient of speed tracking error and acceleration fluctuation,
Constraint expression formula are as follows:
Wherein,For vehicle peak acceleration；a(ti|tk)
=-(Fb(ti|tk)+Fg(ti|tk)+Fa(ti|tk)+Fr(ti|tk))/m be vehicle maximum deceleration,a(ti|tk) adhered to by road surface
Index impacts and carry out dynamic adjustment.
6. being applied to the control device of control method described in claim 1, including data obtaining module, optimization computing module, reality
When control module, the data obtaining module obtains current vehicle position and goes to the road slope information of limited distance, obtain
Sensor and car status information, the real-time control module are realized and are cruised economy under the premise of guaranteeing traffic safety
The tracing control of speed, it is characterised in that the optimization computing module, according to road slope information and real-time coefficient of road adhesion
Information carries out economy cruise speed optimization and calculates, carries out coefficient of road adhesion estimation.
7. a kind of control device according to claim 6, which is characterized in that the data obtaining module passes through global location
System GPS signal receiver obtains vehicle real time position, and carries out stroke rule according to the departure place and destination of driver's input
It draws；The road slope information of front limited distance is obtained by Distribution GIS, which also includes position of being corresponding to it
Information；Real-time speed is obtained by vehicle speed sensor；Real-time spring carried mass is obtained by load transducer；Pass through wheel speed sensors
Obtain real-time vehicle wheel rotational speed.
8. a kind of control device according to claim 6 or 7, which is characterized in that optimization computing module uses formula (1) extremely
(4) the corresponding economy cruise speed sequence in position under different coefficient of road adhesion is calculated, is combined using Dugoff tire model
Speed, spring carried mass, wheel speed and car status information carry out real-time coefficient of road adhesion estimation, adhere to system according to current road
Number determines corresponding economy cruise speed.
9. a kind of control device according to claim 7, which is characterized in that real-time control module is with economy cruise speed
As reference, and combining geographic information system GIS and global position system GPS information, it is using formula (5)~(7) that position is corresponding
Economy cruise speed be converted into time corresponding economy cruise speed.
10. a kind of vapour control device according to claim 7, which is characterized in that using model predictive controller speed with
Track control controls vehicle acceleration with braking system by coordination driving in conjunction with real-time control module, realizes economy cruise vehicle
Fast tracing control；Shown in such as formula of state-space model used by the controller (8), shown in objective function such as formula (9), constraint is such as
Shown in formula (10).
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