CN111880529B - Ramp cruise vehicle speed control method based on high-precision map - Google Patents
Ramp cruise vehicle speed control method based on high-precision map Download PDFInfo
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Abstract
The invention relates to the technical field of cruise control, in particular to a ramp cruise vehicle speed control method based on a high-precision map. Reconstructing a map based on the speed limit information of the front road, the gradient information of the road and the position information of the vehicle received by the high-precision map module; according to the reconstructed map information, acquiring the current position information of the vehicle and the information of the distance between the starting point and the end point of the next ramp; inquiring a speed regulation distance MAP table, a speed regulation threshold MAP table and a speed regulation slope MAP table which are calibrated in advance based on the vehicle load, the initial vehicle speed and the slope gradient of the ramp to obtain a speed regulation distance, a speed regulation threshold and a speed regulation slope; and when the vehicle runs to the speed regulation distance, controlling the speed of the vehicle based on the speed regulation threshold value and the speed regulation slope. The scheme sets a speed regulation distance triggering speed regulation, when the vehicle reaches the speed regulation distance, the vehicle speed of the vehicle is controlled through a table look-up method based on a speed regulation threshold and a speed regulation slope, and the oil saving rate can be maximized.
Description
Technical Field
The invention relates to the technical field of cruise control, in particular to a ramp cruise vehicle speed control method based on a high-precision map.
Background
The driving mode has better use experience on flat road surfaces when the vehicle is automatically driven in an automatic cruise driving mode, namely, the vehicle is automatically driven by adopting the cruise speed set by the driver, but when the road surfaces have gradients, if the vehicle is still automatically driven at the set cruise speed, the fuel consumption rate is generally increased.
In order to solve the technical problem, Chinese patent application with publication number CN 108068806A discloses a cruise energy-saving control method and device for an automobile engine. However, the specific speed of the vehicle is not known to those skilled in the art to be suitable for the gradient and the slope length, which makes the solution difficult to implement. Therefore, how to reasonably set the vehicle speed to achieve the purpose of saving fuel is still a difficult problem to be faced when the cruise control faces a ramp.
Disclosure of Invention
The invention aims to provide a ramp cruise vehicle speed control method based on a high-precision map, aiming at the defects of the prior art, which can reasonably set the vehicle speed and realize the highest fuel-saving rate on the premise that the vehicle speed can ensure the stability of a power chain.
The technical scheme of the invention is as follows: reconstructing a map based on the speed limit information of the front road, the gradient information of the road and the position information of the vehicle received by the high-precision map module;
according to the reconstructed map information, acquiring the current position information of the vehicle and the information of the distance between the starting point and the end point of the next ramp;
inquiring a speed regulation distance MAP table, a speed regulation threshold MAP table and a speed regulation slope MAP table which are calibrated in advance based on the vehicle load, the initial vehicle speed and the slope gradient of the ramp to obtain a speed regulation distance, a speed regulation threshold and a speed regulation slope;
and when the vehicle runs to the speed regulation distance, controlling the speed of the vehicle based on the speed regulation threshold value and the speed regulation slope.
Preferably, the MAP table is calibrated based on the load of the vehicle and the slope of the slope, and the calibration includes
Setting an initial calibration value of a speed regulation distance;
a control variable method is adopted, the optimal oil saving rate is taken as a target, a vehicle runs for a plurality of driving cycles under a fixed working condition, and a corresponding curve of the speed regulation distance and the comprehensive oil consumption is drawn;
obtaining the current vehicle load and the optimal speed regulation distance under the current slope according to the corresponding curves of the speed regulation distance and the comprehensive oil consumption;
recording the corresponding optimal speed regulation distance of each vehicle load and the slope of the ramp to obtain an initial speed regulation distance MAP table;
and finely adjusting the initial speed regulation distance MAP table to obtain a speed regulation distance MAP table.
Preferably, the speed regulation threshold MAP table is calibrated based on the initial vehicle speed and the slope gradient, and the calibration comprises
Setting an initial calibration value of a speed regulation threshold value;
a control variable method is adopted, the optimal oil saving rate is taken as a target, a vehicle runs for a plurality of driving cycles under a fixed working condition, and a corresponding curve of a speed regulation threshold value and comprehensive oil consumption is drawn;
obtaining the current initial speed and the optimal speed regulation threshold value under the current slope gradient according to the speed regulation threshold value and the corresponding curve of the comprehensive oil consumption;
recording the corresponding optimal speed regulation threshold values of each initial speed and the slope gradient of the ramp to obtain an initial speed regulation threshold value MAP table;
and finely adjusting the initial speed regulation threshold value MAP table to obtain a speed regulation threshold value MAP table.
Preferably, the speed regulation slope MAP table is calibrated based on the vehicle load and the initial vehicle speed, and the calibration comprises
Setting an initial calibration value of a speed regulation slope;
a control variable method is adopted, the optimal fuel saving rate is taken as a target, a vehicle runs for a plurality of driving cycles under a fixed working condition, and a corresponding curve of a speed regulation slope and comprehensive fuel consumption is drawn;
obtaining the optimal speed regulation slope of the current vehicle load and the initial vehicle speed according to the corresponding curve of the speed regulation slope and the comprehensive oil consumption;
recording the corresponding optimal speed regulation slope of each vehicle load and the initial speed to obtain an initial speed regulation slope MAP table;
and finely adjusting the initial speed regulation slope MAP table to obtain a speed regulation slope MAP table.
Preferably, the fine-tuning of the initial speed regulation distance MAP table, the initial speed regulation threshold MAP table and the initial speed regulation slope MAP table comprises
Finely adjusting the speed regulation distance, the speed regulation threshold and the speed regulation slope in the initial speed regulation distance MAP table, the initial speed regulation threshold MAP table and the initial speed regulation slope MAP table under the same working condition, and drawing a fuel consumption rate curve according to the result of each fine adjustment;
when one fuel consumption rate curve is closest to the set target fuel consumption rate curve, the speed regulation distance, the speed regulation threshold value and the speed regulation slope corresponding to the fuel consumption rate curve are taken as corresponding numerical values under the working condition to be updated to corresponding columns in an initial speed regulation distance MAP table, an initial speed regulation threshold MAP table and an initial speed regulation slope MAP table, and the speed regulation distance MAP table, the speed regulation threshold MAP table and the speed regulation slope MAP table are obtained.
Preferably, when the calibration is performed, the change of the vehicle load comprises a standard load, a half load and an empty load, and the standard load, the half load and the empty load are divided by the vehicle nominal.
Preferably, during calibration, the slope changes include a large slope, a middle slope and a small slope, and the large slope, the middle slope and the small slope are divided through a plurality of preset slope thresholds.
Preferably, during calibration, the change of the initial vehicle speed comprises a cruise speed less than the target cruise speed, a cruise speed greater than the target cruise speed, and the cruise speed less than the target cruise speed, the cruise speed greater than the target cruise speed and the target cruise speed are divided by the cruise speed set by the driver.
The invention has the beneficial effects that: according to the scheme, on the premise of a high-precision map module, the whole vehicle controller is combined with the traditional cruising state of the vehicle and the road front road condition provided by the receiving map module, the target cruising speed of the vehicle is comprehensively adjusted, and the aim of saving fuel in the processes of ascending and descending is fulfilled. The scheme sets a speed regulation distance triggering speed regulation, and when the vehicle reaches the speed regulation distance, the vehicle speed of the vehicle is controlled by a table look-up method based on a speed regulation threshold and a speed regulation slope, so that the oil saving rate can be maximized. By controlling a variable method, the three MAP tables are calibrated and finely adjusted in real time according to the load of the vehicle, the slope of the ramp and the initial speed of the vehicle, so that the finally obtained adjusting parameters can better meet a target fuel consumption rate curve, and the fuel is saved to the maximum extent on the premise that the vehicle keeps the power chain stable on the ascending and descending slopes.
Drawings
FIG. 1 is a schematic control flow diagram of the present invention;
FIG. 2 is a schematic diagram illustrating the present location and current grade of a vehicle before and after map reconstruction in accordance with the present invention;
FIG. 3 is a simplified schematic diagram of the current position and current grade of a vehicle after map reconstruction in accordance with the present invention;
FIG. 4 is a graph illustrating a timing distance MAP;
FIG. 5 is a graph illustrating the intent of the throttle threshold MAP;
FIG. 6 is a graph illustrating a timing slope MAP;
FIG. 7 is a map of the fuel consumption rate curves for conventional cruise and ideal vehicle speed control.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in FIG. 1, a ramp cruise vehicle speed control method based on a high-precision map comprises the following flows:
And 2, acquiring the current position information of the vehicle and the information of the distance between the starting point and the ending point of the next ramp according to the reconstructed map information.
And 3, inquiring a speed regulation distance MAP table, a speed regulation threshold MAP table and a speed regulation slope MAP table which are calibrated in advance based on the vehicle load, the initial vehicle speed and the slope gradient to obtain the speed regulation distance, the speed regulation threshold and the speed regulation slope.
And 4, controlling the speed of the vehicle based on the speed regulation threshold and the speed regulation slope when the vehicle runs to the speed regulation distance.
The speed regulation distance in front of the ramp is adapted to the load information of the vehicle and the road gradient. The speed regulation distance refers to the distance from the starting point of the ramp when the vehicle starts to regulate speed. At present, the vehicle has less whole vehicle load information, and the whole vehicle load can be obtained by combining the whole vehicle mass estimation method adaptive to various road conditions. If the conditions are limited, the driver can be reminded to use the method to achieve the optimal oil saving rate when the vehicle is fully loaded according to the specific running working condition of the commercial vehicle. The larger the vehicle load is, the larger the road gradient is, the larger the speed regulation distance in front of the ramp is, and vice versa, but the relation between the speed regulation distance and the road gradient is not a linear relation, and the relation is related to the state of the whole vehicle, particularly the whole vehicle gear and the driving resistance, and the calibration and the confirmation of the vehicle are required to be realized.
In order to enable the speed regulation distance in front of the ramp to be matched with the vehicle load information and the road gradient, the scheme calibrates the speed regulation distance in advance to obtain a speed regulation distance MAP table shown in figure 4. The process of calibrating the MAP table is as follows:
setting an initial calibration value of a speed regulation distance;
fixing two variables (vehicle load and slope gradient) by adopting a control variable method, taking the optimal fuel saving rate as a target, driving the vehicle for a plurality of driving cycles under a fixed working condition, and drawing a corresponding curve of a speed regulation distance and comprehensive fuel consumption;
obtaining the current vehicle load and the optimal speed regulation distance under the current slope by utilizing a least square method according to the corresponding curves of the speed regulation distance and the comprehensive oil consumption;
recording the corresponding optimal speed regulation distance of each vehicle load and the slope of the ramp to obtain an initial speed regulation distance MAP table;
and finely adjusting the initial speed regulation distance MAP table to obtain a speed regulation distance MAP table.
The speed regulation threshold value in front of the ramp is adapted to the initial speed, the vehicle load information and the road gradient. The speed regulation threshold value refers to the maximum value of the vehicle speed before the vehicle ascends the slope and the minimum value of the vehicle speed after the vehicle descends the slope. The smaller the initial vehicle speed is, the greater the vehicle state is, the greater the initial vehicle speed is, the larger the speed regulation threshold value is, the vehicle is in an unsafe state, and the maximum speed regulation threshold value is required to be combined with the common vehicle speed of the vehicle on an expressway, namely, the maximum speed regulation threshold value is about 80 km/h. And meanwhile, the larger the vehicle load is, the larger the road gradient is, the larger the speed regulating threshold value in front of the ramp is, and vice versa. On the basis, the high-precision map also provides the speed limit information of the current road, and the speed regulation threshold value also needs to be comprehensively processed in combination with the speed limit information of the current road.
In order to make the speed regulation threshold value in front of the ramp adapted to the vehicle load information and the road gradient, the scheme calibrates the speed regulation threshold value in advance to obtain a speed regulation threshold value MAP table as shown in FIG. 5. The process of calibrating the MAP table is as follows:
setting an initial calibration value of a speed regulation threshold value;
fixing two variables (initial vehicle speed and slope gradient) by adopting a control variable method, taking the optimal fuel saving rate as a target, driving a vehicle under a fixed working condition for a plurality of driving cycles, and drawing a corresponding curve of a speed regulation threshold and comprehensive fuel consumption;
obtaining the current initial speed and the optimal speed regulation threshold value under the current slope gradient according to the speed regulation threshold value and the corresponding curve of the comprehensive oil consumption;
recording the corresponding optimal speed regulation threshold values of each initial vehicle speed and the slope gradient of the ramp, and obtaining an initial speed regulation threshold value MAP table by using a least square method;
and finely adjusting the initial speed regulation threshold value MAP table to obtain a speed regulation threshold value MAP table.
The slope of the vehicle speed adjustment before the grade should be related to vehicle load, headway distance, and road grade. The speed regulation slope refers to the speed regulation rate of the vehicle in front of the slope, and the speed regulation rate directly determines whether the single-slope front vehicle speed override is successful or not, namely, whether the key factor of saving oil is achieved or not. The transmission loss of the power chain of the whole vehicle is greatly increased due to the overlarge speed regulation slope, and although the speed regulation behavior before the ramp is achieved on the surface, the fuel consumption rate is not reduced and is increased; although the speed regulation action before the ramp is achieved and the fuel consumption rate is reduced, the yield cannot be maximized due to the excessively small speed regulation slope. The speed regulation slope is related to a plurality of factors, and cannot be said to be general, and the speed regulation slope is calibrated in practical application, and is small or large when the slope cannot be determined.
The scheme calibrates the speed regulation slope in advance to obtain a speed regulation slope MAP table as shown in figure 6. The process of calibrating the MAP table is as follows:
setting an initial calibration value of a speed regulation slope;
fixing two variables (vehicle load and initial vehicle speed) by adopting a control variable method, taking the optimal fuel saving rate as a target, driving the vehicle for a plurality of driving cycles under a fixed working condition, and drawing a corresponding curve of a speed regulation slope and comprehensive fuel consumption;
obtaining the optimal speed regulation slope of the current vehicle load and the target cruising speed according to the corresponding curve of the speed regulation slope and the comprehensive oil consumption;
recording the corresponding optimal speed regulation slope of each vehicle load and the target cruising speed, and obtaining an initial speed regulation slope MAP table by using a least square method;
and finely adjusting the initial speed regulation slope MAP table to obtain a speed regulation slope MAP table.
When the scheme is used for calibration, the change of the load of the vehicle comprises a standard load, a half load and an idle load, and the standard load, the half load and the idle load are divided through the vehicle calibration. The change of the slope gradient comprises a large slope, a middle slope and a small slope, wherein the large slope, the middle slope and the small slope are divided through a plurality of preset gradient threshold values. The initial vehicle speed changes comprise a target cruise vehicle speed, a target cruise vehicle speed and a target cruise vehicle speed, and the target cruise vehicle speed, the target cruise vehicle speed and the target cruise vehicle speed are divided by preset target cruise vehicle speeds.
In the actual running process of the vehicle speed control target, the load capacity of a common vehicle is not changed, the initial vehicle speed is also the cruising vehicle speed set by a driver, and the optimal solution of a speed regulation threshold value, a speed regulation distance and a speed regulation slope in a discrete state can be obtained through three calibrated initial MAP tables. In the actual vehicle running process, a certain coupling degree exists among three variables, and in order to achieve the optimal fuel consumption, software needs to be finely adjusted again in the actual vehicle calibration process so as to obtain balance among a speed regulation threshold, a speed regulation distance and a speed regulation slope:
the speed regulation threshold value is too large, the speed is not easy to control, and the speed is easy to exceed the road speed limit; the speed regulation threshold value is too small, so that the aim of regulating the speed and saving the oil of the vehicle cannot be fulfilled;
the speed regulation distance is too large, the speed regulation is easy to exceed the speed regulation threshold value, although the speed regulation slope has larger tolerance, the PID and control accuracy requirements are too high, and the repayment is easy to be realized; the speed regulation distance is too small, the speed regulation action time is too short, the aim of regulating the speed and saving the oil of the vehicle cannot be achieved, the speed regulation slope is easy to increase logically by the model, and the oil consumption is not reduced and increased inversely;
the speed regulation slope is too large, the power chain loss is inevitably increased, and the oil consumption is inevitably increased; theoretically, the smaller the speed regulation slope is, the better the speed regulation slope is, but the speed regulation slope should be maintained at a reasonable level, otherwise, the precision requirements on model logic and hardware are too high, and the resource utilization rate is too low.
The larger the gradient is, the more the speed regulation distance and the speed regulation threshold value should be reasonably increased, and the stability of the speed regulation slope is ensured as much as possible.
The specific fine tuning process of the scheme is as follows:
finely adjusting the speed regulation distance, the speed regulation threshold and the speed regulation slope in the initial speed regulation distance MAP table, the initial speed regulation threshold MAP table and the initial speed regulation slope MAP table under the same working condition, and drawing a fuel consumption rate curve according to the result of each fine adjustment;
when one fuel consumption rate curve is closest to the set target fuel consumption rate curve, as shown in fig. 7, the speed regulation distance, the speed regulation threshold value and the speed regulation slope corresponding to the fuel consumption rate curve are updated to corresponding columns in the initial speed regulation distance MAP table, the initial speed regulation threshold value MAP table and the initial speed regulation slope MAP table as corresponding numerical values under the working condition, so that the speed regulation distance MAP table, the speed regulation threshold value MAP table and the speed regulation slope MAP table are obtained.
The fine tuning method can adopt an iterative method to gradually optimize until the final curve is basically coincident with the ideal fuel consumption rate curve.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (7)
1. A ramp cruise vehicle speed control method based on a high-precision map is characterized by comprising the following steps:
reconstructing a map based on the speed limit information of the front road, the gradient information of the road and the position information of the vehicle received by the high-precision map module;
according to the reconstructed map information, acquiring the current position information of the vehicle and the information of the distance between the starting point and the end point of the next ramp;
inquiring a speed regulation distance MAP table, a speed regulation threshold MAP table and a speed regulation slope MAP table which are calibrated in advance based on the vehicle load, the initial vehicle speed and the slope gradient of the ramp to obtain a speed regulation distance, a speed regulation threshold and a speed regulation slope;
when the vehicle runs to the speed regulation distance, controlling the speed of the vehicle based on the speed regulation threshold value and the speed regulation slope;
fine-tuning an initial speed regulation distance MAP table to obtain a speed regulation distance MAP table, fine-tuning an initial speed regulation threshold MAP table to obtain a speed regulation threshold MAP table, and fine-tuning an initial speed regulation slope MAP table to obtain a speed regulation slope MAP table;
fine-tuning the initial speed regulation distance MAP table, the initial speed regulation threshold MAP table, and the initial speed regulation slope MAP table includes
Finely adjusting the speed regulation distance, the speed regulation threshold and the speed regulation slope in the initial speed regulation distance MAP table, the initial speed regulation threshold MAP table and the initial speed regulation slope MAP table under the same working condition, and drawing a fuel consumption rate curve according to the result of each fine adjustment;
when one fuel consumption rate curve is closest to the set target fuel consumption rate curve, the speed regulation distance, the speed regulation threshold value and the speed regulation slope corresponding to the fuel consumption rate curve are taken as corresponding numerical values under the working condition to be updated to corresponding columns in an initial speed regulation distance MAP table, an initial speed regulation threshold MAP table and an initial speed regulation slope MAP table, and the speed regulation distance MAP table, the speed regulation threshold MAP table and the speed regulation slope MAP table are obtained.
2. The high-precision map-based hill-cruise vehicle speed control method according to claim 1, characterized in that: the speed regulation distance MAP table is calibrated based on the load of the vehicle and the slope of the ramp, and the calibration comprises
Setting an initial calibration value of a speed regulation distance;
a control variable method is adopted, the optimal oil saving rate is taken as a target, a vehicle runs for a plurality of driving cycles under a fixed working condition, and a corresponding curve of the speed regulation distance and the comprehensive oil consumption is drawn;
obtaining the current vehicle load and the optimal speed regulation distance under the current slope according to the corresponding curves of the speed regulation distance and the comprehensive oil consumption;
recording the corresponding optimal speed regulation distance of each vehicle load and the slope of the ramp to obtain an initial speed regulation distance MAP table;
and finely adjusting the initial speed regulation distance MAP table to obtain a speed regulation distance MAP table.
3. The high-precision map-based hill-cruise vehicle speed control method according to claim 2, characterized in that: the speed regulation threshold value MAP table is calibrated based on the initial vehicle speed and the slope gradient, and the calibration comprises
Setting an initial calibration value of a speed regulation threshold value;
a control variable method is adopted, the optimal oil saving rate is taken as a target, a vehicle runs for a plurality of driving cycles under a fixed working condition, and a corresponding curve of a speed regulation threshold value and comprehensive oil consumption is drawn;
obtaining the current initial speed and the optimal speed regulation threshold value under the current slope gradient according to the speed regulation threshold value and the corresponding curve of the comprehensive oil consumption;
recording the corresponding optimal speed regulation threshold values of each initial speed and the slope gradient of the ramp to obtain an initial speed regulation threshold value MAP table;
and finely adjusting the initial speed regulation threshold value MAP table to obtain a speed regulation threshold value MAP table.
4. A high accuracy map based hill-cruise vehicle speed control method according to claim 3, characterized in that: the speed regulation slope MAP table is calibrated based on the vehicle load and the initial vehicle speed, and the calibration comprises
Setting an initial calibration value of a speed regulation slope;
a control variable method is adopted, the optimal fuel saving rate is taken as a target, a vehicle runs for a plurality of driving cycles under a fixed working condition, and a corresponding curve of a speed regulation slope and comprehensive fuel consumption is drawn;
obtaining the optimal speed regulation slope of the current vehicle load and the initial vehicle speed according to the corresponding curve of the speed regulation slope and the comprehensive oil consumption;
recording the corresponding optimal speed regulation slope of each vehicle load and the initial speed to obtain an initial speed regulation slope MAP table;
and finely adjusting the initial speed regulation slope MAP table to obtain a speed regulation slope MAP table.
5. The high-precision map-based hill-cruise vehicle speed control method according to claim 2, characterized in that: and when the calibration is carried out, the change of the load of the vehicle comprises a standard load, a half load and an idle load, and the standard load, the half load and the idle load are divided by the vehicle calibration.
6. The high-precision map-based hill-cruise vehicle speed control method according to claim 2, characterized in that: when calibration is carried out, the change of the slope comprises a large slope, a middle slope and a small slope, and the large slope, the middle slope and the small slope are divided through a plurality of preset slope thresholds.
7. A high accuracy map based hill-cruise vehicle speed control method according to claim 3, characterized in that: and during calibration, the change of the initial vehicle speed comprises a lower-than-target cruise vehicle speed, a target cruise vehicle speed and a higher-than-target cruise vehicle speed, and the lower-than-target cruise vehicle speed, the target cruise vehicle speed and the higher-than-target cruise vehicle speed are divided by the cruise vehicle speed set by the driver.
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| CN112677994A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Method for preventing automatic driving vehicle from sliding down slope |
| CN115352442A (en) * | 2022-08-08 | 2022-11-18 | 东风商用车有限公司 | Gear optimization-fused predictive energy-saving cruise hierarchical control method for commercial vehicle |
| CN116605218B (en) * | 2023-05-22 | 2024-01-30 | 广州汽车集团股份有限公司 | Control method and device, equipment and computer readable storage medium |
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| CN109910890A (en) * | 2019-03-19 | 2019-06-21 | 吉林大学 | A kind of truck prediction energy conserving system and control method based on route topography information |
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