CN112937297A - Speed limit control method, device and controller - Google Patents
Speed limit control method, device and controller Download PDFInfo
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- CN112937297A CN112937297A CN202110307496.7A CN202110307496A CN112937297A CN 112937297 A CN112937297 A CN 112937297A CN 202110307496 A CN202110307496 A CN 202110307496A CN 112937297 A CN112937297 A CN 112937297A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000002347 injection Methods 0.000 claims description 54
- 239000007924 injection Substances 0.000 claims description 54
- 230000005540 biological transmission Effects 0.000 description 13
- 239000000446 fuel Substances 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 230000000994 depressogenic effect Effects 0.000 description 3
- XSQUKJJJFZCRTK-UHFFFAOYSA-N Urea Chemical compound NC(N)=O XSQUKJJJFZCRTK-UHFFFAOYSA-N 0.000 description 2
- 239000004202 carbamide Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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Abstract
The invention relates to a speed limit control method, a device and a controller, relating to the technical field of automobile speed control, wherein the method comprises the following steps: if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the difference value between the reference automobile speed and the actual automobile speed acquired by an automobile speed sensor is not less than a preset difference value; the actual speed is determined according to the current running data of the automobile and the configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor; and if the difference between the reference vehicle speed and the actual vehicle speed is not less than the preset difference, carrying out speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque. The embodiment of the invention solves the problem that the speed limit fails because the speed obtained by the speed sensor is easy to be distorted in the prior art, and improves the driving safety of users.
Description
Technical Field
The invention relates to the technical field of automobile speed control, in particular to a speed limit control method, a speed limit control device and a speed limit controller.
Background
In the control process of the automobile, when the controller ECU of the engine detects that urea is stopped spraying and is not maintained for a long time, the condition that the state of the automobile meets the condition of triggering limit control is determined, speed limit control is carried out according to the speed transmitted by the speed sensor, namely when a user accelerates the automobile, whether the current speed is less than the limit speed is judged, if the current speed is less than the limit speed, oil spraying is normally carried out, namely the acceleration request of the user is responded, and the oil spraying is stopped when the current speed is determined to be more than the limit speed, and the acceleration request of the user is not responded.
At present, the speed limit control is easy to tamper with the vehicle speed acquired by the vehicle speed sensor, for example, sometimes the vehicle speed sensor is removed to improve the vehicle speed without being subjected to the speed limit control, so that a vehicle speed signal reported by the vehicle speed sensor is always 0, and thus the vehicle speed detected by the vehicle speed sensor is always smaller than the limited vehicle speed, and the speed limit control fails in response to an acceleration request of a user. Or the simulated vehicle speed sensor is adopted to replace the original vehicle speed sensor to always send a false vehicle speed signal which is smaller than the limited vehicle speed, so that the speed limit control fails.
Disclosure of Invention
The invention provides a speed limit control method, a speed limit control device and a speed limit controller, which solve the problem that speed limit fails due to the fact that the speed obtained by a speed sensor is easy to be distorted in the prior art.
In a first aspect, a speed limit control method provided in an embodiment of the present invention includes:
if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the difference value between the reference automobile speed and the actual automobile speed acquired by an automobile speed sensor is not less than a preset difference value; the actual speed is determined according to current running data of the automobile and configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
and if the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference, performing speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque.
According to the method, after the condition that the state of the automobile meets the condition of triggering speed limit control is detected, whether the difference value between the automobile speed acquired by the automobile speed sensor and the actual automobile speed of the automobile is not smaller than the preset difference value or not can be judged, whether the automobile speed acquired by the automobile speed sensor is the real automobile speed or not can be determined, and therefore speed limit control is carried out by adopting the corresponding relation between the actual automobile speed or the engine rotating speed and the limiting torque when the automobile speed acquired by the automobile speed sensor is determined to be not the real automobile speed, so that the problem that speed limit fails due to the fact that the automobile speed acquired by the automobile speed sensor is easily tampered in the prior art is solved, and the driving safety of a.
In a possible implementation manner, after determining that the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference, before performing speed limit control, the method further includes:
and determining the duration of the difference between the reference vehicle speed and the actual vehicle speed to be not less than the preset difference and not less than the preset duration.
In the practical application process, when the special conditions such as automobile slip and the like exist, the current wheel speed acquired through the wheel speed sensor is not the actual vehicle speed, and the method needs to determine that the duration of the condition is not less than the preset duration when the difference between the reference vehicle speed and the actual vehicle speed is determined to be not less than the preset difference, so that the error condition is avoided, and the judgment accuracy is improved.
In one possible implementation manner, before determining whether a difference between a reference vehicle speed acquired by a vehicle speed sensor and an actual vehicle speed is not less than a preset difference, the method further includes:
it is determined that the probability that the reference vehicle speed acquired by the vehicle speed sensor is falsified exceeds a preset probability.
According to the method, after the fact that the probability that the reference vehicle speed obtained through the vehicle speed sensor is tampered exceeds the preset probability is determined, whether the difference value between the reference vehicle speed obtained through the vehicle speed sensor and the actual complaint is not smaller than the preset difference value or not can be judged, and the invalid judgment process is avoided.
In one possible implementation, determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered with exceeds a preset probability includes:
if the reference vehicle speed acquired by the vehicle speed sensor is smaller than the vehicle speed limit corresponding to the speed limit control, determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability; or
And if the current gear of the automobile is higher than the limit gear corresponding to the speed limit control, determining that the probability that the reference automobile speed obtained by the automobile speed sensor is tampered exceeds the preset probability.
According to the method, the reference vehicle speed acquired by the vehicle speed sensor can be determined to be smaller than the vehicle speed limit corresponding to the speed limit control, or the current gear of the automobile is higher than the gear limit corresponding to the speed limit control, so that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered is higher, and the purpose of judging whether the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability is achieved.
In one possible implementation manner, the speed limit control is performed by using a corresponding relation between an engine speed and a limiting torque, and includes:
if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
According to the method, when the limiting torque corresponding to the rotating speed of the engine is smaller than the required torque, the speed of the automobile is limited by the limiting torque, and therefore speed limit control is achieved.
In a second aspect, an embodiment of the present invention provides a speed limit control device, including:
the judging module is used for judging whether the difference value between the reference vehicle speed and the actual vehicle speed acquired by the vehicle speed sensor is not less than a preset difference value or not if the detected state of the vehicle meets the condition of triggering speed limit control; the actual speed is determined according to current running data of the automobile and configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
and the control module is used for carrying out speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque if the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference.
In one possible implementation, the apparatus further includes:
the first determination module is used for determining the duration of the difference between the reference vehicle speed and the actual vehicle speed to be not less than a preset difference and not less than a preset duration.
In one possible implementation, the apparatus further includes:
and the second determination module is used for determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability.
In a possible implementation manner, the control module is specifically configured to:
if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
In a third aspect, an embodiment of the present invention provides a controller, including:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the speed limit control method according to any one of the embodiments of the first aspect.
In a fourth aspect, the present application also provides a storage medium, wherein instructions of the storage medium, when executed by a processor of a controller, enable the controller to execute the speed limit control method according to any one of the first aspect.
In addition, for technical effects brought by any one implementation manner of the first aspect when being executed by the processing unit in the second aspect to the fourth aspect, reference may be made to technical effects brought by different implementation manners of the first aspect, and details are not described here again.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention and are not to be construed as limiting the invention.
Fig. 1 is a flowchart of a speed limit control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling speed limit for a vehicle that utilizes an automatic transmission and a manual transmission in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of another method for controlling speed limit for a vehicle that utilizes an automatic transmission and a manual transmission in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of a method of speed limit control for a vehicle employing an automatic transmission and having other identified gears in accordance with an embodiment of the present invention;
FIG. 5 is a flow chart of another speed limit control method suitable for use with an automatic transmission and a vehicle having other identified gears, in accordance with an embodiment of the present invention;
fig. 6 is a structural diagram of a speed limit control device according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Currently, the vehicles are under safety consideration, and an OBD (On Board Diagnostics) System and an ABS (Anti-lock Braking System) System are deployed.
The OBD system is a detection system extended for vehicle fault diagnosis, for example, to limit the speed of a vehicle when a serious emission fault is detected and the vehicle is not maintained for a long time.
The ABS system is used for automatically controlling the power of the brake when the automobile brakes, so that wheels are not locked and are in a rolling and sliding state, and the adhesion between the wheels and the ground is ensured to be at the maximum value.
The ABS system includes a plurality of wheel speed sensors and transmits wheel speed signals through a CAN bus.
Among them, the automobile also includes various sensors, such as: the vehicle speed sensor is generally mounted on the output shaft of the gearbox, and the vehicle speed is calculated by measuring the rotation frequency of signal teeth of the output shaft and is provided for the instrument to display. The meter generally sends the vehicle speed to the engine's controller ECU in real time via the CAN bus.
An automatic transmission such as an amt (automated Mechanical transmission) or the like CAN identify a current gear by a sensor, and CAN send gear information to a CAN bus and to a controller ECU of an engine by the CAN bus.
Clutch switch signal: a controller ECU identifies whether the clutch is depressed, 1 indicates depressed (clutch release) and 0 indicates not depressed (clutch engaged state), and transmits a voltage signal to the engine.
In the control process of the automobile, when the OBD system determines that the state of the automobile meets the condition of triggering the limit control, the speed limit control is carried out according to the speed transmitted by the speed sensor.
Based on this, the embodiment of the present invention provides a speed limit control method, where the method may be applied to an ECU (electronic control unit) of an engine or a device with control functions such as an instrument controller, and as shown in fig. 1, the method includes:
s100: if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the difference value between the reference automobile speed and the actual automobile speed acquired by an automobile speed sensor is not less than a preset difference value; the actual speed is determined according to the current running data of the automobile and the configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
the condition for triggering the speed limit control can be that urea stops spraying and is not maintained for a long time, and in order to urge a user to maintain the vehicle so as to ensure that the emission reaches the standard, the automobile can automatically initiate the speed limit control.
The current driving data of the automobile comprises a current gear, an engine speed and the like; the configuration information of the automobile comprises preset gear speed ratios, tire radiuses and the like, and before the automobile leaves a factory, the gear speed ratios and the tire radiuses can be configured in the main control of the automobile, so that the automobile speed can be controlled according to the gear information.
Wherein the wheel speed can be obtained by the above-described wheel speed sensor.
Generally, the wheel speed is the same as the vehicle speed, so the wheel speed sensor or the vehicle speed determined from the current driving data of the vehicle and the configuration information of the vehicle is used as the actual vehicle speed.
S101: and if the difference between the reference vehicle speed and the actual vehicle speed is not less than the preset difference, carrying out speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque.
In the mode, under the condition that the state of the automobile meets the condition of triggering speed limit control, the speed limit control cannot be directly carried out through the reference automobile speed acquired by the automobile speed sensor, but whether the reference automobile speed acquired by the automobile speed sensor and the actual automobile speed are not smaller than a preset difference value is judged, if the reference automobile speed acquired by the automobile speed sensor and the actual automobile speed are not smaller than the preset difference value, the speed limit control is carried out by adopting the actual automobile speed or the corresponding relation between the engine rotating speed and the limited torque, and therefore the problem that the speed limit fails due to tampering in the prior art is solved.
Illustratively, the speed limit control by adopting the actual vehicle speed specifically comprises the following steps:
if the user is detected to step on the accelerator pedal, acquiring the current wheel speed through a wheel speed sensor, judging whether the current wheel speed is greater than a vehicle speed limit, for example, the vehicle speed limit can be 20km/h, if the current wheel speed is greater than the vehicle speed limit, controlling an oil injection nozzle to stop injecting oil, and if the current vehicle speed is not greater than the vehicle speed limit, determining the required torque of the engine according to the current position of the accelerator pedal; and determining the oil injection quantity according to the rotating speed of the engine and the required torque of the engine, adjusting the current oil injection quantity to the determined oil injection quantity, and controlling an oil injection nozzle to inject oil according to the determined oil injection quantity, so that the aim of responding to the acceleration of a user is fulfilled.
Illustratively, the speed limit control is carried out by adopting the corresponding relation between the engine speed and the limited torque, and comprises the following steps:
if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
And if the required torque is smaller than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the required torque, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity.
The corresponding relation between the engine speed and the limiting torque is shown in table 1:
TABLE 1
| |
600 | 1000 | 1300 | 1600 | 2000 |
| Limiting the torque Nm | 1000 | 1000 | 500 | 0 | 0 |
For example, when the required torque is determined to be 100, if the engine speed is 1600, as shown in table 1, the limiting torque corresponding to the engine speed is determined to be 0, 100 is greater than 0, the fuel injection amount is determined according to the engine speed and the limiting torque, that is, the fuel injection amount is 0, and the fuel injection is stopped.
If the engine speed is 1300, as shown in table 1, it is determined that the limiting torque corresponding to the engine speed is 500, and then 100 is less than 500, the fuel injection amount is determined according to the engine speed and the required torque, that is, 1300 and 100, the current fuel injection amount is adjusted to the determined fuel injection amount, and the fuel injection nozzle is controlled to inject fuel according to the determined fuel injection amount.
In the practical application process, because the automobile slips and the like, the detected wheel speed cannot represent the actual automobile speed, and if only the reference automobile speed and the current wheel speed at the moment are judged to be not less than the preset difference value, the judgment error is easily caused, so when the difference value between the reference automobile speed and the actual automobile speed is determined to be not less than the preset difference value, and the duration time of the state is judged to be not less than the preset duration time, the interference of special conditions such as automobile slip and the like can be effectively eliminated, and the judgment accuracy is improved.
In general, when the speed limit is tampered to be smaller than the limited vehicle speed and the vehicle speed is detected to be larger than the limited vehicle speed, the speed limit control is performed, so that in order to avoid unnecessary determination process of the reference vehicle speed and the actual vehicle speed, the present invention proposes that before determining whether the difference between the reference vehicle speed and the actual vehicle speed obtained by the vehicle speed sensor is not smaller than a preset difference, the method further comprises:
it is determined that the probability that the reference vehicle speed acquired by the vehicle speed sensor is falsified exceeds a preset probability.
Illustratively, the manner of determination is:
if the reference vehicle speed acquired by the vehicle speed sensor is smaller than the vehicle speed limit corresponding to the speed limit control, determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability; or
And if the current gear of the automobile is higher than the limit gear corresponding to the speed limit control, determining that the probability that the reference automobile speed obtained by the automobile speed sensor is tampered exceeds the preset probability.
That is to say, when the reference vehicle speed is less than the limited vehicle speed corresponding to the limited control, the reference vehicle speed is likely to be tampered, so a determination process of the sizes of the reference vehicle speed and the actual vehicle speed needs to be performed, or, when the current gear of the vehicle is higher than the limited gear corresponding to the speed limit control, that is, because the vehicle performs the speed limit control, the current gear of the vehicle should not be higher than the limited gear corresponding to the speed limit control, if the current gear is higher than the limited gear, it is indicated that the vehicle does not perform the speed limit control, for example, when the limited gear corresponding to the speed limit control is the 2 gear, if the current gear is the 3 gear, the actual vehicle speed of the vehicle is likely to exceed the limited vehicle speed corresponding to the. Therefore, the present invention can be judged by the above two ways.
The gear position can be identified by sensors in the automatic transmission described above.
When the gear is judged, the gear is required to be judged in a state that the clutch is not stepped, and meanwhile, the condition that the gear is 0 is eliminated, and because the gear is 0, namely, in a neutral state, and the speed is 0, the judgment is not required.
For example, after the speed limit control is performed by using the actual vehicle speed or the corresponding relationship between the engine speed and the limiting torque, the embodiment of the present invention further provides that if the reference vehicle speed obtained by the vehicle speed sensor is not less than the first preset speed, and the difference between the current wheel speed and the reference vehicle speed is not greater than the second preset speed, or the state of the vehicle does not satisfy the condition for triggering the speed limit control, it indicates that the fault of the vehicle is serious at this time, and prompts the user that the fault needs to be repaired immediately, and at the same time, the corresponding relationship between the actual vehicle speed or the engine speed and the limiting torque is removed, the speed limit control is performed, and whether the state of the vehicle satisfies the condition for triggering the speed limit control is determined again.
In view of the above, an embodiment of the present invention provides a method for controlling speed limit for an automobile applicable to a manual transmission and an automatic transmission, where the manual transmission does not obtain a gear signal, so that for an automobile using the manual transmission, a wheel speed may be used as an actual vehicle speed to implement the method for controlling speed limit, and for an automobile using the automatic transmission, a wheel speed may also be used to implement the method for controlling speed limit, and the specific contents are as follows:
implementation mode 1: as shown in fig. 2:
s200: if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the reference speed acquired by the speed sensor is smaller than the speed limit corresponding to the speed limit control; if yes, executing S201; otherwise, executing S202;
s201: judging whether the difference value between the reference vehicle speed acquired by a vehicle speed sensor and the current wheel speed acquired by a wheel speed sensor is not less than a preset difference value or not; if yes, executing S203; otherwise, executing S202;
s202: carrying out speed limit control by adopting a reference vehicle speed;
s203: judging whether the difference between the reference vehicle speed and the current wheel speed is not less than the duration of a preset difference or not, and if so, executing S204; otherwise, executing S202;
s204: and carrying out speed limit control by adopting the current wheel speed.
In the above manner, if it is determined that the state of the vehicle meets the condition for triggering speed limit control, the reference vehicle speed acquired by the vehicle speed sensor is less than the speed limit corresponding to the speed limit control, the difference between the reference vehicle speed acquired by the vehicle speed sensor and the current wheel speed acquired by the wheel speed sensor is not less than the preset difference, and the duration is not less than the preset duration, it is indicated that the reference vehicle speed acquired by the vehicle speed sensor is tampered, the wheel speed is used for speed limit control, and of course, when either of the above conditions is not met, the existing reference vehicle speed acquired by the vehicle speed sensor is still used for speed limit control.
Implementation 2, shown in connection with fig. 3:
s300: if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the reference speed acquired by the speed sensor is smaller than the speed limit corresponding to the speed limit control; if yes, S301 is executed; otherwise, executing S302;
s301: judging whether the difference value between the reference vehicle speed acquired by a vehicle speed sensor and the current wheel speed acquired by a wheel speed sensor is not less than a preset difference value or not; if so, executing S303; otherwise, executing S302;
s302: carrying out speed limit control by adopting a reference vehicle speed;
s303: judging whether the difference value between the reference vehicle speed and the current wheel speed is not less than the duration of a preset difference value and is not less than the preset duration, if so, executing S304; otherwise, executing S302;
s304: and carrying out speed limit control by adopting the corresponding relation between the engine speed and the limit torque.
The embodiment of the invention provides a method for carrying out speed limit control on an automobile which is applicable to an automatic gearbox or other vehicles capable of identifying gears, because the automatic gearbox or other vehicles capable of identifying gears can obtain gear information, the method for realizing the speed limit control provided by the embodiment of the invention adopts the actual speed obtained by calculation, and the specific content is as follows:
implementation mode 1: as shown in fig. 4:
s400: if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the current gear of the automobile is higher than a limit gear corresponding to the speed limit control; if yes, S401 is executed; otherwise, executing S402;
s401: judging whether a difference value between a reference vehicle speed acquired by a vehicle speed sensor and an actual vehicle speed determined according to current driving data of the vehicle and configuration information of the vehicle is not less than a preset difference value or not; if so, executing S403; otherwise, executing S402;
s402: carrying out speed limit control by adopting a reference vehicle speed;
s403: judging whether the difference between the reference vehicle speed and the actual vehicle speed is not less than the duration of a preset difference or not, and if so, executing S404; otherwise, executing S402;
s404: and carrying out speed limit control by adopting the current wheel speed.
Of course, after the speed limit control is performed by using the wheel speed, if it is detected that the probability that the vehicle speed obtained by the vehicle speed sensor is tampered is smaller than the preset probability, or the difference between the reference vehicle speed obtained by the vehicle speed sensor and the actual vehicle speed is smaller than the preset difference, or the difference between the reference vehicle speed and the actual vehicle speed is not smaller than the duration of the preset difference and is smaller than the preset duration, the speed limit control is stopped by using the wheel speed, and the speed limit control is restored to be performed by using the vehicle speed obtained by the vehicle speed sensor.
Implementation 2, shown in conjunction with fig. 5:
s500: if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the current gear of the automobile is higher than a limit gear corresponding to the speed limit control; if yes, S501 is executed; otherwise, executing S502;
s501: judging whether a difference value between a reference vehicle speed acquired by a vehicle speed sensor and an actual vehicle speed determined according to current driving data of the vehicle and configuration information of the vehicle is not less than a preset difference value or not; if so, executing S503; otherwise, executing S502;
s502: carrying out speed limit control by adopting a reference vehicle speed;
s503: judging whether the difference between the reference vehicle speed and the actual vehicle speed is not less than the duration of a preset difference or not, and if so, executing S504; otherwise, executing S502;
s504: and carrying out speed limit control by adopting the corresponding relation between the engine speed and the limit torque.
It should be noted that the gear limit corresponding to the speed limit control, the vehicle speed limit corresponding to the speed limit control, the preset duration, the preset difference, the first preset speed and the second preset speed may be automatically calibrated according to engineering tests of different vehicles, and thus, the present invention is not particularly limited.
An embodiment of the present invention further provides a speed limit control device, which is shown in fig. 6 and includes:
the judging module 600 is configured to judge whether a difference between a reference vehicle speed obtained by a vehicle speed sensor and an actual vehicle speed is not less than a preset difference if it is detected that a state of the vehicle satisfies a condition for triggering speed limit control; the actual speed is determined according to current running data of the automobile and configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
and the control module 601 is configured to perform speed limit control by using the actual vehicle speed or a corresponding relationship between the engine speed and the limited torque if the difference between the reference vehicle speed and the actual vehicle speed is not smaller than a preset difference.
Optionally, the apparatus further comprises:
the first determination module is used for determining the duration of the difference between the reference vehicle speed and the actual vehicle speed to be not less than a preset difference and not less than a preset duration.
Optionally, the apparatus further comprises:
and the second determination module is used for determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability.
Optionally, the second determining module is specifically configured to:
if the reference vehicle speed acquired by the vehicle speed sensor is smaller than the vehicle speed limit corresponding to the speed limit control, determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability; or
And if the current gear of the automobile is higher than the limit gear corresponding to the speed limit control, determining that the probability that the reference automobile speed obtained by the automobile speed sensor is tampered exceeds the preset probability.
Optionally, the control module is specifically configured to:
if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
An embodiment of the present invention provides a controller, including:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the speed limit control method according to any one of the above.
For example, the processor is configured to determine whether a difference between a reference vehicle speed acquired by the vehicle speed sensor and an actual vehicle speed is not less than a preset difference if it is detected that a state of the vehicle satisfies a condition for triggering speed limit control; the actual speed is determined according to current running data of the automobile and configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
and if the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference, performing speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque.
Optionally, the processor is further configured to: and determining the duration of the difference between the reference vehicle speed and the actual vehicle speed to be not less than the preset difference and not less than the preset duration.
Optionally, the processor is further configured to: it is determined that the probability that the reference vehicle speed acquired by the vehicle speed sensor is falsified exceeds a preset probability.
Optionally, the processor is specifically configured to: if the reference vehicle speed acquired by the vehicle speed sensor is smaller than the vehicle speed limit corresponding to the speed limit control, determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability; or
And if the current gear of the automobile is higher than the limit gear corresponding to the speed limit control, determining that the probability that the reference automobile speed obtained by the automobile speed sensor is tampered exceeds the preset probability.
Optionally, the processor is specifically configured to: if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
In an exemplary embodiment, a storage medium including instructions, such as a memory including instructions, executable by a processor of a controller to perform the speed limit control method is also provided. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A speed limit control method is characterized by comprising the following steps:
if the detected state of the automobile meets the condition of triggering speed limit control, judging whether the difference value between the reference automobile speed and the actual automobile speed acquired by an automobile speed sensor is not less than a preset difference value; the actual speed is determined according to current running data of the automobile and configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
and if the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference, performing speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque.
2. The speed limit control method according to claim 1, wherein after determining that the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference and before performing speed limit control, the method further comprises:
and determining the duration of the difference between the reference vehicle speed and the actual vehicle speed to be not less than the preset difference and not less than the preset duration.
3. The speed limit control method according to claim 1, wherein before determining whether a difference between a reference vehicle speed obtained by a vehicle speed sensor and an actual vehicle speed is not less than a preset difference, the method further comprises:
it is determined that the probability that the reference vehicle speed acquired by the vehicle speed sensor is falsified exceeds a preset probability.
4. The speed limit control method according to claim 3, wherein determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is falsified exceeds a preset probability includes:
if the reference vehicle speed acquired by the vehicle speed sensor is smaller than the vehicle speed limit corresponding to the speed limit control, determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability; or
And if the current gear of the automobile is higher than the limit gear corresponding to the speed limit control, determining that the probability that the reference automobile speed obtained by the automobile speed sensor is tampered exceeds the preset probability.
5. The speed limit control method according to any one of claims 1 to 4, wherein the speed limit control is performed by using a correspondence between an engine speed and a limit torque, and includes:
if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
6. A speed limit control device, characterized by comprising:
the judging module is used for judging whether the difference value between the reference vehicle speed and the actual vehicle speed acquired by the vehicle speed sensor is not less than a preset difference value or not if the detected state of the vehicle meets the condition of triggering speed limit control; the actual speed is determined according to current running data of the automobile and configuration information of the automobile, or the actual speed is determined according to the current wheel speed acquired by a wheel speed sensor;
and the control module is used for carrying out speed limit control by adopting the actual vehicle speed or the corresponding relation between the engine rotating speed and the limited torque if the difference between the reference vehicle speed and the actual vehicle speed is not less than a preset difference.
7. The speed limit control device of claim 6, further comprising:
the first determination module is used for determining the duration of the difference between the reference vehicle speed and the actual vehicle speed to be not less than a preset difference and not less than a preset duration.
8. The speed limit control device of claim 6, further comprising:
and the second determination module is used for determining that the probability that the reference vehicle speed acquired by the vehicle speed sensor is tampered exceeds the preset probability.
9. A speed-limiting control device according to any one of claims 6 to 8, wherein the control module is specifically configured to:
if the fact that a user steps on an accelerator pedal is detected, determining the required torque of the engine according to the current position of the accelerator pedal;
determining the limiting torque corresponding to the current engine speed according to the corresponding relation between the engine speed and the limiting torque;
and if the required torque is larger than the limit torque corresponding to the current engine rotating speed, determining the oil injection quantity according to the current engine rotating speed and the limit torque corresponding to the current engine rotating speed, and adjusting the current oil injection quantity to the determined oil injection quantity so that an oil injection nozzle in the automobile injects oil according to the determined oil injection quantity, thereby achieving the purpose of controlling the speed of the automobile.
10. A controller, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the speed limit control method of any one of claim 1 to claim 5.
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| CN202110307496.7A CN112937297A (en) | 2021-03-23 | 2021-03-23 | Speed limit control method, device and controller |
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| CN202110307496.7A CN112937297A (en) | 2021-03-23 | 2021-03-23 | Speed limit control method, device and controller |
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