CN102069802A - Control method and device for whole vehicle controller cruise system of electric vehicle - Google Patents
Control method and device for whole vehicle controller cruise system of electric vehicle Download PDFInfo
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Abstract
The invention discloses a control method and device for a whole vehicle controller cruise system of an electric automobile, and the method comprises the following steps: reading cruise switching signals of the electric automobile, and judging whether the electric automobile enters into a cruise control mode by using an analog-to-digital conversion module of a microcontroller; reading messages regarding the whole vehicle dynamic information, and connecting a communication module of the microcontroller, subjected to level switch, with a communication interface of the whole vehicle controller to determine a cruise control method; connecting a cruise speed adjusting button with an universal input/output interface of the microcontroller by a filter circuit, and determining a cruise speed set value; connecting brake pedal signals with the analog-to-digital conversion module by a sampling circuit, and determining the brake information of a driver; and connecting accelerator pedal signals with the analog-to-digital conversion module by a sampling circuit, determining the accelerator pedal opening, and setting the cruise speed according to a control policy. By using the control method and device of the whole vehicle controller cruise system of the electric vehicle, the cruise system controlling can be run stably and efficiently, thus providing a hardware platform controlled by the cruise system for the whole vehicle controller, and compensating performance lack of the whole vehicle controller in the field of the cruise system controlling.
Description
Technical field
The present invention discloses a kind of entire car controller cruise system control method of electronlmobil, and the device of realizing this method also is provided simultaneously, belongs to new-energy automobile control technology field.
Background technology
At present, the entire car controller of existing electronlmobil mainly possesses following function: the power-on and power-off logic of control car load, and scheduling and management electric machine control system and battery management system, it is undertaking vital tasks such as collection and treatment of car load information and integrated vehicle control tactics realization.Because work capacity is heavy, traditional entire car controller does not often have the cruise system controllable function.Therefore caused the disappearance of most of electronlmobil cruising control function.Though a spot of electronlmobil has possessed the cruise system controllable function, but this function often all is to be integrated on the Control Network of former traditional vehicle, entire car controller is the direct control cruise function not, and this just will cause the low of the instability of controller performance and work efficiency.The comfort property and the speed ability of electronlmobil are had a greatly reduced quality.
Present stage, a lot of vehicles in use were in reality operation, and especially in express highway travels, because the disappearance of cruise system controllable function is with unstable, chaufeur must step down on the acceleration pedal for a long time for stabilizing speed, is easy to cause driver fatigue like this.If keep this strenuous status for a long time, will cause fatigue driving to occur.The consequence that this potential safety hazard is brought is hardly imaginable.If cause the turnpike driving accident, will cause immeasurable huge life, property damage for national and individual undoubtedly.And this situation of traditional entire car controller is often powerless.
Summary of the invention
The present invention discloses a kind of entire car controller cruise system control method of electronlmobil, has solved the problem of traditional entire car controller to the cruise system afunction.
The present invention also provides the control setup of realizing this method, and it can provide a hardware platform for entire car controller, can move cruise system control policy and method stably, efficiently on this platform.
The entire car controller cruise system control method technical solution of electronlmobil of the present invention is as follows:
Utilize the analog-to-digital conversion module of microcontroller, read the cruise switch signal of electronlmobil, judge whether to enter cruise mode control.After entering cruise mode control, the communication module of microcontroller links to each other with the communication interface of entire car controller after level conversion, reads the message relevant with the car load dynamic Information, determines cruise control method.Cruising speed is regulated button and is connected with the general input/output interface of microcontroller through filter circuit, determines the cruising speed value of setting.The brake pedal signal links to each other with analog-to-digital conversion module through sample circuit, determines the chaufeur braking information.The acceleration pedal signal links to each other with analog-to-digital conversion module through sample circuit, determines the acceleration pedal aperture, and sets cruising speed according to control policy.
Realize the entire car controller cruise system control setup of the method for the invention, it is characterized in that:
The cruise system control setup mainly is made of microcontroller (MCU-Micro Control Unit), controller area network (CAN-Controller Area Network) transceiver, cruise switch sample circuit, the key press detecting circuit that cruises, brake pedal sample circuit and acceleration pedal sample circuit.Wherein, the analogue to digital conversion of MCU (AD-Analog-to-Digital Converter) module 1 cooperates the cruise switch sample circuit that the cruise switch signal is gathered, and judges whether to enter cruise mode control.After entering cruise mode control, the CAN communication module of MCU, CAN bus interface with entire car controller (VCU-Vehicle Control Unit) after CAN transceiver level conversion links to each other, and reads VCU and the speed of a motor vehicle, gear, message that motoring condition is relevant, determines cruise control method.Cruising speed is regulated button and is divided into: "+" and "-"."+" links to each other with general I/O (the GPIO-General Purpose Input Output) interface 1 of MCU behind the button filter circuit that cruises."-", link to each other with the GPIO2 of MCU behind the button filter circuit that cruises.MCU carries out plus-minus counting to the number of times of button, determines the cruising speed that chaufeur will be provided with this.The brake pedal signal links to each other with AD module 2 through the brake pedal sample circuit, by the voltage of acquired signal, determines chaufeur brake degree information.The acceleration pedal signal links to each other with AD module 3 through the acceleration pedal sample circuit, by the voltage of acquired signal, calculates the acceleration pedal aperture, and sets cruising speed (as Fig. 1) according to control policy.
The entire car controller cruise system control setup concrete structure of electronlmobil of the present invention is as follows:
The signal of the CAN communication module of MCU receives pin CAN_RXD and is connected with signal transmission pin TXD with the signal reception pin RXD of CAN transceiver with signal transmission pin CAN_TXD, finishes the Transistor-Transistor Logic level transmission of CAN bus; The CANH end of CAN transceiver links to each other with the CANL end with the CAN bus interface CANH end of VCU with the CANL end, finishes the differential level transmission of CAN bus, has so just realized the conversion of Transistor-Transistor Logic level and differential level.
The cruise switch sample circuit mainly is made of cruise switch and filter circuit 1, open and the closure of cruise switch can cause the change of voltage of filter circuit 1 input end 0 ~ 12V, this voltage is after filter circuit 1 denoising and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD1 of MCU to gather.The V of cruise switch wherein
SoutBe the on off state mouth, be connected on the V of filter circuit 1
InOn the network, AGND is the simulation ground input end of cruise switch, is connected on the AGND network of filter circuit 1.The V of filter circuit 1
OutLink to each other with the input end AD1 of the AD module 1 of MCU, the AGND of filter circuit 1 links to each other with MCU simulation ground input end AGND.
Cruise "+" key press detecting circuit mainly by "+" button and filter circuit 2 constitute; " + " button press and lift the variation that can cause self KEY end high-low level; the KEY end signal enters filter circuit 2 by Vin; outputed to the GPIO1 interface of MCU after the circuit denoising by Vout, simultaneously "+" the GND pin of button links to each other with the DGND of MCU through the DGND of filter circuit.MCU can to "+" the button number of times pressing and lift carries out plus-minus counting.
Cruise "-" key press detecting circuit mainly by "-" button and filter circuit 3 constitute; "-" button press and lift the variation that can cause self KEY end high-low level; the KEY end signal enters filter circuit 3 by Vin; outputed to the GPIO2 interface of MCU after the circuit denoising by Vout, simultaneously "-" the GND pin of button links to each other with the DGND of MCU through the DGND of filter circuit.MCU can to "-" the button number of times pressing and lift carries out plus-minus counting.
The brake pedal sample circuit mainly is made of brake pedal and filter circuit 4, the difference that brake pedal is trampled degree (stroke) can play the change of voltage of filter circuit 4 input ends 0 ~ 12V, this voltage is after filter circuit 4 denoisings and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD2 of MCU to gather.The V of brake pedal wherein
BoutBe the on off state mouth, be connected on the V of filter circuit 4
InOn the network, AGND is the simulation ground input end of brake pedal, is connected on the AGND network of filter circuit 4.The V of filter circuit 4
OutLink to each other with the input end AD2 of the AD module 2 of MCU, the AGND of filter circuit 2 links to each other with MCU simulation ground input end AGND.
The acceleration pedal sample circuit mainly is made of acceleration pedal and filter circuit 5, the difference that acceleration pedal is trampled degree (stroke) can play the change of voltage of filter circuit 5 input ends 0 ~ 12V, this voltage is after filter circuit 5 denoisings and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD3 of MCU to gather.The V of acceleration pedal wherein
AoutBe the on off state mouth, be connected on the V of filter circuit 5
InOn the network, AGND is the simulation ground input end of acceleration pedal, is connected on the AGND network of filter circuit 5.The V of filter circuit 5
OutLink to each other with the input end AD3 of the AD module 3 of MCU, the AGND of filter circuit 5 links to each other with MCU simulation ground input end AGND.
The cruise switch sample circuit is after detecting the cruise switch closure, read the message of VCU by the CAN bus about the speed of a motor vehicle, gear, motoring condition, gather brake pedal information simultaneously, the cruise system control setup can be finished the cruise system controllable function of electronlmobil according to following control algorithm.
(1). start the condition of cruise system control:
1). if the speed of a motor vehicle 〉=30Km/h;
2). if the current D shelves that are in;
3). if automobile is in the driving motoring condition;
4). if be not in braking state.
(2). cruising speed actv. condition:
1) cruise system starts;
2) it is the cruising control zero hour when the key press detecting circuit that cruises detects the moment that "+" key presses.This moment, the speed of a motor vehicle was for setting cruising speed;
3) calculate the acceleration pedal aperture by the acceleration pedal sample circuit, and the cooresponding acceleration pedal aperture of setting cruising speed is
(3). the cruising speed control algorithm:
1) cruising control is effective, and after setting cruising speed, carries out the speed closed loop control.Speed closed loop control block scheme as shown in Figure 2; Among the figure,
--K desired speed constantly;
---K actual vehicle speed constantly;
--K motor expectation moment constantly;
---K actual the moment of motor constantly; Wherein: rate controller, torque controller, motor etc. all are former car dynamic assembly parts, and the present invention only changes its controlled variable.
2) adopt the PID control policy to carry out speed control;
3) behind the setting cruising speed, be less than or equal to if collect the acceleration pedal aperture
, it is constant then to keep setting cruising speed;
4) set cruising speed after, if collect the acceleration pedal value greater than
, then obtain expecting rotating speed by tabling look-up, and carry out speed control by this expectation rotating speed according to current acceleration pedal aperture.When the acceleration pedal aperture is less than or equal to
After, then by 3) mode control rotating speed;
5) after the acceleration, set more than the cooresponding speed of a motor vehicle 10km/h of cruising speed if the speed of a motor vehicle surpasses, and continue the 5min that travels with this speed of a motor vehicle, then the cruising speed of former setting is invalid, the closed loop control of cancellation speed.VCU travels according to current acceleration pedal aperture powered vehicle;
6) if, then will setting cruising speed less than 1000ms, the time of pinning the "+" button increases 1.5km/h.If the time of pinning the "+" button, then every interval 600ms will set cruising speed increased 1.5km/h greater than 1000ms, was 140km/h until setting cruising speed.When the setting cruising speed is 140km/h,, also no longer increases and set cruising speed even pin the "+" button.
7) if time of pinning "-" button less than 1000ms, then will set cruising speed and reduce 1.5km/h.If then every interval 600ms will set cruising speed and reduce 1.5km/h greater than 1000ms the time of pinning "-" button, be 30km/h until setting cruising speed.When the setting cruising speed is 30km/h,, also no longer reduces and set cruising speed even pin "-" button.
(4). the condition that cruising speed is invalid:
1) VCU detects speed-slackening signal;
2) gear level places " P ", " R ", " N " position;
3) if the invalid or gear level of speed-slackening signal places " D ", press the "+" button after, recover to cruise, promptly the setting cruising speed by preservation carries out the speed closed loop control.
When cruising speed is invalid, the temporary close CCS cruise control system.Need this moment to preserve and set cruising speed, the closed loop control of cancellation speed.VCU calculates drive torque according to the acceleration pedal aperture.
(5). close the condition of cruising control
The cruise switch sample circuit cuts out the cruise system controllable function of electronlmobil after detecting the cruise switch disconnection.
Good effect of the present invention is:Can move cruise system control policy and method stably, efficiently, the hardware platform of a cruise system control is provided for entire car controller.Thereby remedied the performance deficiencies of entire car controller in cruise system control field.
In addition, the electronlmobil that apparatus of the present invention are housed can make the pin of chaufeur stepping on accelerator pedal be had a rest when express highway travels, and reason is not driven for a long time to control the acceleration pedal stabilizing speed and produced fatigue, alleviates the operation burden of chaufeur.Thereby avoided unexpected generation, increased substantially traffic safety, guaranteed the people's life and property safety, be specially adapted to elec. vehicle at running on expressway.
Description of drawings
Fig. 1 is a structured flowchart of the present invention;
Fig. 2 is a cruising speed control algorithm block diagram of the present invention;
Fig. 3 is schematic circuit diagram of the present invention.
The specific embodiment
Embodiment 1
The cruise system control setup mainly is made of MCU, CAN transceiver, cruise switch sample circuit, the key press detecting circuit that cruises, brake pedal sample circuit and acceleration pedal sample circuit.Wherein, the AD module 1 of MCU cooperates the cruise switch sample circuit that the cruise switch signal is gathered, and judges whether to enter cruise mode control.After entering cruise mode control, the CAN communication module of MCU links to each other with the CAN bus interface of entire car controller VCU after CAN transceiver level conversion, reads VCU and the speed of a motor vehicle, gear, message that motoring condition is relevant, determines cruise control method.Cruising speed is regulated button and is divided into: "+" and "-"."+" links to each other with the GPIO1 of MCU behind the button filter circuit 1 that cruises."-", link to each other with the GPIO2 of MCU behind the button filter circuit 2 that cruises.MCU carries out plus-minus counting to the number of times of button, determines the cruising speed that chaufeur will be provided with this.The brake pedal signal links to each other with AD module 2 through the brake pedal sample circuit, by the voltage of acquired signal, determines chaufeur brake degree information.The acceleration pedal signal links to each other with AD module 3 through the acceleration pedal sample circuit, by the voltage of acquired signal, calculates the acceleration pedal aperture, and sets cruising speed according to control policy.
Embodiment 2
As shown in Figure 3: the signal of the CAN communication module of MCU receives pin CAN_RXD and is connected with signal transmission pin TXD with the signal reception pin RXD of CAN transceiver with signal transmission pin CAN_TXD, finishes the Transistor-Transistor Logic level transmission of CAN bus; The CANH end of CAN transceiver links to each other with the CANL end with the CAN bus interface CANH end of VCU with the CANL end, finishes the differential level transmission of CAN bus, has so just realized the conversion of Transistor-Transistor Logic level and differential level.
The cruise switch sample circuit mainly is made of cruise switch and filter circuit 1, open and the closure of cruise switch can cause the change of voltage of filter circuit 1 input end 0 ~ 12V, this voltage is after filter circuit 1 denoising and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD1 of MCU to gather.The V of cruise switch wherein
SoutBe the on off state mouth, be connected on the V of filter circuit 1
InOn the network, AGND is the simulation ground input end of cruise switch, is connected on the AGND network of filter circuit 1.The V of filter circuit 1
OutLink to each other with the input end AD1 of the AD module 1 of MCU, the AGND of filter circuit 1 links to each other with MCU simulation ground input end AGND.
Cruise "+" key press detecting circuit mainly by "+" button and filter circuit 2 constitute; " + " button press and lift the variation that can cause self KEY end high-low level; the KEY end signal enters filter circuit 2 by Vin; outputed to the GPIO1 interface of MCU after the circuit denoising by Vout, simultaneously "+" the GND pin of button links to each other with the DGND of MCU through the DGND of filter circuit.MCU can to "+" the button number of times pressing and lift carries out plus-minus counting.
Cruise "-" key press detecting circuit mainly by "-" button and filter circuit 3 constitute; "-" button press and lift the variation that can cause self KEY end high-low level; the KEY end signal enters filter circuit 3 by Vin; outputed to the GPIO2 interface of MCU after the circuit denoising by Vout, simultaneously "-" the GND pin of button links to each other with the DGND of MCU through the DGND of filter circuit.MCU can to "-" the button number of times pressing and lift carries out plus-minus counting.
The brake pedal sample circuit mainly is made of brake pedal and filter circuit 4, the difference that brake pedal is trampled degree (stroke) can play the change of voltage of filter circuit 4 input ends 0 ~ 12V, this voltage is after filter circuit 4 denoisings and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD2 of MCU to gather.The V of brake pedal wherein
BoutBe the on off state mouth, be connected on the V of filter circuit 4
InOn the network, AGND is the simulation ground input end of brake pedal, is connected on the AGND network of filter circuit 4.The V of filter circuit 4
OutLink to each other with the input end AD2 of the AD module 2 of MCU, the AGND of filter circuit 2 links to each other with MCU simulation ground input end AGND.
The acceleration pedal sample circuit mainly is made of acceleration pedal and filter circuit 5, the difference that acceleration pedal is trampled degree (stroke) can play the change of voltage of filter circuit 5 input ends 0 ~ 12V, this voltage is after filter circuit 5 denoisings and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD3 of MCU to gather.The V of acceleration pedal wherein
AoutBe the on off state mouth, be connected on the V of filter circuit 5
InOn the network, AGND is the simulation ground input end of acceleration pedal, is connected on the AGND network of filter circuit 5.The V of filter circuit 5
OutLink to each other with the input end AD3 of the AD module 3 of MCU, the AGND of filter circuit 5 links to each other with MCU simulation ground input end AGND.
Claims (3)
1. the entire car controller cruise system control method of an electronlmobil is characterized in that:
Utilize the analog-to-digital conversion module of microcontroller, read the cruise switch signal of electronlmobil, judge whether to enter cruise mode control; After entering cruise mode control, the communication module of microcontroller links to each other with the communication interface of entire car controller after level conversion, reads the message relevant with the car load dynamic Information, determines cruise control method; Cruising speed is regulated button and is connected with the general input/output interface of microcontroller through filter circuit, determines the cruising speed value of setting; The brake pedal signal links to each other with analog-to-digital conversion module through sample circuit, determines the chaufeur braking information; The acceleration pedal signal links to each other with analog-to-digital conversion module through sample circuit, determines the acceleration pedal aperture, and sets cruising speed according to control policy.
2. realize the entire car controller cruise system control setup of the electronlmobil of the described method of claim 1, it is characterized in that:
The cruise system control setup mainly is made of microcontroller (MCU), controller area network (CAN) transceiver, cruise switch sample circuit, the key press detecting circuit that cruises, brake pedal sample circuit and acceleration pedal sample circuit; Wherein, the analogue to digital conversion of MCU (AD) module 1 cooperates the cruise switch sample circuit that the cruise switch signal is gathered, and judges whether to enter cruise mode control; After entering cruise mode control, the CAN communication module of MCU, the CAN bus interface with entire car controller (VCU) after CAN transceiver level conversion links to each other, and reads VCU and the speed of a motor vehicle, gear, message that motoring condition is relevant, determines cruise control method; Cruising speed is regulated button and is divided into: "+" and "-"; "+" links to each other with general I/O (GPIO) interface 1 of MCU behind the button filter circuit that cruises; "-" links to each other with the GPIO2 of MCU behind the button filter circuit that cruises; MCU carries out plus-minus counting to the number of times of button, determines the cruising speed that chaufeur will be provided with this; The brake pedal signal links to each other with AD module 2 through the brake pedal sample circuit, by the voltage of acquired signal, determines chaufeur brake degree information; The acceleration pedal signal links to each other with AD module 3 through the acceleration pedal sample circuit, by the voltage of acquired signal, calculates the acceleration pedal aperture, and sets cruising speed according to control policy.
3. according to the entire car controller cruise system control setup of the electronlmobil of the described method of claim 1, it is characterized in that:
The signal of the CAN communication module of MCU receives pin CAN_RXD and is connected with signal transmission pin TXD with the signal reception pin RXD of CAN transceiver with signal transmission pin CAN_TXD, finishes the Transistor-Transistor Logic level transmission of CAN bus; The CANH end of CAN transceiver links to each other with the CANL end with the CAN bus interface CANH end of VCU with the CANL end, finishes the differential level transmission of CAN bus, has so just realized the conversion of Transistor-Transistor Logic level and differential level;
The cruise switch sample circuit mainly is made of cruise switch and filter circuit 1, open and the closure of cruise switch can cause the change of voltage of filter circuit 1 input end 0 ~ 12V, this voltage is after filter circuit 1 denoising and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD1 of MCU to gather; The V of cruise switch wherein
SoutBe the on off state mouth, be connected on the V of filter circuit 1
InOn the network, AGND is the simulation ground input end of cruise switch, is connected on the AGND network of filter circuit 1; The V of filter circuit 1
OutLink to each other with the input end AD1 of the AD module 1 of MCU, the AGND of filter circuit 1 links to each other with MCU simulation ground input end AGND;
"+" key press detecting circuit that cruises mainly is made of "+" button and filter circuit 2, the pressing and lift of "+" button can cause the variation of self KEY end high-low level, the KEY end signal enters filter circuit 2 by Vin, outputed to the GPIO1 interface of MCU after the circuit denoising by Vout, the GND pin of "+" button links to each other with the DGND of MCU through the DGND of filter circuit simultaneously; MCU can to "+" the button number of times pressing and lift carries out plus-minus counting;
Cruise "-" key press detecting circuit mainly by "-" button and filter circuit 3 constitute; "-" button press and lift the variation that can cause self KEY end high-low level; the KEY end signal enters filter circuit 3 by Vin; outputed to the GPIO2 interface of MCU after the circuit denoising by Vout, simultaneously "-" the GND pin of button links to each other with the DGND of MCU through the DGND of filter circuit; MCU can to "-" the button number of times pressing and lift carries out plus-minus counting;
The brake pedal sample circuit mainly is made of brake pedal and filter circuit 4, the difference that brake pedal is trampled stroke can play the change of voltage of filter circuit 4 input ends 0 ~ 12V, this voltage is after filter circuit 4 denoisings and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD2 of MCU to gather; The V of brake pedal wherein
BoutBe the on off state mouth, be connected on the V of filter circuit 4
InOn the network, AGND is the simulation ground input end of brake pedal, is connected on the AGND network of filter circuit 4; The V of filter circuit 4
OutLink to each other with the input end AD2 of the AD module 2 of MCU, the AGND of filter circuit 2 links to each other with MCU simulation ground input end AGND;
The acceleration pedal sample circuit mainly is made of acceleration pedal and filter circuit 5, the difference that acceleration pedal is trampled stroke can play the change of voltage of filter circuit 5 input ends 0 ~ 12V, this voltage is after filter circuit 5 denoisings and dividing potential drop, and the voltage of exporting 0 ~ 5V at mouth supplies the AD3 of MCU to gather; The V of acceleration pedal wherein
AoutBe the on off state mouth, be connected on the V of filter circuit 5
InOn the network, AGND is the simulation ground input end of acceleration pedal, is connected on the AGND network of filter circuit 5; The V of filter circuit 5
OutLink to each other with the input end AD3 of the AD module 3 of MCU, the AGND of filter circuit 5 links to each other with MCU simulation ground input end AGND.
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| CN103121449A (en) * | 2011-11-18 | 2013-05-29 | 北汽福田汽车股份有限公司 | Method and system for cruise control of electric automobile |
| CN103587526A (en) * | 2012-08-17 | 2014-02-19 | 北汽福田汽车股份有限公司 | Electrocar cruise control method |
| CN103661380A (en) * | 2013-12-04 | 2014-03-26 | 奇瑞汽车股份有限公司 | Vehicular cruise control system and cruise control method |
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| CN112622902A (en) * | 2021-01-15 | 2021-04-09 | 江苏理工学院 | Self-adaptive cruise control system based on brake-by-wire |
| CN113401124A (en) * | 2021-07-13 | 2021-09-17 | 中通客车股份有限公司 | Pure electric vehicle cruise control system and method based on CAN controller |
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Application publication date: 20110525 |