CN104369737B - A kind of limiting vehicle speed system - Google Patents
A kind of limiting vehicle speed system Download PDFInfo
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- CN104369737B CN104369737B CN201310355134.0A CN201310355134A CN104369737B CN 104369737 B CN104369737 B CN 104369737B CN 201310355134 A CN201310355134 A CN 201310355134A CN 104369737 B CN104369737 B CN 104369737B
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Abstract
The present invention relates to a kind of limiting vehicle speed system, described system includes: inputting interface, and described inputting interface includes for receiving the device that target vehicle speed sets；Engine controller, described engine controller is configured in the case of actual gas pedal aperture is less than predetermined threshold, controls the electromotor response to the acceleration request that driver is inputted by gas pedal in the way of making actual vehicle speed be less than described target vehicle speed.
Description
Technical field
The present invention relates to technical field of automobile control, and more particularly, to a kind of limiting vehicle speed system.
Background technology
Along with development and the raising of people's living standard of auto industry, automobile is used as walking-replacing tool the most universal.But, along with popularizing of vehicle, the probability that vehicle accident occurs is more and more higher.According to statistics, annual vehicle accident there is more than half all owing to overspeed driving car causes.Vehicle driver usually probably due to hypervelocity and suffer various punishment, and if thus result in major accident, then consequence is more serious.
In order to reduce the generation of overspeed situation, vehicle in the market has begun to be equipped with speed limit reminding system, i.e. when speed exceedes the restriction speed pre-entered, instrument has relevant overspeed alarm information.But such speed limit reminding system can not be actual restriction road speed, still can not prevent the puzzlement that driver is exceeded the speed limit in the case of unconscious.Even if it addition, there is speed limiting system to be reached speed limiting function by the restriction to electromotor, the most usually can not accomplish completely accurately to control, still have the situation generation in short-term beyond limit value, the hypervelocity such as brought puzzlement because of road conditions factors such as slope roads.
Summary of the invention
In view of the foregoing, the invention provides a kind of limiting vehicle speed system, described system includes: inputting interface, and described inputting interface includes for receiving the device that target vehicle speed sets；Engine controller, described engine controller is configured in the case of actual gas pedal aperture is less than predetermined threshold, controls the electromotor response to the acceleration request that driver is inputted by gas pedal in the way of making actual vehicle speed be less than described target vehicle speed.
According to some embodiments of the present invention, described engine controller is configured to: determines based on target vehicle speed, actual vehicle speed and actual acceleration and currently allows speed；And allow speed to set the parameter relevant to engine operation condition according to current.
According to some embodiments of the present invention, described limiting vehicle speed system also includes the vehicle stabilization control unit for providing auxiliary braking output to vehicle, described engine controller is additionally configured to determine auxiliary braking demand indication signal based on target vehicle speed, actual vehicle speed and actual acceleration, and described vehicle stabilization control unit produces the output of corresponding auxiliary braking in response to described auxiliary braking demand indication signal so that actual vehicle speed is less than described target vehicle speed.
According to some embodiments of the present invention, described engine controller is configured to proportional integral regulation and determines and currently allow speed, wherein said target vehicle speed is the target of described proportional integral regulation, and described actual vehicle speed and actual acceleration are used as the input of described proportional integral regulation.
According to some embodiments of the present invention, set the parameter relevant to engine operation condition according to current permission speed and include: obtain current peak torque limit value by matching and calibration from described current permission speed；Torque demand corresponding to current throttle pedal is compared with described current peak torque limit value；And when the torque demand corresponding to current throttle pedal is less than described current peak torque limit value, set the parameter relevant to engine operation condition according to the torque demand corresponding to current throttle pedal；When the torque demand corresponding to current throttle pedal is more than described current peak torque limit value, set the parameter relevant to engine operation condition according to described current peak torque limit value.
According to some embodiments of the present invention, described engine controller is additionally configured to, when actual gas pedal aperture is more than predetermined threshold, control the response of electromotor according to the acceleration request of driver, and suspend speed limiting function.
According to some embodiments of the present invention, described predetermined threshold is arranged to the 80% ~ 100% of gas pedal total kilometres.
According to some embodiments of the present invention, described vehicle stabilization control unit is configured to: determine limiting brake demand according to described auxiliary braking demand indication signal；Be combined to obtain total auxiliary braking demand with car load stability contorting demand by described limiting brake demand；And the comparative result of braking requirement of based on described total auxiliary braking demand and driver input determines and exports to the control of stability contorting actuator.
According to some embodiments of the present invention, the described device set for receiving target vehicle speed includes that target vehicle speed regulation increases button, target vehicle speed regulation reduces button and target vehicle speed sets button.
According to some embodiments of the present invention, described inputting interface also includes the button for opening and disable described limiting vehicle speed system.
According to some embodiments of the present invention, described engine controller is configured to direct rigid line and connects from each button reception information described in described inputting interface.
According to some embodiments of the present invention, engine controller is configured to CAN communication network and receives information from described inputting interface.
According to some embodiments of the present invention, described system also includes the instrument of the running status for showing described limiting vehicle speed system to driver.
The active limiting vehicle speed system provided by each embodiment of the present invention can strictly restricted speed, vehicle is made to travel below the target vehicle speed of driver's input all the time, stop any situation about exceeding the speed limit in short-term, thus efficiently avoid the phenomenon that hypervelocity occurs on speed limit roadways.
Accompanying drawing explanation
Below with reference to drawings and Examples, technical scheme is described in further detail.
Fig. 1 is the block diagram of limiting vehicle speed system according to an embodiment of the invention.
Fig. 2 is the workflow diagram of limiting vehicle speed system according to an embodiment of the invention.
Detailed description of the invention
Understandable for making the above-mentioned purpose of the present invention, feature and advantage become apparent from, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.It should be noted that each structure in accompanying drawing is only exemplary rather than determinate, so that those of ordinary skill in the art are best understood by the principle of the present invention, it is not drawn necessarily to scale.
Figure 1 illustrates the block diagram of limiting vehicle speed system according to an embodiment of the invention.As shown in Figure 1, limiting vehicle speed system includes engine controller ECM and inputting interface basically, wherein inputting interface at least includes for receiving the device that target vehicle speed sets, and engine controller ECM is configured in the case of actual gas pedal aperture is less than predetermined threshold, in the way of making actual vehicle speed be less than set target vehicle speed, control the electromotor response to the acceleration request that driver is inputted by gas pedal.
According to embodiments of the invention, the device set for receiving target vehicle speed can realize with the form of button, and including target vehicle speed regulation increase button, target vehicle speed regulation reduces button and target vehicle speed sets button.It addition, inputting interface could be included for opening and the button of disabling limiting vehicle speed system.It is to say, in practice, for realizing vehicle according to the invention speed limiting system, the cubicle switch with limiting vehicle speed function association can be increased in the appropriate location of existing vehicle.It will be appreciated by those skilled in the art that is, inputting interface can be realized by existing or leaved for development any form, as long as it is capable of man-machine interaction so that driver can realize such as target setting speed, control limiting vehicle speed system start and stop such control input.
And then, engine controller ECM receives the input signal of transmission operator demand from inputting interface, set including target vehicle speed, the use of limiting vehicle speed system whether etc..In the case of inputting interface is disposed with various button, engine controller can connect each button reception information from inputting interface by direct rigid line.In this case, information can be transmitted by rigid line by the form of resistor coding.In another embodiment, engine controller ECM can be configured to CAN communication network and receive information from inputting interface, and these information can be such as converted into CAN message and be propagated by this communication network.In this case, the switch key of inputting interface may be coupled to other nodes of car load communication network, and is not directly connected to ECM.
A kind of actively speed limiting system of limiting vehicle speed system according to embodiments of the present invention, engine controller ECM is its key control unit.As shown in Figure 1, ECM not only needs to receive, from inputting interface, the information that such as system start and stop instruction, target vehicle speed set, also need to the information receiving such as GES, accelerator pedal signal etc. for carrying out Control for Speed Limitation judgement, the parameter relevant to engine operation condition is controlled based on these information, such as throttle opening, i.e. throttle inflow amount, engine igniting time etc..
In some embodiments of the invention, on the one hand enabling of limiting vehicle speed system can be controlled by startup/disabled switch button set on inputting interface by driver.Such as, if ECM is when inputting interface obtains the signal of instruction limiting vehicle speed system disabling, even if target vehicle speed is set, it also will not control the running status of electromotor according to speed limit demand.On the other hand, when limiting vehicle speed system is opened and target vehicle speed is set, engine controller ECM is generally arranged in the case of actual gas pedal aperture is less than predetermined threshold, controls the electromotor response to the acceleration request that driver is inputted by gas pedal in the way of making actual vehicle speed be less than target vehicle speed.That is, in an embodiment of the present invention, engine controller ECM is when detecting that driver passes through signal designation actual gas pedal aperture that gas pedal inputted more than predetermined threshold, and it no longer will carry out Control for Speed Limitation, but suspend actively speed limiting function engine response.So can such as support driver's promptly overtaking other vehicles under unsafe condition, without the most manually closing speed limiting system.According to embodiments of the invention, this predetermined threshold can be configured so that the 80% ~ 100% of gas pedal total kilometres.
In addition, ECM usually will constantly adjust the electromotor response to the acceleration demand that driver is transmitted, the most according to circumstances totally linearization or this acceleration demand of partial response by pedal, and ignore this acceleration demand when speed is close to or up target vehicle speed.The response controlling electromotor such as can include that the aperture adjusting air throttle is to control air inflow, the time of ignition adjusting electromotor etc..By way of example, it will be assumed that the target vehicle speed that driver sets is 60 kph, and actual vehicle speed is 5 kph, then engine controller can respond the acceleration demand of driver with full load, because current vehicle speed differs greatly with tar-get speed.If tar-get speed is 60kph, actual vehicle speed is 50 kph, and actual acceleration is 3km/s2, and driver inputs acceleration demand yet by pedal, then the parameter relevant to engine operation condition will be adjusted by engine controller ECM so that it is will not respond to full load the acceleration demand of driver.
According to some embodiments of the present invention, limiting vehicle speed system could be included for providing the vehicle stabilization control unit of auxiliary braking output to vehicle.Engine controller can come the need of auxiliary braking based on information such as target vehicle speed, actual vehicle speed and actual accelerations while being controlled engine operation condition, and transmits the auxiliary braking demand indication signal for limiting vehicle speed to vehicle stabilization control unit.Vehicle stabilization control unit produces corresponding auxiliary braking and exports to further ensure that actual vehicle speed is less than target vehicle speed in response to this auxiliary braking demand indication signal, and this illustrates in greater detail hereinafter in conjunction with Fig. 2.In practice, vehicle stabilization control unit can receive, by CAN, the speed limiting system braking requirement information that ECM sends
In some embodiments of the invention, limiting vehicle speed system could be included for showing the instrument of the running status of limiting vehicle speed system to driver, for making driver's perception vehicle running status under active speed limiting system effect.This display instrument may be implemented as and engine controller communication connection, receives the speed limiting system status signal that sends of ECM and target restricted speed signal and shows to driver.System status information can comprise state of activation symbol, the prompting being turned on and off system, braking assist control prompting and system failure prompting etc..When driver carries out irrational setting by inputting interface to target vehicle speed, it is also possible to send warning by display instrument, driver is reminded to note speed control.The display instrument of limiting vehicle speed system can be integrated on the console of vehicle, as a part for instrument board, and can realize with the existing or leaved for development any correlation technique in this area.
Fig. 2 shows the workflow of limiting vehicle speed system according to an embodiment of the invention.In this embodiment, limiting vehicle speed system generally includes inputting interface, engine controller and vehicle stabilization control unit.As it has been described above, in the case of limiting vehicle speed system start-up and actual gas pedal aperture are less than predetermined threshold, limiting vehicle speed system can generally work according to the flow process shown in Fig. 2.
The most in the step s 100, driver can carry out target vehicle speed setting by the inputting interface of limiting vehicle speed system.As mentioned above, engine controller ECM can be connected by rigid line or CAN communication network receives target vehicle speed from inputting interface and sets, and additionally reception includes a series of information relevant to speed control such as actual vehicle speed, actual acceleration, gas pedal input.
In step S101, engine controller determines based on target vehicle speed, actual vehicle speed and actual acceleration and currently allows speed.In some embodiments of the invention, engine controller can determine currently allow speed with passing ratio integration (PI) regulation, wherein target vehicle speed is the target of proportional integral regulation, and actual vehicle speed and actual acceleration are used as the input of described proportional integral regulation, thus constitute a dynamic Guan Bi regulation loop.Wherein, proportion adjustment part once occurs in that deviation according to the deviation of ratio response system, i.e. system, then proportion adjustment produces regulation effect immediately to reduce deviation, can be used for meeting as early as possible the acceleration demand of driver.On the other hand, integral adjustment part can make system eliminate steady-state error, it is to avoid the speed adjusted exceeds target vehicle speed.Final electromotor runs the speed obtained and acceleration according to the parameter regulated and will be used again as the input of proportional integral regulation.
In the case of adoption rate integral adjustment or other similar regulation algorithms, in this case it is still possible to there is the such unstable situation of such as overshoot.It is to say, only by the parameter relevant to engine operation condition is adjusted yet suffering from the possibility of hypervelocity, need further auxiliary braking speed to be controlled below desired value.Therefore, engine controller can also determine current permission speed auxiliary braking demand indication signal based on target vehicle speed, actual vehicle speed and actual acceleration in step s 201.This speed auxiliary braking demand signal is transferred into vehicle stability control system, itself so that perform step S202-S205 and the auxiliary braking demand of speed limiting system is taken into account auxiliary braking is provided, this will be described in more detail below.
After determining current permission speed in step S101, engine controller and then in step s 102 basis are current allows speed to set the parameter relevant to engine operation condition.In the embodiment shown in Figure 2, engine controller is configured to matching and calibration from currently allowing speed to obtain current peak torque limit value.In practice, the matching and calibration corresponding relation between speed and peak torque limit value can be obtained by test, thus generates the calibration maps (demarcating MAP) of the corresponding relation between display speed and peak torque limit value.Corresponding Policy model can be set up for different vehicles and carry out testing to determine the corresponding relation between speed and peak torque limit value, and this corresponding relation is stored in advance in the memory element of engine controller.
The most in step s 103, by the torque demand corresponding to current throttle pedal with determined by current peak torque limit value compare.It is to say, the acceleration demand of driver is compared with the maximum acceleration capacity allowed at present.And then in step S104, set the parameter relevant to engine operation condition based on comparative result.Specifically, when the torque demand corresponding to current throttle pedal is less than described current peak torque limit value, that is, in the case of the acceleration demand of driver can be satisfied completely, the parameter relevant to engine operation condition is set according to the torque demand corresponding to current throttle pedal；When the torque demand corresponding to current throttle pedal is more than current peak torque limit value, set the parameter relevant to engine operation condition according to current peak torque limit value.Thus, driver can be made suitable response by the acceleration request that gas pedal inputs and make speed be less than target vehicle speed by electromotor.
On the other hand, in step S202, vehicle stability control system will determine the auxiliary braking demand of speed limiting system according to the auxiliary braking demand indication signal being received from ECM.As it has been described above, engine controller ECM can judge the speed limiting system auxiliary the need of vehicle stability control system according to the regulation result for target vehicle speed.Vehicle stabilization control unit can receive, by CAN, the speed limiting system braking requirement information that ECM sends, and the braking requirement state combining driver determines whether to implement speed limiting system braking auxiliary operation.
According to one embodiment of present invention, the auxiliary braking demand indication signal that ECM sends can represent the program needing auxiliary braking.Such as, braking auxiliary degree is that 0% representative current speed limit state need not braking auxiliary；100% representative needs brakes to be braked output according to maximum supporting capacity.In practice, braking auxiliary degree can also be realized by matching and calibration with the corresponding relation of braking requirement.By test obtain braking between auxiliary degree and auxiliary braking demand corresponding, thus generate the calibration maps (demarcating MAP) of the corresponding relation characterized between braking auxiliary degree and auxiliary braking demand.Corresponding Policy model can be set up for different vehicles and carry out testing to determine this corresponding relation, and this corresponding relation is stored in advance in the memory unit of vehicle stabilization control unit.
Then, limiting brake demand is combined to obtain total auxiliary braking demand by vehicle stabilization control unit with other car load stability contorting demand；The braking requirement total auxiliary braking demand and driver inputted compares；And determine based on comparative result and export, as shown in step S203-S205 to the control of stability contorting actuator.
As it has been described above, in the embodiment of fig. 2, a part of step can be performed to realize the regulation to electromotor work by engine controller ECM, and another part can generally be performed to provide auxiliary braking by vehicle stabilization control unit.By the effect that these two aspects is common, limiting vehicle speed system can be effectively realized the control to speed, it is ensured that it is all the time without departing from target vehicle speed.
It is enumerated above some specific embodiments to elaborate the present invention, these a few examples are intended for illustrating that the principle of the present invention and embodiment thereof are used, rather than limitation of the present invention, without departing from the spirit and scope of the present invention, those of ordinary skill in the art can also make various deformation and improvement.The technical scheme of the most all equivalents all should belong to scope of the invention and the every claim by the present invention is limited.
Claims (11)
1. a limiting vehicle speed system, it is characterised in that described system includes:
Inputting interface, described inputting interface includes for receiving the device that target vehicle speed sets；
Engine controller, described engine controller is configured in the case of actual gas pedal aperture is less than predetermined threshold, the electromotor response to the acceleration request that driver is inputted is controlled by gas pedal in the way of making actual vehicle speed be less than described target vehicle speed
Described engine controller is configured to: determines based on target vehicle speed, actual vehicle speed and actual acceleration and currently allows speed；And allow speed to set the parameter relevant to engine operation condition according to current,
Set the parameter relevant to engine operation condition according to current permission speed to include:
Current peak torque limit value is obtained from described current permission speed by matching and calibration；
Torque demand corresponding to current throttle pedal is compared with described current peak torque limit value；And
When the torque demand corresponding to current throttle pedal is less than described current peak torque limit value, set the parameter relevant to engine operation condition according to the torque demand corresponding to current throttle pedal；When the torque demand corresponding to current throttle pedal is more than described current peak torque limit value, set the parameter relevant to engine operation condition according to described current peak torque limit value.
2. limiting vehicle speed system as claimed in claim 1, it is characterized in that, described limiting vehicle speed system also includes the vehicle stabilization control unit for providing auxiliary braking output to vehicle, described engine controller is additionally configured to determine auxiliary braking demand indication signal based on target vehicle speed, actual vehicle speed and actual acceleration, and described vehicle stabilization control unit produces the output of corresponding auxiliary braking in response to described auxiliary braking demand indication signal so that actual vehicle speed is less than described target vehicle speed.
3. limiting vehicle speed system as claimed in claim 1, it is characterized in that, described engine controller is configured to proportional integral regulation and determines and currently allow speed, wherein said target vehicle speed is the target of described proportional integral regulation, and described actual vehicle speed and actual acceleration are used as the input of described proportional integral regulation.
4. limiting vehicle speed system as claimed in claim 1, it is characterised in that described engine controller is additionally configured to, when actual gas pedal aperture is more than predetermined threshold, control the response of electromotor according to the acceleration request of driver, and suspend speed limiting function.
5. limiting vehicle speed system as claimed in claim 1, it is characterised in that described predetermined threshold is arranged to the 80% ~ 100% of gas pedal total kilometres.
6. limiting vehicle speed system as claimed in claim 2, it is characterised in that described vehicle stabilization control unit is configured to:
Limiting brake demand is determined according to described auxiliary braking demand indication signal；
Be combined to obtain total auxiliary braking demand with car load stability contorting demand by described limiting brake demand；And
Comparative result based on described total auxiliary braking demand with the braking requirement of driver's input determines the control output to stability contorting actuator.
7. limiting vehicle speed system as claimed in claim 1, it is characterised in that the described device set for receiving target vehicle speed includes that target vehicle speed regulation increases button, target vehicle speed regulation reduces button and target vehicle speed sets button.
8. limiting vehicle speed system as claimed in claim 7, it is characterised in that described inputting interface also includes the button for opening and disable described limiting vehicle speed system.
9. limiting vehicle speed system as claimed in claim 8, it is characterised in that described engine controller is configured to direct rigid line and connects each the described button reception information from described inputting interface.
10. limiting vehicle speed system as claimed in claim 1, it is characterised in that engine controller is configured to CAN communication network and receives information from described inputting interface.
11. limiting vehicle speed systems as claimed in claim 1, it is characterised in that described system also includes the instrument of the running status for showing described limiting vehicle speed system to driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310355134.0A CN104369737B (en) | 2013-08-15 | A kind of limiting vehicle speed system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310355134.0A CN104369737B (en) | 2013-08-15 | A kind of limiting vehicle speed system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104369737A CN104369737A (en) | 2015-02-25 |
| CN104369737B true CN104369737B (en) | 2016-11-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334454B (en) * | 2018-09-26 | 2021-02-23 | 潍柴动力股份有限公司 | Method and device for limiting vehicle speed and whole vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334454B (en) * | 2018-09-26 | 2021-02-23 | 潍柴动力股份有限公司 | Method and device for limiting vehicle speed and whole vehicle |
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Granted publication date: 20161130 |