CN104627180A - Semi-active cruise control system and method - Google Patents
Semi-active cruise control system and method Download PDFInfo
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- CN104627180A CN104627180A CN201410806441.0A CN201410806441A CN104627180A CN 104627180 A CN104627180 A CN 104627180A CN 201410806441 A CN201410806441 A CN 201410806441A CN 104627180 A CN104627180 A CN 104627180A
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- 230000001133 acceleration Effects 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000035807 sensation Effects 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 230000001172 regenerating effect Effects 0.000 claims description 3
- 230000001373 regressive effect Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The invention provides a semi-active cruise control system and method. The semi-active cruise control system comprises a signal input unit, a whole vehicle controller and a control feedback unit. The signal input unit is connected with the whole vehicle controller. The whole vehicle controller is connected with the control feedback unit. The signal input unit comprises a cruise switch, a key, a gear shifter, a braking pedal, an anti-lock braking system, a battery management system, a vehicle fault detecting module and an accelerator pedal. The current vehicle state can be judged by the whole vehicle controller on the basis of collected operation signals input by a driver to the signal input unit. The control feedback unit comprises a motor controller and a driving motor. The whole vehicle controller drives the driving motor to output corresponding control torque through the motor controller, so that the vehicle can be maintained to move at constant speed all the time. Cruising is carried out by the vehicle at stable speed under different conditions, so that the phenomenon that the driver frequently operates the two pedals is avoided.
Description
Technical field
The present invention relates to the control field that cruises of new-energy automobile, be specifically related to a kind of half cruise active control system and method thereof.
Background technology
Along with the development of automobile industry, some shortcoming of vehicle itself still exists, if vehicle is when lower long slope, general by brake system regulation speed, but makes a large amount of energy with heat loss like this, reduces the economy of car load; Simultaneously for a long time braking easily causes brake system non-functional, affects vehicle security, and steps on braking for a long time and easily cause driving fatigue, affects driver comfort.And for example vehicle is under the operating mode of hills, and chaufeur needs frequent switching to accelerate and brake pedal, affects ride comfort to a certain extent.
Be directed to the shortcoming of vehicle itself, the additional function comprising cruise and adaptive cruise obtains application in various degree onboard, wherein cruise can alleviate driving fatigue well, but it is general only for road that is comparatively mild, that close, application operating mode is limited, when the descending operating mode compared with steep gradient, the speed of a motor vehicle of cruise can higher than the setting speed of a motor vehicle, can not fuel saving in long descending operating mode; Under the uncertain operating mode of road conditions, setting, the releasing of cruise are frequent, are unfavorable for operation and driving safety; Current self-adaption cruise system is multiplex in traditional high-side vehicle, application is rarely had in new-energy automobile field, and the self-adaption cruise system in traditional vehicle is when detecting that the spacing of vehicle and front truck is too small, by making wheel suitably brake with anti-blocking brake system, engine management system coordination thus reaching the object of automatic reduction of speed, but the energy produced because of car retardation in the process directly have lost with the form of heat, affects car load economy to a certain extent.In addition, the application cost of adaptive learning algorithms is high, hinders its further widespread use.And easily there is blind area or erroneous judgement in the mountain road detection that operating mode is more complicated in radar, directly affects the safety performance of car load.
Summary of the invention
In view of this, the invention provides a kind of half cruise active control system and method thereof, the speed of a motor vehicle being intended to make to cruise control tends towards stability.
The technical solution used in the present invention is specially:
A kind of half cruise active control system, comprise incoming signal unit, entire car controller and control feedback unit, described incoming signal unit is connected with described entire car controller, and described entire car controller is connected with described control feedback unit; Wherein: described incoming signal unit comprises cruise switch, key, gear shifting device, brake pedal, anti-blocking brake system, battery management system, complete vehicle fault detection module and acceleration pedal, described entire car controller judges the current state of vehicle by the operation signal of chaufeur to described incoming signal unit collected; Described control feedback unit comprises electric machine controller and drive motor, and entire car controller makes drive motor export corresponding control torque by electric machine controller, vehicle is remained and at the uniform velocity travels.
In above-mentioned half cruise active control system, also comprise prewarning unit, described prewarning unit is connected with described entire car controller, and described alarm unit comprises Slope Transducer and warning device.
In above-mentioned half cruise active control system, also comprise distance measuring equipment (DME), described distance measuring equipment (DME) is connected with described entire car controller.
A control method for half cruise active control system, specifically comprises the following steps:
Under key operated, gear are in all failure-free prerequisite of D Drive, electrokinetic cell and drive motor, open the button that cruises, enter half cruise active state;
After entering half cruise active state, when level road operating mode, using chaufeur release the gas pedal and the speed of a motor vehicle in brake pedal moment as target vehicle speed, the control algorithm that cruises in entire car controller carries out closed loop control to the speed of a motor vehicle, and the maintenance speed of a motor vehicle is target vehicle speed;
Enter when upward slope operating mode, by original torque drive vehicle, the vehicle cruise speed of a motor vehicle can be made to decline; Now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value drive vehicle;
When entering descending operating mode, vehicle is without the need to sending driving torque, and the speed of a motor vehicle still raises automatically, then entire car controller is in generating state by motor controller controls drive motor, initiatively recuperated energy; The algorithm reclaiming moment of torsion is:
Entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output are reclaimed torque rating, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output reclaim torque rating carry out energy regenerating;
If aperture ≠ 0 of acceleration pedal and/or brake pedal, then cruise and control to suspend, transfer manual control to, until the aperture of acceleration pedal and brake pedal is 0, cruises and control to recover.
In the control method of above-mentioned half cruise active control system, after entering upward slope operating mode, when the grade reduction of going up a slope, drive according to current torque value, vehicle speed can raise automatically, now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value circulation regressive of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value driving vehicle; When the gradient of going up a slope increases, drive according to current torque value, vehicle speed can reduce automatically, now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value driving vehicle.
In the control method of above-mentioned half cruise active control system, when vehicle be in starting operating mode be ramp time, because current vehicle speed is 0km/h, therefore when chaufeur not stepping on accelerator pedal and brake pedal, entire car controller is that 0km/h carries out closed loop control according to target vehicle speed automatically, completes the additional function of uphill starting.
In the control method of above-mentioned half cruise active control system, the situation of aperture ≠ 0 of acceleration pedal and/or brake pedal comprises: if the chaufeur sensation speed of a motor vehicle is too high, then can step on brake pedal, the control policy now braked transfers artificial braking strategy to; When the speed of a motor vehicle reaches the desired speed of chaufeur, chaufeur loosen the brake, now entire car controller enters with current vehicle speed is again the closed loop control of target vehicle speed; If the chaufeur sensation speed of a motor vehicle is too low, then can bend the throttle, the control policy now braked transfers artificial acceleration strategy to; When the speed of a motor vehicle reaches chaufeur desired speed, chaufeur release the gas pedal, now entire car controller carries out with current vehicle speed being the closed loop control of target vehicle speed again.
In the control method of above-mentioned half cruise active control system, when the gradient operating mode of Slope Transducer monitoring does not conform to drive motor state, the warning device of vehicle triggers, and system exits half cruise active state.
In the control method of above-mentioned half cruise active control system, when the vehicle of distance measuring equipment (DME) monitoring and the distance of preceding object thing are less than setting value, the warning device of vehicle triggers, and system exits half cruise active state.
In the control method of above-mentioned half cruise active control system, described setting value is 10-20m
The beneficial effect that the present invention produces is:
Half cruise active control method of the present invention can make vehicle all can cruise with stable speed under each different operating mode such as uphill/downhill, level road.When the current speed of a motor vehicle of cruising is too high/too low, continue to cruise after being adjusted to the suitable speed of a motor vehicle by braking/acceleration pedal.Avoid chaufeur frequent operation two pedal, alleviate driving fatigue degree, and the situation that the continual mileage that causes because of bad driving habit shortens can be improved to a certain extent, improve the economy of car load.
And utilize this system also can realize the additional function of uphill starting, save controller hardware and circuit that conventional truck realizes uphill starting auxiliary block post need, under the prerequisite additionally increasing additional hardware cost hardly, improve the extensibility of function.Half cruise active system of the present invention can be used for pure electric automobile, goes back easily extensible and is applied to the new-energy automobile such as hybrid vehicle and fuel cell powered vehicle.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, more completely the present invention can be understood better.Accompanying drawing described herein is used to provide a further understanding of the present invention, and embodiment and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is the structural representation of a kind of half cruise active control system of the present invention;
Fig. 2 is the FB(flow block) of a kind of half cruise active control method of the present invention.
In figure: 1, cruise switch 2, key 3, gear shifting device 4, brake pedal 5, anti-blocking brake system ABS 6, battery management system BMS 7, complete vehicle fault detection module 8, acceleration pedal 9, entire car controller VCU 10, vehicular meter ICM 11, electric machine controller MCU 12, drive motor.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further detail.
One half cruise active control system as shown in Figure 1, comprise incoming signal unit, entire car controller 9 and control feedback unit, incoming signal unit is connected with entire car controller 9, and entire car controller 9 is connected with control feedback unit; Wherein:
Incoming signal unit comprises cruise switch 1, key 2, gear shifting device 3, brake pedal 4, anti-blocking brake system 5, battery management system 6, complete vehicle fault detection module 7 and acceleration pedal 8, and entire car controller 8 judges the current state of vehicle by the operation signal of chaufeur to incoming signal unit collected;
Control feedback unit and comprise electric machine controller 11 and drive motor 12, entire car controller 9 makes drive motor 12 export corresponding control torque by half cruise active control algorithm by electric machine controller 11, and vehicle is remained, and the speed of a motor vehicle expected with chaufeur at the uniform velocity travels.
Also comprise the vehicular meter 10 be connected with entire car controller 9, for showing the signal of the indicator lamp that cruises.
As shown in Figure 2, the control method of above-mentioned half cruise active control system is specially:
Under key operated, gear are in all failure-free prerequisite of D Drive, electrokinetic cell and drive motor, open the button that cruises, enter half cruise active state;
After entering half cruise active state, when level road operating mode, using chaufeur release the gas pedal and the speed of a motor vehicle in brake pedal moment as target vehicle speed, the control algorithm that cruises in entire car controller carries out closed loop control to the speed of a motor vehicle, the maintenance speed of a motor vehicle is target vehicle speed, and when namely vehicle is in level road, entire car controller 9 sends corresponding torque command to electric machine controller 11, drive motor 12 at the uniform velocity travels with target vehicle speed all the time under the control of electric machine controller, and vehicle now possesses basic cruise function;
When entering upward slope operating mode (namely the gradient is greater than 0%), due to the existence of rolling resistance, air resistance and gradient resistance, by original torque drive vehicle, the vehicle cruise speed of a motor vehicle can be made to decline.Now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value drive vehicle;
When the grade reduction of going up a slope, drive according to current torque value, vehicle speed can raise automatically, now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value circulation regressive of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value driving vehicle;
When the gradient of going up a slope increases, drive according to current torque value, vehicle speed can reduce automatically, now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value driving vehicle.
Therefore vehicle possess without the need to chaufeur stepping on accelerator pedal can realize operating mode switch under cruise function.
When entering the larger descending operating mode of the gradient, because vehicle weight overcomes the resistance to motion (as vehicle is in the downhill path of ramp >5%) of vehicle, now vehicle is without the need to sending driving torque, when the speed of a motor vehicle still raises automatically, then entire car controller 9 controls drive motor 12 by electric machine controller 11 and is in generating state, initiatively recuperated energy; The algorithm reclaiming moment of torsion is: entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output are reclaimed torque rating, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output reclaim torque rating carry out energy regenerating;
If aperture ≠ 0 of acceleration pedal and/or brake pedal, then cruise and control to suspend, transfer manual control to, until the aperture of acceleration pedal and brake pedal is 0, cruises and control to recover.
Torque adjustment coefficient wherein needs to demarcate according to different automobile types, and unit is Nm/ (km/h), and value is certain value between 0-1, is preferably 0.5.
Therefore, vehicle possesses and potential energy of vehicles is changed into electrical power storage is used for subsequent drive, instead of is wasted energy by heat loss mode, improves car load economy.
When vehicle be in starting operating mode be ramp time, because vehicle speed is 0km/h, therefore when chaufeur not stepping on accelerator pedal and brake pedal, entire car controller is that 0km/h carries out closed loop control according to target vehicle speed automatically, therefore possess uphill starting additional function, effectively prevent car ramp from starting to walk to slip by slope phenomenon.
If the chaufeur sensation speed of a motor vehicle too high (such as there are vehicle, pedestrian etc. in front), then can step on brake pedal, the control policy now braked transfers artificial braking strategy to; When the speed of a motor vehicle reaches the desired speed of chaufeur, chaufeur loosen the brake, now entire car controller 9 enters with current vehicle speed is again the closed loop control of target vehicle speed;
If the chaufeur sensation speed of a motor vehicle is when crossing slow (such as road ahead is spacious or current vehicle speed is too low), then can bend the throttle, the control policy now braked transfers artificial acceleration strategy to; When the speed of a motor vehicle reaches chaufeur desired speed, chaufeur release the gas pedal, now entire car controller 9 carries out with current vehicle speed being the closed loop control of target vehicle speed again.
Therefore, this pattern is comparatively applicable to that traffic is less, section, driving cycle metastable spacious suburb, and the operating mode such as mountain village uphill/downhill, loop wire bridge uphill/downhill.
First entire car controller calculates the difference of current vehicle speed and target vehicle speed, then difference is multiplied by the product accumulation of torque adjustment coefficient on original moment of torsion, when current vehicle speed equals target vehicle speed, namely the difference of current vehicle speed and target vehicle speed is 0, therefore product value is also zero, torque rating after cumulative also would not add again, is namely equal to and keeps current torque rating.
In addition, half cruise active control system of the present invention also can increase Slope Transducer further, introduce grade signal, under vehicle is in half cruise active state, and under vehicle is in upward slope operating mode or level road operating mode, if monitoring motor status is generating state, illustrates and now do not meet actual driving demand.System exits half cruise active state automatically, and informs chaufeur by warning device.The advantage increasing Slope Transducer is: because the full-vehicle control of electronlmobil depends on electric signal more, under occurring that such as line short, electromagnetic interference or hacker invade the situations such as car load network, existing algorithm may make vehicle be interfered when cruising condition.Therefore, increase Slope Transducer, being equivalent to introduce signal increases algorithm, further ensures stability and the reliability of system works.
Also can increase centimeter wave radar, introduce the range signal of radar detection and preceding object thing (vehicle, pedestrian etc.).Under vehicle is in half cruise active state, if monitoring motor status is motoring condition, and the distance <10-20m of now vehicle and preceding object thing, then system exits half cruise active state automatically, and informs chaufeur by reminding alarm device.The advantage increasing centimeter wave radar is: by adopting the hardware configuration of low cost, when vehicle is at cruising condition, during as there is the such as situation such as braking system faults or driver distraction, automatically exited by system, make vehicle can not continue maintenance cruise the speed of a motor vehicle continue travel, improve vehicle security.
As mentioned above, embodiments of the invention are explained, obviously, as long as do not depart from fact inventive point of the present invention and effect, will be readily apparent to persons skilled in the art distortion, is also all included within protection scope of the present invention.
Claims (10)
1. a half cruise active control system, is characterized in that, comprises incoming signal unit, entire car controller and control feedback unit, and described incoming signal unit is connected with described entire car controller, and described entire car controller is connected with described control feedback unit; Wherein:
Described incoming signal unit comprises cruise switch, key, gear shifting device, brake pedal, anti-blocking brake system, battery management system, complete vehicle fault detection module and acceleration pedal, and described entire car controller judges the current state of vehicle by the operation signal of chaufeur to described incoming signal unit collected;
Described control feedback unit comprises electric machine controller and drive motor, and entire car controller makes drive motor export corresponding control torque by electric machine controller, vehicle is remained and at the uniform velocity travels.
2. half cruise active control system according to claim 1, it is characterized in that, also comprise prewarning unit, described prewarning unit is connected with described entire car controller, and described alarm unit comprises Slope Transducer and warning device.
3. half cruise active control system according to claim 2, it is characterized in that, also comprise distance measuring equipment (DME), described distance measuring equipment (DME) is connected with described entire car controller.
4. a half cruise active control method, is characterized in that, specifically comprise the following steps:
Under key operated, gear are in all failure-free prerequisite of D Drive, electrokinetic cell and drive motor, open the button that cruises, enter half cruise active state;
After entering half cruise active state, when level road operating mode, using chaufeur release the gas pedal and the speed of a motor vehicle in brake pedal moment as target vehicle speed, the control algorithm that cruises in entire car controller carries out closed loop control to the speed of a motor vehicle, and the maintenance speed of a motor vehicle is target vehicle speed;
Enter when upward slope operating mode, by original torque drive vehicle, the vehicle cruise speed of a motor vehicle can be made to decline; Now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value drive vehicle;
When entering descending operating mode, vehicle is without the need to sending driving torque, and the speed of a motor vehicle still raises automatically, then entire car controller is in generating state by motor controller controls drive motor, initiatively recuperated energy; The algorithm reclaiming moment of torsion is:
Entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output are reclaimed torque rating, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output reclaim torque rating carry out energy regenerating;
If aperture ≠ 0 of acceleration pedal and/or brake pedal, then cruise and control to suspend, transfer manual control to, until the aperture of acceleration pedal and brake pedal is 0, cruises and control to recover.
5. half cruise active control method according to claim 4, it is characterized in that, after entering upward slope operating mode, when the grade reduction of going up a slope, drive according to current torque value, vehicle speed can raise automatically, now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value circulation regressive of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value drive vehicle; When the gradient of going up a slope increases, drive according to current torque value, vehicle speed can reduce automatically, now, entire car controller is by calculating the difference of current vehicle speed and target vehicle speed, by the difference of current vehicle speed and target vehicle speed and the product value cycle accumulor of torque adjustment coefficient to former output driving torque value, until be adjusted to current vehicle speed equal with target vehicle speed time, keep with this output driving torque value driving vehicle.
6. half cruise active control method according to claim 4, it is characterized in that, when vehicle be in starting operating mode be ramp time, because current vehicle speed is 0km/h, therefore when chaufeur not stepping on accelerator pedal and brake pedal, entire car controller is that 0km/h carries out closed loop control according to target vehicle speed automatically, completes the additional function of uphill starting.
7. half cruise active control method according to claim 4, it is characterized in that, the situation of aperture ≠ 0 of acceleration pedal and/or brake pedal comprises:
If the chaufeur sensation speed of a motor vehicle is too high, then can step on brake pedal, the control policy now braked transfers artificial braking strategy to; When the speed of a motor vehicle reaches the desired speed of chaufeur, chaufeur loosen the brake, now entire car controller enters with current vehicle speed is again the closed loop control of target vehicle speed;
If the chaufeur sensation speed of a motor vehicle is too low, then can bend the throttle, the control policy now braked transfers artificial acceleration strategy to; When the speed of a motor vehicle reaches chaufeur desired speed, chaufeur release the gas pedal, now entire car controller carries out with current vehicle speed being the closed loop control of target vehicle speed again.
8. half cruise active control method according to claim 4, is characterized in that, when the gradient operating mode of Slope Transducer monitoring does not conform to drive motor state, the warning device of vehicle triggers, and system exits half cruise active state.
9. half cruise active control method according to claim 8, is characterized in that, when the vehicle of distance measuring equipment (DME) monitoring and the distance of preceding object thing are less than setting value, the warning device of vehicle triggers, and system exits half cruise active state.
10. half cruise active control method according to claim 9, is characterized in that, described setting value is 10-20m.
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| CN105946856A (en) * | 2016-06-16 | 2016-09-21 | 吉林大学 | Self-adaptive slipping control method of pure electrically driven automobile |
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| CN106427598A (en) * | 2016-10-31 | 2017-02-22 | 成都雅骏新能源汽车科技股份有限公司 | Semi-automatic long-slope brake control system for new-energy electric vehicle and method for implementing semi-automatic long-slope brake control system |
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| WO2019024409A1 (en) * | 2017-07-31 | 2019-02-07 | 北京新能源汽车股份有限公司 | Adaptive cruise torque chain control method and apparatus, and automobile |
| CN107933376A (en) * | 2017-10-23 | 2018-04-20 | 宝沃汽车（中国）有限公司 | It is anti-to slip by slope control method, device and vehicle |
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| CN111196279A (en) * | 2018-11-16 | 2020-05-26 | 现代自动车株式会社 | Device and method for controlling vehicle driving assistance, system comprising the device |
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| CN110155051A (en) * | 2019-04-30 | 2019-08-23 | 吉林大学青岛汽车研究院 | A kind of truck speed change cruise fuel-economizing controlling method |
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| CN111703313A (en) * | 2020-07-22 | 2020-09-25 | 徐州徐工汽车制造有限公司 | Constant-speed cruise control system and method for pure electric sanitation vehicle |
| CN112659917A (en) * | 2020-12-31 | 2021-04-16 | 大运汽车股份有限公司 | Driving torque control system and method suitable for new energy commercial vehicle |
| CN112874520A (en) * | 2021-02-03 | 2021-06-01 | 宜宾丰川动力科技有限公司 | Vehicle control method, device, equipment and storage medium |
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| CN117724406A (en) * | 2024-02-18 | 2024-03-19 | 中国汽车技术研究中心有限公司 | Four-wheel drive mobile platform transverse and longitudinal control calibration method |
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