CN104742904B - A kind of cruise control method and system - Google Patents
A kind of cruise control method and system Download PDFInfo
- Publication number
- CN104742904B CN104742904B CN201510137786.6A CN201510137786A CN104742904B CN 104742904 B CN104742904 B CN 104742904B CN 201510137786 A CN201510137786 A CN 201510137786A CN 104742904 B CN104742904 B CN 104742904B
- Authority
- CN
- China
- Prior art keywords
- current
- cruise
- torsion
- speed
- moment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 3
- 230000006870 function Effects 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011088 calibration curve Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
-
- 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
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a kind of cruise control method of automobile and system, the current cruise target speed of engine rotational speed signal and driver's input is received by cruise control torque demand computing module in cruise control system, current cruise target speed signal and current virtual accelerator opening amount signal that Transmission Control Module is obtained is recycled to perform corresponding clutch control and shift control, controlling engine ignition angle and throttle opening to realize current demand moment of torsion finally by system torque Coordination module, downshift of the automobile in cruise Control suddenly accelerates or downshift is suddenly slowed down to complete.Automatic gear-box control unit and engine controller are effectively combined by the cruise control method of the present invention, solve the problem of automobile before this can not carry out anxious accelerate with anxious slow down in cruise Control, enable to automobile faced a danger in cruise Control situation when make more rapid reaction, further improve driving safety of the automobile in cruise Control.
Description
Technical field
The present invention relates to the cruise control method and system of automobile technical field, more particularly to a kind of automobile.
Background technology
The existing cruise control method of automobile is the cruise speed only set by engine controller side to driver
Responded, to ensure the ride comfort of convenience that system realizes and driving sensation, but be due to engine from air inlet to acting
There is the delay of long period in output torque, therefore, and this kind of cruise control method can not accelerate and anxious deceleration to the anxious of driver
Demand carries out quick response, limits the application operating mode of cruise function.
The content of the invention
The purpose of the embodiment of the present invention is can not to meet special driving need in order to solve that existing cruise control method is present
The problem of asking there is provided a kind of combination gearbox control gear and clutch are carried out Comprehensive Control cruise control method and
System.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of cruise control method, including：
Obtain the current cruise target speed of driver's input；
According to the current cruise target speed, current cruise target moment of torsion is calculated；
According to the data of corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture, acquisition pair
The virtual throttle aperture of the current cruise target moment of torsion and present engine rotating speed is answered as current virtual accelerator open degree；
When the current cruise target speed is more than or equal to current cruising speed, it is judged as anxious acceleration request；
If the current cruise target moment of torsion is more than the current max. output torque of engine,：Inquiry accelerates downshift
Gearshift line, and according to the current virtual accelerator open degree and current vehicle speed, it is determined that accelerating downshift type to export to fluid drive
Case control unit, so that the automatic gear-box control unit performs corresponding clutch control according to the acceleration downshift type
And shift control；
The automatic gear-box control unit exports the correspondence urgency for accelerating downshift type to engine controller and accelerated
Torque request and the current cruise target moment of torsion, so that engine controller includes the anxious acceleration moment of torsion according to what is received
All torque demands including request and the current cruise target moment of torsion determine current demand moment of torsion, and by controlling engine
The angle of ignition and throttle opening realize the current demand moment of torsion.
Preferably, methods described also includes：
When the current cruise target speed is less than current cruising speed, if the current cruise target speed is relative
The rate of change of current cruising speed is less than or equal to anxious deceleration threshold value, then：
Current vehicle speed is multiplied by downshift coefficient in advance, current vehicle speed has been corrected；
According to the current virtual accelerator open degree and current vehicle speed is corrected, it is determined that anxious deceleration downshift type is exported to automatic
Gear box control unit, so that the automatic gear-box control unit performs corresponding clutch according to the anxious deceleration downshift type
Device is controlled and shift control；
The urgency that the automatic gear-box control unit exports the correspondence anxious deceleration downshift type to engine controller subtracts
Fast torque request, so that engine controller includes the current cruise target moment of torsion and the anxious torsion of slowing down according to what is received
All torque demands including square request determine current demand moment of torsion, and by controlling engine ignition angle and throttle opening real
The existing current demand moment of torsion.
Preferably, methods described also includes：
When the current cruise target speed is less than current cruising speed, if the current cruise target speed is relative
The rate of change of current cruising speed is more than anxious deceleration threshold value, then：
According to the current virtual accelerator open degree and current vehicle speed, it is determined that deceleration downshift type is exported to automatic gear-box control
Unit processed, so that the automatic gear-box control unit performs corresponding clutch control and gear according to the deceleration downshift type
Position control；
The deceleration that the automatic gear-box control unit exports the correspondence deceleration downshift type to engine controller is turned round
Square is asked, so that engine controller is asked according to include current the cruise target moment of torsion and the deceleration torque that receive
All torque demands inside determine current demand moment of torsion, and described by controlling engine ignition angle and throttle opening to realize
Current demand moment of torsion.
Preferably, described according to the current cruise target speed, calculating current cruise target moment of torsion includes：
The difference between the current cruise target speed and current cruising speed is calculated, current cruising speed change is obtained
Amount；
Obtain the current resultant gear ratio of automotive transmission；
According to the data of corresponding relation between the current resultant gear ratio and PID adjustment factors of reflection automotive transmission, acquisition pair
The PID adjustment factors of the current resultant gear ratio are answered as current PID adjustment factors；
According to the current cruising speed variable quantity and the current PID adjustment factors, calculating obtains current cruise target
Moment of torsion.
Preferably, it is described according to corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture
Data, obtain the virtual throttle aperture of correspondence current the cruise target moment of torsion and present engine rotating speed as current virtual oil
Door aperture includes：
According to the data of corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture, by inserting
The virtual throttle aperture that value obtains correspondence current the cruise target moment of torsion and present engine rotating speed is used as current virtual throttle
Aperture.
Preferably, the current virtual accelerator open degree is less than the anxious acceleration downshift request of the automatic gear-box control unit
Virtual throttle aperture when being asked with anxious deceleration downshift, then：
Show that the output torque of present engine is able to maintain that the vehicle operation under current shift, the now fluid drive
Case control unit stops control of the intervention to the current cruising speed.
A kind of cruise control system, including：
Cruise control torque demand computing module, the module be used for receive engine rotational speed signal and driver input work as
Preceding cruise target speed, current cruise target moment of torsion is converted into by transmission function, according to the current cruise target moment of torsion knot
The engine rotational speed signal is closed, is calculated using linear interpolation formula y=y0+ α (y1-y0) and obtains current virtual accelerator open degree letter
Number, and the current virtual accelerator opening amount signal is exported to automatic gear-box control unit；
The cruise control torque demand computing module, is additionally operable to be more than or equal in the current cruise target speed
During current cruising speed, it is judged as anxious acceleration request；If the current cruise target moment of torsion is more than the current maximum of engine
Output torque, then：Inquiry accelerates the gearshift line of downshift, and according to the current virtual accelerator open degree and current vehicle speed, it is determined that plus
Prompt drop gear type is exported to automatic gear-box control unit, so that the automatic gear-box control unit is according to the acceleration downshift
Type performs corresponding clutch control and shift control；
Transmission Control Module, the module is used to receive current cruise target speed signal and current virtual accelerator open degree letter
Number, and the current cruise target speed signal and the current virtual throttle obtained by automatic gear-box control unit
Opening amount signal performs corresponding clutch control and shift control
System torque Coordination module, the module is defeated to engine controller for receiving the automatic gear-box control unit
The anxious acceleration torque request or anxious deceleration torque request and the current cruise target moment of torsion gone out, so that engine controller root
Include the anxious acceleration torque request or the anxious deceleration torque request and the current cruise target moment of torsion according to what is received
All torque demands inside determine current demand moment of torsion, and described by controlling engine ignition angle and throttle opening to realize
Current demand moment of torsion.
The beneficial effects of the present invention are：
The cruise control method and system of a kind of automobile of the present invention, are needed by cruise control moment of torsion in cruise control system
Seek computing module to receive the current cruise target speed of engine rotational speed signal and driver's input, then utilize transmission function
Current cruise target moment of torsion is converted into, according to current cruise target moment of torsion with reference to the engine rotational speed signal, is inserted using linear
Value formula is calculated and obtains current virtual accelerator opening amount signal, and current virtual accelerator opening amount signal is exported to automatic gear-box control
Unit processed, then recycles current cruise target speed signal and current virtual accelerator open degree letter that Transmission Control Module is obtained
Number corresponding clutch control and shift control are performed, automatic gear-box control is received finally by system torque Coordination module
Anxious acceleration torque request or anxious deceleration torque request and the current cruise target torsion that unit is exported to engine controller
Square, so that engine controller includes anxious acceleration torque request or anxious deceleration torque request and current cruise according to what is received
All torque demands including target torque determine current demand moment of torsion, and by controlling engine ignition angle and throttle opening
Realizing the current demand moment of torsion, downshift of the automobile in cruise Control suddenly accelerates or downshift is suddenly slowed down to complete.The present invention
Cruise control method automatic gear-box control unit and engine controller are effectively combined, pass through this cruise control
Method processed solves the problem of automobile before this can not carry out anxious accelerate with anxious slow down in cruise Control, not only increases and drives
Driving of the person of sailing in cruise control, at the same can also enable automobile faced a danger in cruise Control situation when
More rapid reaction is enough made, driving safety of the automobile in cruise Control is further improved.
Brief description of the drawings
Next the specific embodiment of the present invention will be described in further detail with reference to accompanying drawing, wherein：
Fig. 1 is the system control block figure of the embodiment of the present invention；
Fig. 2 is the gearshift line scaling method schematic diagram of the embodiment of the present invention；
Fig. 3 is the system decision flow chart of the embodiment of the present invention；
Marked in upper figure：
1st, cruise control torque demand computing module 2, Transmission Control Module
3rd, system torque Coordination module
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
As shown in figure 1, a kind of cruise control method of automobile of the present invention is as follows：
S1：Read automobile cruise switch signal.
S2：According to the automobile cruise switch signal of acquisition, the current cruise target speed that driver inputs is obtained by calculating
Degree.
S3：According to current cruise target speed, current cruise target moment of torsion is calculated.
S4：According to the data of corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture, obtain
The virtual throttle aperture of current cruise target moment of torsion and present engine rotating speed must be corresponded to as current virtual accelerator open degree.
S5：Anxious acceleration request or anxious deceleration request are carried out according to current cruise target speed and current cruise target moment of torsion
Judge.
S51：If it is determined that anxious acceleration request, i.e., current cruise target speed is more than or equal to current cruising speed
When, it is done as follows：
S511：Confirm that current cruise target moment of torsion is more than the current max. output torque of engine.
S512：Inquiry accelerates the gearshift line of downshift, and according to current virtual accelerator open degree and current vehicle speed, it is determined that accelerating drop
Keep off type.
S513：Downshift type will be accelerated to export to automatic gear-box control unit, so that automatic gear-box control unit root
Corresponding clutch control and shift control are performed according to downshift type is accelerated.
S514：Or directly carry out engine torque increase control.
S515：Automatic gear-box control unit exports correspondence to engine controller and accelerates the anxious of downshift type to accelerate moment of torsion
Ask and current cruise target moment of torsion, so that engine controller includes anxious acceleration torque request and currently patrolled according to what is received
All torque demands including boat target torque determine current demand moment of torsion, and by controlling engine ignition angle and air throttle to open
Degree realizes the current demand moment of torsion, is finally completed anxious acceleration request.
S52：If it is determined that anxious deceleration request, when current cruise target speed is less than current cruising speed, is following behaviour
Make：
S521：The deceleration torque that automatic gear-box control unit exports correspondence deceleration downshift type to engine controller please
Ask, so that engine controller is according to all torsions including current cruise target moment of torsion and deceleration torque are asked received
Square demand determines current demand moment of torsion, and reduces the angle of ignition of engine.
S522：The throttle opening of engine is reduced, that is, reduces the air inflow of engine to realize current demand moment of torsion.
S523：It is confirmed whether to reach downshift point.
S524：According to the judgement for reaching downshift point, deceleration downshift type is exported to automatic gear-box control unit, so that
Automatic gear-box control unit performs corresponding clutch control and shift control according to deceleration downshift type.
S525：Or the angle of ignition directly by reducing engine.
S526：The throttle opening of engine is reduced, that is, reduces the air inflow of engine.
S527：It is finally completed anxious deceleration request.
As shown in Fig. 2 a kind of cruise control system of automobile of the present invention, is turned round by cruise control in cruise control system
Square demand computing module 1 come receive engine rotational speed signal and driver input current cruise target speed, then using pass
Delivery function is converted into current cruise target moment of torsion, according to current cruise target moment of torsion with reference to the engine rotational speed signal, obtains
The virtual throttle aperture of the current cruise target moment of torsion of correspondence and present engine rotating speed is as current virtual accelerator open degree, current
When cruise target speed is more than or equal to current cruising speed, if current cruise target moment of torsion be more than engine it is current most
Big output torque, then according to current virtual accelerator open degree and current vehicle speed, it is determined that accelerating downshift type to export to automatic gear-box
Control unit；When current cruise target speed is less than current cruising speed, patrolled if currently cruise target speed is relatively current
The rate of change of speed of a ship or plane degree is less than or equal to anxious deceleration threshold value, then current vehicle speed is multiplied by into downshift coefficient in advance, corrected
Current vehicle speed；According to current virtual accelerator open degree and current vehicle speed is corrected, it is determined that anxious deceleration downshift type is exported to automatic change
Fast case control unit；When current cruise target speed is less than current cruising speed, work as if current cruise target speed is relative
The rate of change of preceding cruising speed is more than anxious deceleration threshold value, then according to current virtual accelerator open degree and current vehicle speed, it is determined that drop of slowing down
Gear type is exported to automatic gear-box control unit；After above-mentioned three steps confirmation is completed, utilize what Transmission Control Module 2 was obtained
Current cruise target speed signal and current virtual accelerator opening amount signal perform corresponding clutch control and shift control, finally
Automatic gear box control unit is received by system torque Coordination module 3 and anxious accelerates moment of torsion please to what engine controller was exported
Ask or anxious deceleration torque request and the current cruise target moment of torsion, so that engine controller includes suddenly according to what is received
All torque demands including torque request or anxious deceleration torque request and current cruise target moment of torsion are accelerated to determine currently to need
Moment of torsion is sought, and automobile is completed in cruise by controlling engine ignition angle and throttle opening to realize the current demand moment of torsion
Downshift in control process suddenly accelerates or downshift is suddenly slowed down.
As shown in Fig. 2 above-mentioned cruise control method is mainly the cruise control torque demand passed through in cruise control system
Computing module 1, Transmission Control Module 2 and system torque Coordination module 3 cooperate to what is realized, and react in driver side
Controlling organization be mainly cruise control switch, general cruise control buttons are arranged on vehicle steering or control panel
On, main switch, set/-, resume/+, cancel this four buttons no matter are provided with which kind of cruise control buttons, are started
Different voltages that machine control unit is inputted according to cruise control switch carry out the electricity of switching signal identification, wherein each button
Press signal table as follows：
| Function | Magnitude of voltage (v) |
| Main switch is closed | 0.71 |
| Cancel | 1.51 |
| Resume/+ | 2.43 |
| set/- | 3.33 |
| Main switch is opened | 4.31 |
According to upper table, when vehicle is in cruising condition, driver can be by operating different buttons to realize difference
Cruise accelerate and cruise deceleration, wherein：
(1), when pressing resume/+ keys (key press time is less than 0.5 second), engine controller is determined as that cruise point adds
Speed.
(2), at long-press resume/+ keys (key press time is more than 0.5 second), engine controller is determined as that cruise often adds
Speed.
(3), when pressing set/- keys (key press time is less than 0.5 second), engine controller is determined as that cruise point slows down.
(4), at long-press set/- keys (key press time is more than 0.5 second), engine controller is determined as long slow down of cruising.
In addition, in above-mentioned cruise control, mainly the difference using current cruise target speed and current vehicle speed is used as cruise
The input of control, wherein the computational methods of current cruise target speed are as follows：
(1), when cruise point accelerates or point slows down, the current +/- 5km/h of cruise target speed=current vehicle speed
(2), when the long acceleration of cruise or long deceleration, current cruise target speed=current vehicle speed × (the current cruise targets of 1+
Acceleration × key press time of speed)
Wherein, the acceleration of current cruise target speed can be drawn by following table inquiry：
| Current vehicle speed | 40 | 60 | 80 | 90 | 100 | 120 | 140 | 240 |
| Acceleration | 0.74988 | 0.45018 | 0.22 | 0.20008 | 0.20008 | 0.20008 | 0.20008 | 0.20008 |
Current cruise target moment of torsion can be according to previous cycle velocity variable and current PID adjustment factors, by calculating
Obtain.Currently the calculation formula of cruise target moment of torsion is：
Wherein, Kp is proportionality coefficient, and Ki is integration time constant, and Kd is derivative time constant, and Kp, Ki, Kd are and automobile
The related amount of gearratio, can be obtained by following proportionality coefficient inquiry table：
According to the data of corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture, acquisition pair
Should before cruise target moment of torsion and present engine rotating speed virtual throttle aperture as current virtual accelerator open degree, specifically work as
Preceding virtual throttle aperture inquiry table is following, and (the first row represents current cruise target moment of torsion, and first row represents that present engine turns
Speed)：
| 0.0 | 7.0 | 14.0 | 21.0 | 30.0 | 35.0 | 41.0 | 47.0 | 53.0 | 63.0 | 73.0 | 84.0 | 94 | 100 | 110 | |
| 700.0 | 0.0 | 3.2 | 6.4 | 9.2 | 10.9 | 11.8 | 13.0 | 14.2 | 15.5 | 17.6 | 20.7 | 25.7 | 36.3 | 47.2 | 73.4 |
| 1000.0 | 0.0 | 4.7 | 9.1 | 10.6 | 12.5 | 13.6 | 14.9 | 16.2 | 17.5 | 20.2 | 23.1 | 28.4 | 39.0 | 50.4 | 77.0 |
| 1400.0 | 0.0 | 6.2 | 10.0 | 12.0 | 14.3 | 15.5 | 16.8 | 18.2 | 19.8 | 22.5 | 25.9 | 31.9 | 42.9 | 54.9 | 81.8 |
| 1800.0 | 0.0 | 7.9 | 11.3 | 13.8 | 16.2 | 17.5 | 19.1 | 20.7 | 22.3 | 25.3 | 29.0 | 35.4 | 45.9 | 59.0 | 85.0 |
| 2200.0 | 0.0 | 9.2 | 13.0 | 15.3 | 18.1 | 19.4 | 21.1 | 22.7 | 24.5 | 27.5 | 31.6 | 38.0 | 49.7 | 62.6 | 87.6 |
| 2600.0 | 0.0 | 10.1 | 14.2 | 16.6 | 19.5 | 20.9 | 22.7 | 24.5 | 26.3 | 29.7 | 33.7 | 40.0 | 52.8 | 65.6 | 88.7 |
| 3000.0 | 0.0 | 11.0 | 14.9 | 17.7 | 20.6 | 22.1 | 24.0 | 25.8 | 27.7 | 31.2 | 35.2 | 41.8 | 55.7 | 68.3 | 89.4 |
| 3500.0 | 0.0 | 11.7 | 15.5 | 18.4 | 21.5 | 23.1 | 25.1 | 27.1 | 29.1 | 32.6 | 36.7 | 43.7 | 58.40 | 70.70 | 90.00 |
| 4000.0 | 0.0 | 12.5 | 16.2 | 19.2 | 22.5 | 24.3 | 26.4 | 28.4 | 30.4 | 33.9 | 38.3 | 45.2 | 60.70 | 73.00 | 90.60 |
| 4500.0 | 0.0 | 13.1 | 16.8 | 19.7 | 23.1 | 24.9 | 27.0 | 29.0 | 31.0 | 34.8 | 39.6 | 47.5 | 62.80 | 75.10 | 91.10 |
| 5000.0 | 0.0 | 13.6 | 17.4 | 20.3 | 23.7 | 25.5 | 27.7 | 29.7 | 31.8 | 35.6 | 41.0 | 49.5 | 65.00 | 77.00 | 91.60 |
| 6000.0 | 0.0 | 14.0 | 18.6 | 21.6 | 25.0 | 26.8 | 29.0 | 31.1 | 33.5 | 38.2 | 43.5 | 52.6 | 67.70 | 78.90 | 92.20 |
The operation principle of cruise control method of the present invention is as follows：
(1), the realization that cruise point accelerates refers to driver by pressing the resume/+ keys on cruise control buttons so that
Current cruise target speed is less than with 5km/h stabilized speed increase if the increased gradient of current cruise target speed is per second
During 10km/h, engine controller judges that this acceleration request belongs to general acceleration request, and engine controller receives cruise control
After the switching signal of button processed, the difference between current cruise target speed and current vehicle speed is calculated, and according to engine control
The automobile current drive ratio judged in device, by interpolation arithmetic, obtains the proportionality coefficient of PID control, integral coefficient and micro-
Divide coefficient, calculate current cruise target moment of torsion, when this current cruise target moment of torsion is less than or equal to the current maximum of engine
During output torque, peak torque under current rotating speed is realized by quickly increasing engine ignition angle, and increase air throttle
Aperture, increases air inflow, continues to improve engine torque until current cruise target moment of torsion is accomplished, so as to complete driver
General acceleration request.
(2), the realization that cruise point slows down refers to driver by pressing the set/- keys on cruise control buttons so that current
Cruise target speed is successively decreased with 5km/h stabilized speed, if the current increased gradient of cruise target speed it is per second be less than-
During 10km/h, engine controller judges that this acceleration request belongs to general deceleration request, and engine controller receives cruise control
After the switching signal of button processed, the difference between current cruise target speed and current vehicle speed is calculated, and according to engine control
The automobile current drive ratio judged in device, by interpolation arithmetic, obtains the proportionality coefficient of PID control, integral coefficient and micro-
Divide coefficient, calculate current cruise target moment of torsion, realize that the minimum under current rotating speed is turned round by quickly reducing engine ignition angle
Square, and reduce the aperture and air inflow of air throttle, continue to reduce engine torque until current cruise target moment of torsion obtains reality
It is existing, so as to complete the general deceleration request of driver.
(3) the anxious realization accelerated of, cruising refers to that driver to work as by the resume/+ keys on long-press cruise control buttons
Preceding cruise target speed quickly increases, if the current increased gradient of cruise target speed is per second when being more than 15km/h, engine
Controller judges that this acceleration request belongs to anxious acceleration request, and engine controller receives the switching signal of cruise control buttons
Afterwards, the difference between current cruise target speed and current vehicle speed is calculated, and according to the automobile judged in engine controller
Current drive ratio, by interpolation arithmetic, obtains the proportionality coefficient, integral coefficient and differential coefficient of PID control, calculates current
Cruise target moment of torsion, when this current cruise target moment of torsion is less than or equal to the current max. output torque of engine, by fast
The max. output torque under present engine rotating speed is realized at speed increase engine ignition angle, and by quickly increasing air throttle
Aperture and air inflow, continue to improve engine torque until current cruise target moment of torsion is accomplished, so as to complete driver's
Anxious acceleration request.And when current cruise target moment of torsion is more than the current max. output torque of engine, only by engine
The control of controller will make it that the anxious booster response time is elongated, and now automatic gear-box control unit is as shown in Figure 3 by inquiry
Cruise control gearshift line options target gear, carry out accelerate downshift operation, while according to accelerate downshift type selecting it is different
Clutch pressure control strategy, in the process, automatic gear-box control unit can accelerate to engine controller output correspondence
The anxious of downshift type accelerates torque request and current cruise target moment of torsion, and is realized currently by quickly increasing engine ignition angle
Max. output torque under engine speed, also by quickly increasing the aperture and air inflow of air throttle, continues to improve engine
Moment of torsion is until current cruise target moment of torsion is accomplished, so as to complete the anxious acceleration request of driver.
It is pointed out that accelerating the calibration strategy of the gearshift line shown in the type selecting and Fig. 3 of downshift has direct relation,
The gearshift line calibration curve for a cruise control shown in Fig. 3, wherein solid line are upshift line, and dotted line is downshift line, black
Arrow is the current virtual accelerator open degree come out by the speed inverse that cruises in the ban, and three dark nodes are that current virtual throttle is opened
Degree and the intersection point of three downshift lines, represent the low gear that may be hung up, it is assumed that now vehicle operates in 6 gears, if calculated
The current virtual accelerator open degree arrived is more than 40%, 60% and 85%, will accordingly trigger from 6 and stop one gear of beginning drop, drop two
The operations of three gears are kept off and drop, corresponding clutch control strategy is：When being reduced to 5 gear by 6 gears, automatic gear-box control unit meeting
Anxious acceleration torque request is sent to engine controller, engine controller accordingly improves engine torque and turned to improve engine
Speed is to the corresponding rotating speed of 5 gears, and after the completion of engine speed lifting, the moment of torsion of clutch is replaced, after moment of torsion alternately terminates,
Gearshift is completed.And the operation that begin two gears of drop and three gears of drop are stopped from 6 can be carried out sequentially.
(4) the anxious realization slowed down of, cruising refers to that driver passes through the set/- keys on long-press cruise control buttons so that current
Cruise target speed is quickly reduced, if the gradient of current cruise target speed reduction is per second when being more than -15km/h, engine control
Device processed judges that this deceleration request belongs to anxious deceleration request, and engine controller is received after the switching signal of cruise control buttons,
The difference between current cruise target speed and current vehicle speed is calculated, and it is current according to the automobile judged in engine controller
Gearratio, by interpolation arithmetic, obtains the proportionality coefficient, integral coefficient and differential coefficient of PID control, calculates current cruise
Target torque, and minimum output torque under present engine rotating speed is realized by quickly reducing engine ignition angle, and lead to
The quick aperture and air inflow for reducing air throttle is crossed, continuation reduction engine torque reduces to deceleration downshift point up to speed, and then
Engine is utilized to be braked by deceleration downshift, so as to complete the anxious deceleration request of driver.
Construction, feature and the action effect of the present invention, above institute is described in detail according to the embodiment shown in schema above
Only presently preferred embodiments of the present invention is stated, but the present invention is not to limit practical range shown in drawing, it is every according to structure of the invention
Want made change, or be revised as the equivalent embodiment of equivalent variations, still without departing from specification with illustrating during covered spirit,
All should be within the scope of the present invention.
Claims (7)
1. a kind of cruise control method, it is characterised in that including：
Obtain the current cruise target speed of driver's input；
According to the current cruise target speed, current cruise target moment of torsion is calculated；
According to the data of corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture, correspondence institute is obtained
The virtual throttle aperture of current cruise target moment of torsion and present engine rotating speed is stated as current virtual accelerator open degree；
When the current cruise target speed is more than or equal to current cruising speed, it is judged as anxious acceleration request；
If the current cruise target moment of torsion is more than the current max. output torque of engine,：Inquiry accelerates changing for downshift
Line is kept off, and according to the current virtual accelerator open degree and current vehicle speed, it is determined that accelerating downshift type to export to automatic gear-box control
Unit processed, so that the automatic gear-box control unit performs corresponding clutch control and gear according to the acceleration downshift type
Position control；
The automatic gear-box control unit exports the correspondence urgency for accelerating downshift type to engine controller and accelerates moment of torsion
Request and the current cruise target moment of torsion, so that engine controller includes the anxious acceleration torque request according to what is received
Current demand moment of torsion is determined with all torque demands including the current cruise target moment of torsion, and by controlling engine ignition
Angle and throttle opening realize the current demand moment of torsion.
2. cruise control method according to claim 1, it is characterised in that also include：
When the current cruise target speed is less than current cruising speed, if the current cruise target speed is relatively current
The rate of change of cruising speed is less than or equal to anxious deceleration threshold value, then：
Current vehicle speed is multiplied by downshift coefficient in advance, current vehicle speed has been corrected；
According to the current virtual accelerator open degree and current vehicle speed is corrected, it is determined that anxious deceleration downshift type is exported to fluid drive
Case control unit, so that the automatic gear-box control unit performs corresponding clutch control according to the anxious deceleration downshift type
System and shift control；
Anxious slow down that the automatic gear-box control unit exports the correspondence anxious deceleration downshift type to engine controller is turned round
Square is asked, so that engine controller is asked according to the include current cruise target moment of torsion and the anxious deceleration torque that receive
All torque demands including asking determine current demand moment of torsion, and by controlling engine ignition angle and throttle opening to realize institute
State current demand moment of torsion.
3. cruise control method according to claim 1, it is characterised in that also include：
When the current cruise target speed is less than current cruising speed, if the current cruise target speed is relatively current
The rate of change of cruising speed is more than anxious deceleration threshold value, then：
According to the current virtual accelerator open degree and current vehicle speed, it is determined that deceleration downshift type, which is exported to automatic gear-box, controls list
Member, so that the automatic gear-box control unit performs corresponding clutch control and gear control according to the deceleration downshift type
System；
The deceleration torque that the automatic gear-box control unit exports the correspondence deceleration downshift type to engine controller please
Ask, so that engine controller is according to receiving including current the cruise target moment of torsion and the deceleration torque are asked
All torque demands determine current demand moment of torsion, it is and described current by controlling engine ignition angle and throttle opening to realize
Demand torque.
4. the cruise control method according to claim 1,2 or 3, it is characterised in that described according to the current cruise mesh
Speed is marked, calculating current cruise target moment of torsion includes：
The difference between the current cruise target speed and current cruising speed is calculated, current cruising speed variable quantity is obtained；
Obtain the current resultant gear ratio of automotive transmission；
According to the data of corresponding relation between the current resultant gear ratio and PID adjustment factors of reflection automotive transmission, correspondence institute is obtained
The PID adjustment factors of current resultant gear ratio are stated as current PID adjustment factors；
According to the current cruising speed variable quantity and the current PID adjustment factors, calculating obtains current cruise target moment of torsion.
5. the cruise control method according to claim 1,2 or 3, it is characterised in that described to be turned round according to reflection cruise target
The data of corresponding relation between square and engine speed and virtual throttle aperture, obtain the correspondence current cruise target moment of torsion and work as
The virtual throttle aperture of front engine rotating speed includes as current virtual accelerator open degree：
According to the data of corresponding relation between reflection cruise target moment of torsion and engine speed and virtual throttle aperture, obtained by interpolation
The virtual throttle aperture of the current cruise target moment of torsion and present engine rotating speed must be corresponded to as current virtual accelerator open degree.
6. cruise control method according to claim 5, it is characterised in that the current virtual accelerator open degree is less than described
The anxious of automatic gear-box control unit accelerates downshift to ask virtual throttle aperture during with anxious deceleration downshift request, then：
Show that the output torque of present engine is able to maintain that the vehicle operation under current shift, now the automatic gear-box control
Unit processed stops control of the intervention to the current cruising speed.
7. a kind of cruise control system, it is characterised in that including：
Cruise control torque demand computing module, the module is used to receive engine rotational speed signal and the current of driver's input is patrolled
Boat target velocity, is converted into current cruise target moment of torsion, according to the current cruise target moment of torsion combination institute by transmission function
Engine rotational speed signal is stated, is calculated using linear interpolation formula y=y0+ α (y1-y0) and obtains current virtual accelerator opening amount signal,
And export the current virtual accelerator opening amount signal to automatic gear-box control unit；
The cruise control torque demand computing module, is additionally operable to be more than or equal to currently in the current cruise target speed
During cruising speed, it is judged as anxious acceleration request；If the current cruise target moment of torsion is more than the current maximum output of engine
Moment of torsion, then：Inquiry accelerates the gearshift line of downshift, and according to the current virtual accelerator open degree and current vehicle speed, it is determined that accelerating drop
Gear type is exported to automatic gear-box control unit, so that the automatic gear-box control unit is according to the acceleration downshift type
Perform corresponding clutch control and shift control；
Transmission Control Module, the module is used to receive current cruise target speed signal and current virtual accelerator opening amount signal,
And the current cruise target speed signal and the current virtual throttle obtained by automatic gear-box control unit is opened
Spend signal and perform corresponding clutch control and shift control；
System torque Coordination module, the module is used to receive what the automatic gear-box control unit was exported to engine controller
It is anxious to accelerate torque request or anxious deceleration torque request and the current cruise target moment of torsion, so that engine controller is according to connecing
Receive including it is described it is anxious accelerate torque request or the anxious deceleration torque request and the current cruise target moment of torsion including
All torque demands determine current demand moment of torsion, it is and described current by controlling engine ignition angle and throttle opening to realize
Demand torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510137786.6A CN104742904B (en) | 2015-03-26 | 2015-03-26 | A kind of cruise control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510137786.6A CN104742904B (en) | 2015-03-26 | 2015-03-26 | A kind of cruise control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104742904A CN104742904A (en) | 2015-07-01 |
| CN104742904B true CN104742904B (en) | 2017-11-03 |
Family
ID=53583346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510137786.6A Active CN104742904B (en) | 2015-03-26 | 2015-03-26 | A kind of cruise control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104742904B (en) |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105365821B (en) * | 2015-11-23 | 2018-02-23 | 浙江吉利汽车研究院有限公司 | Adaptive cruise accelerated method, apparatus and system |
| CN106004878B (en) * | 2016-06-22 | 2019-01-15 | 浙江吉利汽车研究院有限公司 | A kind of adaptive cruise comfortableness control system and control method |
| CN106428005B (en) * | 2016-11-30 | 2019-11-01 | 河南森源重工有限公司 | A kind of constant speed of vehicle cruise control method |
| CN106740844B (en) * | 2016-12-20 | 2019-07-12 | 北京小米移动软件有限公司 | Control method, device and the vehicle of constant speed of vehicle cruise |
| CN107745712B (en) * | 2017-10-31 | 2021-11-30 | 奇瑞汽车股份有限公司 | Method and device for controlling vehicle cruise |
| CN109835335B (en) * | 2017-11-28 | 2021-11-09 | 蔚来(安徽)控股有限公司 | Electric vehicle cruise control method and system, vehicle, controller and storage medium |
| CN109969182A (en) * | 2017-12-28 | 2019-07-05 | 郑州宇通客车股份有限公司 | A kind of new energy sanitation cart constant speed cruising method and system |
| CN110015295B (en) * | 2018-01-10 | 2020-12-15 | 宝沃汽车（中国）有限公司 | Cruise torque control method and device and vehicle |
| CN108515971A (en) * | 2018-03-30 | 2018-09-11 | 重庆长安汽车股份有限公司 | A kind of cruise function control method, system, device and readable storage medium storing program for executing |
| CN108506473B (en) * | 2018-03-30 | 2019-06-28 | 安徽江淮汽车集团股份有限公司 | Transmission control method and system based on adaptive cruise |
| CN109375502B (en) * | 2018-10-31 | 2021-03-30 | 奇瑞汽车股份有限公司 | Control method and device of intelligent automobile and storage medium |
| CN109681629B (en) * | 2018-12-14 | 2020-12-01 | 北京长城华冠汽车科技股份有限公司 | Vehicle and gear control method and gear control device thereof |
| CN111409633A (en) * | 2019-01-07 | 2020-07-14 | 上汽通用汽车有限公司 | Control method and device in vehicle adaptive cruise |
| CN111619563B (en) * | 2019-02-27 | 2021-09-14 | 广州汽车集团股份有限公司 | Control method and device in self-adaptive cruise acceleration process and computer equipment |
| CN111746536B (en) * | 2019-03-27 | 2021-05-11 | 广州汽车集团股份有限公司 | Control method and device in self-adaptive cruise acceleration process and computer equipment |
| CN110174911A (en) * | 2019-04-12 | 2019-08-27 | 汉腾汽车有限公司 | A kind of scaling method of front axle automatic gear-box control unit |
| CN112009242B (en) * | 2019-05-31 | 2021-11-12 | 广州汽车集团股份有限公司 | Vehicle speed control method, device, equipment and computer readable medium |
| CN110239553B (en) * | 2019-06-25 | 2021-05-28 | 北京车和家信息技术有限公司 | Method and device for calculating virtual accelerator pedal opening of electric automobile |
| CN112431922B (en) * | 2019-08-26 | 2022-03-25 | 上海汽车集团股份有限公司 | Control method and system for gear shifting of gearbox |
| CN111942385B (en) * | 2020-07-28 | 2021-12-03 | 广州汽车集团股份有限公司 | Control method and system for automatic lane change of vehicle, control device and medium |
| CN112249015B (en) * | 2020-09-08 | 2022-03-25 | 广州汽车集团股份有限公司 | Self-adaptive cruise control method and system |
| CN113401137B (en) * | 2021-06-01 | 2023-05-09 | 黄冈格罗夫氢能汽车有限公司 | Energy management method and system under intelligent driving and cruising working conditions |
| CN113401106B (en) * | 2021-06-30 | 2022-08-09 | 重庆长安汽车股份有限公司 | Control method of power output |
| CN115163816B (en) * | 2022-06-13 | 2024-07-19 | 潍柴动力股份有限公司 | Automatic gearbox constant speed cruising gear shifting method and related hardware |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0879731B1 (en) * | 1997-05-22 | 2002-07-24 | Nissan Motor Company, Limited | Integrated control system for electronically-controlled engine and automatic steplessly variable transmission |
| JP2000335283A (en) * | 1999-05-26 | 2000-12-05 | Nissan Motor Co Ltd | Driving force control system for vehicle |
| CN100429432C (en) * | 2005-06-21 | 2008-10-29 | 比亚迪股份有限公司 | Gear position control system of AMT vehicle and gear control method thereof |
| CN101312867B (en) * | 2005-09-30 | 2012-07-04 | 株式会社捷太格特 | Drive control device for vehicle |
| CN101363535B (en) * | 2007-08-07 | 2013-03-06 | 奇瑞汽车股份有限公司 | Basic control method for vehicle mounted with CVT |
| CN103121449B (en) * | 2011-11-18 | 2015-11-18 | 北汽福田汽车股份有限公司 | A kind of cruise control method of electronlmobil and system |
| CN104210383B (en) * | 2014-09-18 | 2016-05-25 | 上海工程技术大学 | A kind of four-wheel drive electric automobile torque distribution control method and system |
-
2015
- 2015-03-26 CN CN201510137786.6A patent/CN104742904B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104742904A (en) | 2015-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104742904B (en) | A kind of cruise control method and system | |
| US9409566B2 (en) | Hybrid vehicle and associated control method | |
| US9481351B2 (en) | Hybrid vehicle and associated engine start and stop control method | |
| CN103047408B (en) | A kind of automatic gearbox gear shifting method and vehicle | |
| US8657045B2 (en) | Hybrid vehicle and associated engine speed control method | |
| CN108533739B (en) | Gear shifting method and device for automatic transmission vehicle | |
| US8718896B2 (en) | Hybrid vehicle and associated output torque control method | |
| JP5244169B2 (en) | Vehicle driving force control device | |
| CN103946596B (en) | The control gear of automatic transmission | |
| US8485942B2 (en) | Vehicle control system and vehicle control method | |
| US20110160969A1 (en) | Continuously variable transmission | |
| CN107795680B (en) | Control system and method for neutral idle operation | |
| EP2253868B1 (en) | Device and method for controlling automatic gearbox | |
| CN103306834A (en) | Engine torque control method capable of improving the start performance of whole vehicle | |
| CN105757142B (en) | The control method and device that a kind of clutch for vehicle automatic speed variator engages | |
| US9108631B2 (en) | Hybrid vehicle and associated control method | |
| SE539476C2 (en) | Method and control system for enabling or extending a higher transmission mode in a vehicle | |
| CN102563037A (en) | Vehicle shift control apparatus | |
| CN103807323A (en) | Method for controlling normal starting of dual-clutch automatic transmission | |
| CN105522927A (en) | Cluster control system of vehicle and method thereof | |
| CN107882975B (en) | Tractor and adaptive electric controlled gear shfiting system and method for tractor | |
| CN105736601A (en) | Control method and system for clutch torque in initial creep stage of automobile | |
| US8998770B2 (en) | Hybrid vehicle and associated engine speed control method | |
| CN109027217A (en) | A kind of shift control method of double-clutch speed changer, device and automobile | |
| CN106976456B (en) | Hybrid-vehicle control method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 230601 Anhui Province, Hefei City Industrial Park, the Peach Blossom Road No. 669 Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 Anhui Province, Hefei City Industrial Park, the Peach Blossom Road No. 669 Applicant before: Anhui Jianghuai Automotive Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |