CN105015544A - Vehicle speed control system and method for full-automatic parking of electric car - Google Patents
Vehicle speed control system and method for full-automatic parking of electric car Download PDFInfo
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- CN105015544A CN105015544A CN201510447562.5A CN201510447562A CN105015544A CN 105015544 A CN105015544 A CN 105015544A CN 201510447562 A CN201510447562 A CN 201510447562A CN 105015544 A CN105015544 A CN 105015544A
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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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel 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
- B60W2540/18—Steering angle
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
-
- 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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- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a vehicle speed control system and method for the full-automatic parking of an electric car, and the system comprises a parking controller, a driving motor controller, an analog voltage signal generator, a sensor unit, and a brake pedal actuator. The parking controller communicates with the driving motor controller through a CAN bus. The parking controller reads the current environment and vehicle information collected by a sensor module, determines the ideal vehicle speed at the current moment, and enables an ideal vehicle speed signal to be transmitted to the driving motor controller. The analog voltage signal generator is used for simulating an accelerator pedal voltage signal. The brake pedal actuator is used for vehicle braking after automatic parking. The driving motor controller receives a wheel speed signal collected by a wheel speed sensor, calculates the actual vehicle speed at the current moment, compares the received ideal vehicle speed with the current actual vehicle speed, carries out regulation and control to enable the actual vehicle speed to approach the ideal vehicle speed, improves the parking effect, and improves the safety and comfort of parking.
Description
Technical field
The invention belongs to field of automobile control, particularly relate to a kind of electronlmobil full automaticity and to park vehicle speed control system in process and method.
Background technology
Along with the development of economic level and improving constantly of living standards of the people, car owning amount constantly increases, available parking space is fewer and feweri, road traffic accident quantity also more increases, a difficult problem of parking and highway traffic safety are more and more subject to people and pay close attention to, and the appearance of automated parking system solves the difficult problem of parking day by day perplexing car owner.Along with the fast development of electronlmobil, electronlmobil also will face the demand of automatic parking equally.
Automatic parking seen by existing market needs chaufeur regulation speed, and effect of parking is limited by the manipulation of chaufeur to the speed of a motor vehicle, adds the uncertain factor of parking and controlling, and affects effect of parking.In addition, current only orthodox car is confined to the research that full automaticity is parked, and due to orthodox car different from the speed of a motor vehicle control principle of electronlmobil, so the full automaticity parking system of orthodox car can not directly apply to electronlmobil.
Summary of the invention
In order to overcome the deficiency that prior art exists, the present invention proposes a kind of electronlmobil full automaticity and to park vehicle speed control system in process and method.Electronlmobil is parked after function at unlatching full automaticity, and without the need to chaufeur regulation speed, vehicle can complete according to path planning and turn to, travels and brake, and finally realizes automatic parking, is conducive to improvement and parks effect, improve safety and the traveling comfort of process of parking.
In order to solve the problems of the technologies described above, the object of the invention is to be achieved through the following technical solutions:
Electronlmobil full automaticity is parked the vehicle speed control system in process, it is characterized in that, comprises controller of parking, drive motor controller, analog voltage signal producer, sensor unit, brake pedal actuator;
Described sensor unit comprises steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors, described steering wheel angle sensor is arranged in the steering column below bearing circle, described ultrasonic radar sensor totally 4, front bumper, rear bumper are separately installed with 2, described wheel speed sensors totally 4, be arranged on four wheel places respectively, steering wheel angle sensor, ultrasonic radar sensor are connected with controller of parking, drive motor controller by CAN respectively with wheel speed sensors; Described controller and the drive motor controller of parking realizes communication by CAN; Described analog voltage signal producer respectively with controller of parking, drive motor controller, described brake pedal actuator is connected with controller of parking;
Described steering wheel angle sensor is for gathering steering wheel angle and dtc signal; Described ultrasonic radar sensor is for gathering the range information of this car and front and back obstacle; Described wheel speed sensors is for gathering each vehicle wheel rotational speed information; Described steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors send the information gathered separately to park controller and drive motor controller respectively;
Described controller of parking exports the desirable speed of a motor vehicle of current driving operating mode for the Current vehicle that gathers according to sensor assembly and peripheral obstacle range information, steering wheel angle information and wheel speed pulse information, and controls process of parking;
Described drive motor controller is used for the conversion of actual vehicle speed and regulates and controls current actual vehicle speed and constantly approach the desirable speed of a motor vehicle;
Described analog voltage signal producer is used for the actual voltage signal simulation Das Gaspedal voltage signal corresponding according to this moment desirable speed of a motor vehicle, analog voltage signal is directly sent to drive motor controller and produces terminal voltage, control running car with this;
Described brake pedal actuator is used for the car brakeing after automatic parking completes.
Preferably, described drive motor controller comprises data processing unit and algorithm regulation and control unit; Each vehicle wheel rotational speed information that described data processing unit is used for gathering according to wheel speed sensors calculates the actual vehicle speed of vehicle, described actual vehicle speed method of calculating is that each vehicle wheel rotational speed sum is multiplied by radius of wheel again divided by 4, in addition, data processing unit also processes output vehicle speed signal, show that corresponding dtc signal controls the Driving Torque of drive motor; Described algorithm regulation and control unit is used for the regulation and control of the speed of a motor vehicle, makes the actual vehicle speed in the process of parking constantly approach the real-time desirable speed of a motor vehicle.
Preferably, described brake pedal actuator adopts automatically controlled servoactuator.
Electronlmobil full automaticity is parked the method for controlling driving speed in process, it is characterized in that, comprises the following steps:
(1) wheel speed sensors detects current wheel rotation speed signals and wheel rotation speed signals is sent to the data processing unit of drive motor controller, and data processing unit processes the actual vehicle speed drawing current time to wheel rotation speed signals
wherein, v
fl, v
fr, v
ll, v
lrbe respectively the rotating speed of front left wheel, the rotating speed of front right wheel, the rotating speed of rear revolver, the rotating speed of rear right wheel, r is radius of wheel, then by actual vehicle speed signal v
abe sent to the algorithm control unit of drive motor controller; Park controller receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors transmit signal, determine the operation process that Current vehicle is parked to draw the desirable speed of a motor vehicle v in this moment in current process thus with this
i, and by desirable vehicle speed signal v
ibe sent to algorithm control unit and the analog voltage signal producer of drive motor controller;
(2) analog voltage signal producer receives the desirable vehicle speed signal v of current time
i, and according to the desirable vehicle speed signal v of current time
iproduce the voltage signal of corresponding size, and voltage signal is sent to drive motor controller, electrode produces terminal voltage, drive motor work, and electronlmobil produces the speed of a motor vehicle;
(3) the algorithm regulation and control unit that drive motor controller is built-in utilizes closed loop control algorithm to carry out contrast process and regulation and control to the current desirable vehicle speed signal received and actual vehicle speed signal, makes actual vehicle speed v
aconstantly approach desirable speed of a motor vehicle v
i, thus the speed of a motor vehicle of parking controls in ideal range;
(4) speed of a motor vehicle drawn is sent to data processing unit by algorithm regulation and control unit, data processing unit is converted into dtc signal to this vehicle speed signal, and control the Driving Torque T of drive motor with dtc signal, and then produce the speed of a motor vehicle of parking in corresponding ideal range.
(5) controller of parking calls according to the information of sensor die block transfer controller plug-in of parking, determine whether this car arrives appointment parking place, parking place is specified if arrive, controller of parking sends work order to brake pedal actuator, actuator pressure brake pedal, stopping-down, has parked.
Preferably, desirable speed of a motor vehicle v
iacquisition methods, all sets a current desirable speed of a motor vehicle v to each step of the process of parking in vehicle controller on the berth
iactually park in process, the signal that controller of parking is transmitted by receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors, determines the current operation process of vehicle parking, by calling data and exportable current desirable speed of a motor vehicle v in controller of parking
i.
Compared with existing scheme, the present invention has following technique effect:
1, in process of parking, chaufeur does not need regulation speed, chaufeur is obtained and liberates completely, improve the traveling comfort of the process of parking.
2, system can replace chaufeur to complete parking manoeuvres completely, the impact that effect of parking manipulate the speed of a motor vehicle by chaufeur, decreases the uncertain factor of parking and controlling, and is conducive to improvement and parks effect, and raising is parked the safety of process.
3, the equipment of the present invention's use is simple, and highly versatile, is being widely used in motor automobile.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of the preferred embodiment of the present invention.
Fig. 2 is the workflow diagram of the preferred embodiment of the present invention.
Fig. 3 is the algorithm control unit control principle drawing of the preferred embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
To know that beans electronlmobil is described as test carrier in the present embodiment, brake pedal actuator adopts automatically controlled servoactuator, and method for controlling driving speed adopts Fuzzy PID.As shown in Figure 1, the vehicle speed control system that electronlmobil full automaticity of the present invention is parked in process, comprises controller of parking, drive motor controller, analog voltage signal producer, sensor unit, brake pedal actuator.Described sensor unit comprises steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors, described steering wheel angle sensor is arranged in the steering column below bearing circle, described ultrasonic radar sensor totally 4, front bumper, rear bumper is separately installed with 2.Described wheel speed sensors totally 4, is arranged on four wheel places respectively, and steering wheel angle sensor, ultrasonic radar sensor are connected with controller of parking, drive motor controller by CAN respectively with wheel speed sensors.Described controller and the drive motor controller of parking realizes communication by CAN.Described analog voltage signal producer respectively with controller of parking, drive motor controller, described brake pedal actuator is connected with controller of parking; Described controller of parking exports the desirable speed of a motor vehicle of current driving operating mode for the Current vehicle that gathers according to sensor assembly and peripheral obstacle range information, steering wheel angle information and wheel speed pulse information.Described drive motor controller be used for actual vehicle speed conversion and between current actual vehicle speed and the desirable speed of a motor vehicle real-time regulation and control approach.Described analog voltage signal producer is used for the actual voltage signal simulation Das Gaspedal voltage signal corresponding according to this moment desirable speed of a motor vehicle, analog voltage signal is directly sent to drive motor controller and produces terminal voltage, control running car with this.Described steering wheel angle sensor is for gathering steering wheel angle and dtc signal; Described ultrasonic radar sensor is for gathering the range information of this car and front and back obstacle; Described for gathering each vehicle wheel rotational speed information; Described steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors send the information gathered separately to park controller and drive motor controller respectively.Described brake pedal actuator is used for the car brakeing after automatic parking completes.Concrete, described drive motor controller comprises data processing unit and algorithm regulation and control unit; Each vehicle wheel rotational speed information that described data processing unit is used for gathering according to wheel speed sensors calculates the actual vehicle speed of vehicle, described actual vehicle speed method of calculating is that each vehicle wheel rotational speed sum is multiplied by radius of wheel again divided by 4, in addition, data processing unit also processes output vehicle speed signal, show that corresponding dtc signal controls the Driving Torque of drive motor; Described algorithm regulation and control unit is used for the regulation and control of the speed of a motor vehicle, utilizes built-in closed loop control algorithm to make the actual vehicle speed in the process of parking constantly approach the real-time desirable speed of a motor vehicle.Preferably, the desirable speed of a motor vehicle v of described current time
iacquisition methods, all sets a best to each step of the process of parking in vehicle controller MCU on the berth and to park the speed of a motor vehicle (i.e. current desirable speed of a motor vehicle v
i), actually park in process, the signal that controller of parking is transmitted by receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors, determines the current operation process of vehicle parking, by calling data and exportable current desirable speed of a motor vehicle v in MCU
i.
A kind of electronlmobil full automaticity of the present invention park the method for controlling driving speed in process workflow as shown in Figure 2.
Automobile driver opens automated parking system, and this method for controlling driving speed is started working.Wheel speed sensors detects the tach signal of four current wheels respectively, and this signal is sent to the data processing unit of driving governor, and data processing unit processes to it actual vehicle speed drawing current time
wherein, v
fl, v
fr, v
ll, v
lrbe respectively the rotating speed of front left wheel, the rotating speed of front right wheel, the rotating speed of rear revolver, the rotating speed of rear right wheel, r is radius of wheel, then by actual vehicle speed signal v
abe sent to the algorithm control unit of drive motor controller.Park controller receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors transmit signal, determine the operation process that Current vehicle is parked to draw the desirable speed of a motor vehicle v in this moment in current process thus with this
i, and desirable vehicle speed signal is sent to algorithm control unit and the analog voltage signal producer of drive motor controller.
Analog voltage signal producer receives the desirable vehicle speed signal of current time, and produces the voltage signal U of corresponding size according to the desirable vehicle speed signal of current time, and voltage signal U is sent to drive motor controller, and electrode produces terminal voltage U
d, drive motor work, electronlmobil produces the speed of a motor vehicle.
The algorithm regulation and control unit application Fuzzy PID that drive motor controller is built-in, as shown in Figure 3, to the current desirable speed of a motor vehicle v received
iwith actual vehicle speed v
acarry out contrast process and regulation and control, make actual vehicle speed v
aconstantly approach desirable speed of a motor vehicle v
i, thus the speed of a motor vehicle v that will park controls in ideal range.Such as, when automatic parking program just starts, vehicle stops, and current vehicle speed is 0km/h, the desirable speed of a motor vehicle v of first step process of supposing to park
i=10m/h, then now analog signal generator produces the drive motor terminal voltage U corresponding to the 10km/h speed of a motor vehicle
d, stimulate drive motor work to produce actual vehicle speed v
a, but this speed of a motor vehicle v
amay be greater than or less than 10km/h, the algorithm control unit now in driving governor starts effect, and its built-in Fuzzy PID makes this speed of a motor vehicle v
aconstantly approach 10km/h, thus automobile is produced close to the desirable speed of a motor vehicle, the speed of a motor vehicle v that parks is controlled in the ideal range of 9km/h ~ 11km/h.
The speed of a motor vehicle drawn is sent to data processing unit by algorithm regulation and control unit, and data processing unit is converted into dtc signal to this vehicle speed signal, and controls the Driving Torque T of drive motor with dtc signal, and then produces the speed of a motor vehicle v that parks in corresponding ideal range.
Controller of parking calls according to the information of sensor die block transfer controller MCU plug-in of parking, determine whether this car arrives appointment parking place, parking place A is specified if arrive, controller of parking sends work order to brake pedal actuator, actuator pressure brake pedal, stopping-down, has parked.
Make chaufeur park process without the need to regulation speed at whole electronlmobil full automaticity by above step, and the speed of a motor vehicle of parking controls within ideal range, improve effect of parking, improve safety and the traveling comfort of process of parking.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (5)
1. electronlmobil full automaticity is parked the vehicle speed control system in process, it is characterized in that, comprises controller of parking, drive motor controller, analog voltage signal producer, sensor unit, brake pedal actuator;
Described sensor unit comprises steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors, described steering wheel angle sensor is arranged in the steering column below bearing circle, described ultrasonic radar sensor totally 4, front bumper, rear bumper are separately installed with 2, described wheel speed sensors totally 4, be arranged on four wheel places respectively, steering wheel angle sensor, ultrasonic radar sensor are connected with controller of parking, drive motor controller by CAN respectively with wheel speed sensors; Described controller and the drive motor controller of parking realizes communication by CAN; Described analog voltage signal producer respectively with controller of parking, drive motor controller, described brake pedal actuator is connected with controller of parking;
Described steering wheel angle sensor is for gathering steering wheel angle and dtc signal; Described ultrasonic radar sensor is for gathering the range information of this car and front and back obstacle; Described wheel speed sensors is for gathering each vehicle wheel rotational speed information; Described steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors send the information gathered separately to park controller and drive motor controller respectively;
Described controller of parking exports the desirable speed of a motor vehicle of current driving operating mode for the Current vehicle that gathers according to sensor assembly and peripheral obstacle range information, steering wheel angle information and wheel speed pulse information, and controls process of parking;
Described drive motor controller is used for the conversion of actual vehicle speed and regulates and controls current actual vehicle speed and constantly approach the desirable speed of a motor vehicle;
Described analog voltage signal producer is used for the actual voltage signal simulation Das Gaspedal voltage signal corresponding according to this moment desirable speed of a motor vehicle, analog voltage signal is directly sent to drive motor controller and produces terminal voltage, control running car with this;
Described brake pedal actuator is used for the car brakeing after automatic parking completes.
2. vehicle speed control system according to claim 1, is characterized in that, described drive motor controller comprises data processing unit and algorithm regulation and control unit; Each vehicle wheel rotational speed information that described data processing unit is used for gathering according to wheel speed sensors calculates the actual vehicle speed of vehicle, described actual vehicle speed method of calculating is that each vehicle wheel rotational speed sum is multiplied by radius of wheel again divided by 4, in addition, data processing unit also processes output vehicle speed signal, show that corresponding dtc signal controls the Driving Torque of drive motor; Described algorithm regulation and control unit is used for the regulation and control of the speed of a motor vehicle, makes the actual vehicle speed in the process of parking constantly approach the real-time desirable speed of a motor vehicle.
3. vehicle speed control system according to claim 1, is characterized in that, brake pedal actuator adopts automatically controlled servoactuator.
4. electronlmobil full automaticity is parked the method for controlling driving speed in process, it is characterized in that, comprises the following steps:
(1) wheel speed sensors detects current wheel rotation speed signals and wheel rotation speed signals is sent to the data processing unit of drive motor controller, and data processing unit processes the actual vehicle speed drawing current time to wheel rotation speed signals
wherein, v
fl, v
fr, v
ll, v
lrbe respectively the rotating speed of front left wheel, the rotating speed of front right wheel, the rotating speed of rear revolver, the rotating speed of rear right wheel, r is radius of wheel, then by actual vehicle speed signal v
abe sent to the algorithm control unit of drive motor controller; Park controller receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors transmit signal, determine the operation process that Current vehicle is parked to draw the desirable speed of a motor vehicle v in this moment in current process thus with this
i, and by desirable vehicle speed signal v
ibe sent to algorithm control unit and the analog voltage signal producer of drive motor controller;
(2) analog voltage signal producer receives the desirable vehicle speed signal v of current time
i, and according to the desirable vehicle speed signal v of current time
iproduce the voltage signal U of corresponding size, and voltage signal U is sent to drive motor controller, electrode produces terminal voltage U
d, drive motor work, electronlmobil produces the speed of a motor vehicle;
(3) the algorithm regulation and control unit that drive motor controller is built-in utilizes closed loop control algorithm to carry out contrast process and regulation and control to the current desirable vehicle speed signal received and actual vehicle speed signal, makes actual vehicle speed v
aconstantly approach desirable speed of a motor vehicle v
i, thus the speed of a motor vehicle of parking controls in ideal range;
(4) speed of a motor vehicle drawn is sent to data processing unit by algorithm regulation and control unit, data processing unit is converted into dtc signal to this vehicle speed signal, and control the Driving Torque T of drive motor with dtc signal, and then produce the speed of a motor vehicle of parking in corresponding ideal range.
(5) controller of parking calls according to the information of sensor die block transfer controller plug-in of parking, determine whether this car arrives appointment parking place, parking place is specified if arrive, controller of parking sends work order to brake pedal actuator, actuator pressure brake pedal, stopping-down, has parked.
5. method for controlling driving speed according to claim 4, is characterized in that, desirable speed of a motor vehicle v
iacquisition methods, all sets a current desirable speed of a motor vehicle v to each step of the process of parking in vehicle controller on the berth
iactually park in process, the signal that controller of parking is transmitted by receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors, determines the current operation process of vehicle parking, by calling data and exportable current desirable speed of a motor vehicle v in controller of parking
i.
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| CN201510447562.5A CN105015544A (en) | 2015-07-27 | 2015-07-27 | Vehicle speed control system and method for full-automatic parking of electric car |
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| CN201510447562.5A CN105015544A (en) | 2015-07-27 | 2015-07-27 | Vehicle speed control system and method for full-automatic parking of electric car |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627143A (en) * | 2016-12-05 | 2017-05-10 | 广东亿鼎新能源汽车有限公司 | Electric vehicle comprehensive instrument system |
| CN106671971A (en) * | 2015-11-11 | 2017-05-17 | 现代自动车株式会社 | Parking assisting apparatus and method for controlling vehicle speed |
| CN107545894A (en) * | 2017-01-22 | 2018-01-05 | 斑马信息科技有限公司 | Sound control method and speech control system for vehicle |
| CN108313053A (en) * | 2018-01-30 | 2018-07-24 | 吉利汽车研究院（宁波）有限公司 | A kind of method and system of parking based on Intelligent key |
| CN108973773A (en) * | 2018-06-08 | 2018-12-11 | 武汉理工大学 | The unmanned controller for pure electric automobile of bimodulus with vehicle body stability contorting |
| CN108995643A (en) * | 2018-06-11 | 2018-12-14 | 平湖市超越时空图文设计有限公司 | A kind of automobile automated parking system for capableing of regulation speed |
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