CN105667501A - Energy distribution method of hybrid electric vehicle with track optimization function - Google Patents
Energy distribution method of hybrid electric vehicle with track optimization function Download PDFInfo
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/30—Control strategies involving selection of transmission gear ratio
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- 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
- B60W2520/10—Longitudinal 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Abstract
The invention provides an energy distribution method of a hybrid electric vehicle with a track optimization function and belongs to the technical field of automobile driving. With the adoption of the energy distribution method of the hybrid electric vehicle with the track optimization function, the aims that an optimal movement speed track of the hybrid electric vehicle in a cruising process is optimized according to current vehicle speed information in real time so that the fuel economy of the hybrid electric vehicle can be improved to the greatest extent are realized. A current vehicle driving speed track is optimized through acquiring speed information of a front vehicle and current speed information of a current vehicle, and SOC (State of Charge) of a hybrid electric vehicle battery through an information acquisition module. The invention provides an optimization method of an energy distribution strategy with a track planning function for the hybrid electric vehicle; the speed information of the front vehicle is firstly acquired through the hybrid electric vehicle and an optimal speed track of the current vehicle is optimized and calculated according to the acquired speed information; unnecessary speed fluctuation in a cruising process of the hybrid electric vehicle is reduced, and economical efficiency and comfort of the hybrid electric vehicle are improved.
Description
Technical field
The invention belongs to Driving Skills field.
Background technology
Raising along with intelligence degree, cruise control system begins in all kinds of vehicle universal, the adaptive learning algorithms of vehicle primarily focuses on traffic safety, namely front truck accelerates, vehicle just and then accelerates, front truck slows down, and vehicle and then slows down, the problem not considering economy and comfortableness in the wheelpath of vehicle. Additionally, along with environmental problem and energy crisis highlight day by day, the requirement for VE Vehicle Economy also gradually steps up. For present circumstances, the fuel economy optimization of motor vehicle driven by mixed power is concentrated mainly on the energy allocation model (moment of torsion distribution) of motor vehicle driven by mixed power and gear (speed ratio) optimizes the two aspect, namely first motor vehicle driven by mixed power gathers the velocity information of front truck under the premise by outside plants such as global positioning system (GPS)/GIS-Geographic Information System (GIS), and the velocity information according to front truck utilizes optimized algorithm to optimize allocation model (moment of torsion distribution) and the gear (speed ratio) of motor vehicle driven by mixed power. The premise of whole optimization process is the acquisition of front vehicle speed, but would be likely to occur fluctuation at the front vehicle speed by external equipment collection, and namely front truck exists the anxious situation accelerated, suddenly slow down. Under the premise that security is guaranteed, this anxious acceleration/anxious deceleration for motor vehicle driven by mixed power is unnecessary, the fuel economy affecting motor vehicle driven by mixed power that meeting is serious.
Summary of the invention
It is an object of the invention to speed trajectory optimum according to motor vehicle driven by mixed power in front truck velocity information optimization cruise process in real time, thus improving the energy distributing method of the motor vehicle driven by mixed power with track optimizing function of motor vehicle driven by mixed power fuel economy to greatest extent.
The step that optimization of the present invention travels speed trajectory from car is:
(1) information gathering: gathered the velocity information of front truck and the SOC from car present speed information, motor vehicle driven by mixed power battery by information acquisition module;
(2) track of vehicle optimization: with the front truck velocity information gatheredWith from vehicle speed informationBased on, optimize the travel speed track from car, by wheel driving forceAnd wheel braking forceAs control variable, it is designated as, speedAs state variable, it is designated as, the kinetics equation that can obtain vehicle according to vehicle overall design is:
(1)
Wherein,For from car car weight,For the resistance from car vehicle travel process,
(2)
Wherein,For from the front face area of car,For from the coefficient of air resistance of car,For from the coefficient of rolling resistance of car,For acceleration of gravity,For road grade;
Index in car cruise track optimizing processIt is made up of two parts:
(3)
Wherein, first halfIt is the constraint of economy, represents the output in the vehicle unit time, latter halfIt is the constraint of comfortableness, represents that the speed trajectory optimized to change gently,For weight coefficient;
Track optimizing problem based on front truck velocity information is described as after discretization in prediction time domain:
(4)
Wherein,,For from car with optimize vehicle driving force,For from the brake force of car, the first two constraint is the constraint from car driving force and brake force,、Respectively minimum from car and maximum driving force,、For the minimum and maximum braking force from car.
The present invention is from car energy allocation model and gear optimization:
Difference according to electromotor and Motor torque, the situation in conjunction with vehicle SOC and engine speed mainly has four kinds of allocation models, respectively:
Pattern:; Electric-only mode;
Pattern:: engine working mode;
Pattern:: driving charge mode;
Pattern:: electromotor and motor cooperation pattern;
Wherein,It is the dump energy of motor vehicle driven by mixed power,It is the upper bound of motor vehicle driven by mixed power dump energy,It is engine speed,,It is the bound of engine speed respectively;It is the demand torque of motor vehicle driven by mixed power,,It is the bound of electromotor optimum working zone respectively;
It is selected from the energy allocation model of carAnd gearFor controlled quentity controlled variable, from the dump energy of the battery of carFor quantity of state, according to the optimum speed trajectory that Optimization Solution goes out, become as follows from the problem discretization Final finishing of the energy allocation model of car and gear optimization:
(5)
Wherein, optimization aimIt is the fuel oil consumption within the car unit interval, specifically comprises two parts, respectively the fuel oil consumption of electromotorAnd the electric quantity consumption of battery, the wherein fuel oil consumption of electromotor and optimization of vehicle velocity correlation; First constraint it is considered that from the constraint of car engine rotating speed in optimization process,It is the rotating speed from car engine,、It is the minima from car engine rotating speed and maximum respectively; Second is to the constraint exporting moment of torsion in optimization process from car engine,、It is the minima and the maximum that export moment of torsion from car engine respectively; 3rd constraint be in optimization process from the constraint of car battery SOC,,It is the minimum of dump energy and maximum respectively, is finally to energy allocation modelAnd gear ratiosAsk for the constraint of scope.
The present invention proposes the energy allocation strategy of a kind of motor vehicle driven by mixed power with track optimizing function, and namely motor vehicle driven by mixed power is by vehicle mounted guidance GPS/GIS system, gathers front truck and the velocity information from car; According to the information gathered, trajectory planning module optimizes the travel speed track from car so that the requirement meeting economy and comfortableness from vehicle speed track after optimization; Then the optimization of the energy allocation model (moment of torsion distribution) to motor vehicle driven by mixed power and gear (speed ratio) is realized based on the speed trajectory optimized. Thus achieve the comprehensive purpose improving motor vehicle driven by mixed power fuel economy in cruise process. There is the energy optimizing method of track optimizing function, the real-time speed trajectory optimum according to motor vehicle driven by mixed power in front truck velocity information optimization cruise process, and realize the energy allocation model (moment of torsion distribution) of motor vehicle driven by mixed power and the optimization of gear (speed ratio) further according to the speed trajectory optimized, thus improving the fuel economy of motor vehicle driven by mixed power to greatest extent.
The invention has the beneficial effects as follows:
1, the present invention is the optimization method that motor vehicle driven by mixed power provides a kind of energy allocation strategy with trajectory planning function, namely first motor vehicle driven by mixed power gathers the velocity information of front truck, and the speed trajectory coming from car optimum is calculated according to the velocity information optimization gathered, decrease velocity perturbation unnecessary in motor vehicle driven by mixed power cruise process, improve economy and the comfortableness of motor vehicle driven by mixed power.
2, the present invention travels optimal velocity track according to what optimization calculated from car, in conjunction with the SOC of motor vehicle driven by mixed power, it is possible to optimizes and calculates the optimal energy allocation model and gear realized under cruising, thus improving the fuel economy of motor vehicle driven by mixed power further.
3, the present invention can realize the optimization of track and the optimization of energy allocation model and gear simultaneously, improves the fuel economy of motor vehicle driven by mixed power on the whole.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention;
Fig. 2 is the strategic process figure of the proposition of the present invention;
Fig. 3 is the front truck speed trajectory gathered in trajectory planning;
Fig. 4 be in trajectory planning to from the constraint bound of the optimization of vehicle speed;
Fig. 5 is the track optimizing result of trajectory planning module;
Fig. 6 is power contrast figure before and after the track optimizing of trajectory planning module;
Fig. 7 is the optimization process that energy allocation model and gear optimize module;
Fig. 8 is the engine working point after energy distribution module optimizes;
Fig. 9 is the motor operating point after energy distribution module optimizes.
Detailed description of the invention
The present invention adopts the following technical scheme that: the energy distributing method of a kind of motor vehicle driven by mixed power with track optimizing function, structured flowchart is as shown in Figure 1, specifically include that information gathering, track of vehicle optimization, motor vehicle driven by mixed power energy allocation model and gear optimize three steps. The signal flow graph of the present invention is as shown in Figure 2, first the information acquisition module of vehicle detects whether front exists vehicle, if front does not have vehicle, the speed cruise then set according to driver from car, information acquisition module will pass to energy allocation model from vehicle speed and gear optimizes module, carries out ensuing energy allocation model (moment of torsion distribution) and gear (speed ratio) optimizes; If front exists vehicle, then first gather front vehicles and the velocity information from car from the information acquisition module of car, and velocity information is passed to trajectory planning module; Trajectory planning module goes out the speed trajectory of optimum according to the Advance data quality of information acquisition module collection, and will optimize speed trajectory out to energy allocation strategy module; Energy allocation strategy module combine optimize out velocity information, from the battery charge state (SOC) of car, the energy allocation model (moment of torsion distribution) of optimum and the gear (speed ratio) of change speed gear box is made for optimization of vehicle, and by the signal feeding vehicle of optimization, thus complete energy-optimised in whole cruise process of motor vehicle driven by mixed power.
The step that optimization of the present invention travels speed trajectory from car is:
(1) information gathering: first the information acquisition module of motor vehicle driven by mixed power detects whether front exists vehicle, if front does not have vehicle, then the speed set according to driver from car completes cruise; If front exists vehicle, then first gather front vehicles and the velocity information from car and from the battery SOC situation of car from the information acquisition module of car. Inevitably there is the fluctuation in speed in the process of moving due to vehicle, therefore the speed of the front truck that motor vehicle driven by mixed power collects is disadvantageous for the distribution of direct energy, as shown in Figure 3.Therefore first the information acquisition module of the present invention gathers the velocity information of front truck and from car present speed information, for the Optimization Solution of follow-up motor vehicle driven by mixed power cruising speed track; Gather the SOC of motor vehicle driven by mixed power battery, for the follow-up Optimization Solution from car energy allocation model and gear.
(2) track of vehicle optimization: the motor vehicle driven by mixed power front truck velocity information to gatherWith from vehicle speed informationBased on, optimize the travel speed track from car, first consider from car (vehicle to be optimized), by wheel driving forceAnd wheel braking forceAs control variable, it is designated as, speedAs state variable, it is designated as, the kinetics equation that can obtain vehicle according to vehicle overall design is:
(1)
Wherein,For from car car weight,For the resistance from car vehicle travel process, including air drag, resistance to rolling and grade resistance, there is following relation:
(2)
Wherein,For from the front face area of car,For from the coefficient of air resistance of car,For from the coefficient of rolling resistance of car,For acceleration of gravity,For road grade;
Index in car cruise track optimizing processIt is made up of economy and comfortableness two parts:
(3)
Wherein,,For weight coefficient, first halfIt is the constraint of economy, represents the output in the vehicle unit time, latter halfIt is the constraint of comfortableness, represents that the speed trajectory optimized to change gently.
Using the road information in the Prediction distance that collects and terminal displacement as constraint, based on the kinetic model of vehicle, the track optimizing problem based on front truck velocity information is described as after discretization in prediction time domain:
(4)
Wherein,,For from car with optimize vehicle driving force,For from the brake force of car, the first two constraint is the constraint from car driving force and brake force,、Respectively minimum from car and maximum driving force,、For the minimum and maximum braking force from car.
3rd constraint is to from the constraint of vehicle speed,It is the speed measuring the front truck obtained,、From the threshold coefficient up and down of vehicle speed track in optimization process respectively, in optimization process calculated from vehicle speed retrain as shown in Figure 4. It is to ensure that from car velocity variations in cruise (with car) process steady by the front vehicle speed that gathers to adding constraint from car optimal speed, does not have larger fluctuation, under the premise meeting safety, realize cruise driving requirements; Last constraint be in track optimizing process from the constraint of car dynamic property,、It is vehicle threshold coefficient up and down of displacement in optimization process respectively,It it is the displacement of front truck during every one-step optimization calculates. Initial time gather from vehicle speedAnd displacement, as the initial value optimizing process medium velocity and displacement, namely。
So far, speed trajectory according to front truck just can come from the track of car by Optimization Solution, as shown in Figure 5, as can be seen from the figure, speed trajectory after optimization is under meeting the situation of security constraint (within the scope of the bound of speed), velocity ratio is more steady, it is absent from the anxious situation accelerating anxious deceleration, Fig. 6 is the power contrast figure before and after optimizing, table 1 is the result of power contrast before and after optimizing, in conjunction with Fig. 5 ~ 6 it can be seen that the speed after optimizing is better than the fuel economy before optimizing, fuel economy improves 4.23%. The given energy allocation strategy module of speed trajectory that will optimize from car (vehicle to be optimized), for the optimization of the energy allocation model of follow-up motor vehicle driven by mixed power and gear.
Power before and after table 1 speed-optimization
。
The present invention is from car (vehicle to be optimized) energy allocation model and gear optimization:
In the present invention, its essence of the energy management modes of hybrid vehicle is exactly the state according to vehicle, the output moment of torsion of distribution electromotor and motor.Difference according to electromotor and Motor torque, the situation in conjunction with vehicle SOC and engine speed mainly has four kinds of allocation models, respectively:
Pattern:; Electric-only mode;
Pattern:: engine working mode;
Pattern:: driving charge mode;
Pattern:: electromotor and motor cooperation pattern;
Wherein,It is the dump energy of motor vehicle driven by mixed power,It is the upper bound of motor vehicle driven by mixed power dump energy,It is engine speed,,It is the bound of engine speed respectively;It is the demand torque of motor vehicle driven by mixed power,,It is the bound of electromotor optimum working zone respectively; Completing after optimizing from the speed trajectory of car, next it is optimized from energy allocation model and the gear of car (vehicle to be optimized).
It is selected from the energy allocation model of carAnd gearFor controlled quentity controlled variable, from the dump energy of the battery of carFor quantity of state, according to the optimum speed trajectory that above-mentioned (2nd) step Optimization Solution goes out, become as follows from the problem discretization Final finishing of the energy allocation model of car and gear optimization:
(5)
Wherein, optimization aimIt is the fuel oil consumption within the car unit interval, specifically comprises two parts, respectively the fuel oil consumption of electromotorAnd the electric quantity consumption of battery, the wherein fuel oil consumption of electromotor and optimization of vehicle velocity correlation; First constraint it is considered that from the constraint of car engine rotating speed in optimization process,It is the rotating speed from car engine,、It is the minima from car engine rotating speed and maximum respectively; Second is to the constraint exporting moment of torsion in optimization process from car engine,、It is the minima and the maximum that export moment of torsion from car engine respectively; 3rd constraint be in optimization process from the constraint of car battery SOC,,It is the minimum of dump energy and maximum respectively, is finally to energy allocation modelAnd gear ratiosAsk for the constraint of scope.
So far, the energy allocation optimization problems of the 3rd step has described that clear, whole distribution optimization process is shown in Fig. 7, speed and battery dump energy information based on planning, select concrete Optimization Solution algorithm, the optimization of gear and pattern can be obtained, by the gear optimized and the given vehicle of mode sequences first value, next sampling instant repeat the above steps, thus realizing the rolling optimization of energy allocation model and gear, Fig. 8-9 gives the electromotor after energy distribution module optimizes and motor real work point, it is seen that all in Effec-tive Function district. It is energy-optimised that rolling optimization through three above step can realize in cruise process.
Claims (2)
1. the energy distributing method of a motor vehicle driven by mixed power with track optimizing function, it is characterised in that: its step optimized from car traveling speed trajectory is:
(1) information gathering: gathered the velocity information of front truck and the SOC from car present speed information, motor vehicle driven by mixed power battery by information acquisition module;
(2) track of vehicle optimization: with the front truck velocity information gatheredWith from vehicle speed informationBased on, optimize the travel speed track from car, by wheel driving forceAnd wheel braking forceAs control variable, it is designated as, speedAs state variable, it is designated as, the kinetics equation that can obtain vehicle according to vehicle overall design is:
(1)
Wherein,For from car car weight,For the resistance from car vehicle travel process,
(2)
Wherein,For from the front face area of car,For from the coefficient of air resistance of car,For from the coefficient of rolling resistance of car,For acceleration of gravity,For road grade;
Index in car cruise track optimizing processIt is made up of two parts:
(3)
Wherein, first halfIt is the constraint of economy, represents the output in the vehicle unit time, latter halfIt is the constraint of comfortableness, represents that the speed trajectory optimized to change gently,For weight coefficient;
Track optimizing problem based on front truck velocity information is described as after discretization in prediction time domain:
(4)
Wherein,,For from car with optimize vehicle driving force,For from the brake force of car, the first two constraint is the constraint from car driving force and brake force,、Respectively minimum from car and maximum driving force,、For the minimum and maximum braking force from car.
2. the energy distributing method of the motor vehicle driven by mixed power with track optimizing function according to claims 1, it is characterised in that: from car energy allocation model and gear optimization:
Difference according to electromotor and Motor torque, the situation in conjunction with vehicle SOC and engine speed mainly has four kinds of allocation models, respectively:
Pattern:; Electric-only mode;
Pattern:: engine working mode;
Pattern:: driving charge mode;
Pattern:: electromotor and motor cooperation pattern;
Wherein,It is the dump energy of motor vehicle driven by mixed power,It is the upper bound of motor vehicle driven by mixed power dump energy,It is engine speed,,It is the bound of engine speed respectively;It is the demand torque of motor vehicle driven by mixed power,,It is the bound of electromotor optimum working zone respectively;
It is selected from the energy allocation model of carAnd gearFor controlled quentity controlled variable, from the dump energy of the battery of carFor quantity of state, according to the optimum speed trajectory that Optimization Solution goes out, become as follows from the problem discretization Final finishing of the energy allocation model of car and gear optimization:
(5)
Wherein, optimization aimIt is the fuel oil consumption within the car unit interval, specifically comprises two parts, respectively the fuel oil consumption of electromotorAnd the electric quantity consumption of battery, the wherein fuel oil consumption of electromotor and optimization of vehicle velocity correlation; First constraint it is considered that from the constraint of car engine rotating speed in optimization process,It is the rotating speed from car engine,、It is the minima from car engine rotating speed and maximum respectively; Second is to the constraint exporting moment of torsion in optimization process from car engine,、It is the minima and the maximum that export moment of torsion from car engine respectively; 3rd constraint be in optimization process from the constraint of car battery SOC,,It is the minimum of dump energy and maximum respectively, is finally to energy allocation modelAnd gear ratiosAsk for the constraint of scope.
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| CN113459829A (en) * | 2021-07-29 | 2021-10-01 | 南昌智能新能源汽车研究院 | Intelligent energy management method for double-motor electric vehicle based on road condition prediction |
| CN114506311A (en) * | 2022-02-22 | 2022-05-17 | 燕山大学 | Time-varying domain prediction energy management method and device, automobile and storage medium |
| CN114506311B (en) * | 2022-02-22 | 2023-06-20 | 燕山大学 | Variable time domain prediction energy management method and device, automobile and storage medium |
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