CN106891775A - 一种电动汽车拥堵跟随系统及控制方法 - Google Patents

一种电动汽车拥堵跟随系统及控制方法 Download PDF

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CN106891775A
CN106891775A CN201710141519.5A CN201710141519A CN106891775A CN 106891775 A CN106891775 A CN 106891775A CN 201710141519 A CN201710141519 A CN 201710141519A CN 106891775 A CN106891775 A CN 106891775A
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motor
information
vehicle
speed
congestion
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朱波
吴迪
张农
张鹏
王星宇
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Hefei University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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    • 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
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    • B60—VEHICLES IN GENERAL
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    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
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    • B60L2260/44—Control modes by parameter estimation
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    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0014—Adaptive controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W2554/801—Lateral distance
    • 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
    • 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
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Abstract

本发明涉及一种电动汽车拥堵跟随系统，包括：毫米波雷达，安装在电动汽车车身的前部，用于获取前方车辆的车速信息与车距信息；电动汽车电池，用于提供动力源，根据允许的放电功率计算回收转矩；电机，用于电动汽车的驱动制动，判断可回收转矩；电机控制器，用于控制电机；电动汽车整车控制器VCU，作为电动汽车的拥堵跟随控制器，用于实现拥堵跟随功能。本发明通过引入前方车辆的位置及其车速信息，优化了频繁操作的驾驶模式；充分利用了电机的回收制动力，无需对原有制动系进行改造就可实现汽车制动，提高了驾驶舒适性和整车经济性。

Description

一种电动汽车拥堵跟随系统及控制方法
技术领域
本发明涉及纯电动汽车的驱动控制技术领域，尤其是一种电动汽车拥堵跟随系统及控制方法。
背景技术
城市堵车工况下，驾驶员需要频繁操作来控制汽车，从而实现对前车的跟随，这种频繁切换使得整车的能耗和驾驶员的精力消耗均偏高。目前，针对城市拥堵工况下的跟随系统，绝大部分只针对燃油汽车，而且需要添加额外的控制系统，还需要对原有的制动系进行改造，成本高。而针对纯电动汽车来说，如果能做到无需对车辆进行改造且可以通过控制电机来进行跟随控制，也无需添加额外的控制系统，那么就可以降低成本低且控制较为方便。
发明内容
本发明的首要目的在于提供一种能够在堵车时减少驾驶员的频繁操作，通过能量回收进行制动，改善整车经济性的电动汽车拥堵跟随系统。
为实现上述目的，本发明采用了以下技术方案：一种电动汽车拥堵跟随系统，包括：
毫米波雷达，安装在电动汽车车身的前部，用于获取前方车辆的车速信息与车距信息；
电动汽车电池，用于提供动力源；
电机，用于电动汽车的驱动制动，判断可回收转矩；
电机控制器，用于控制电机；
电动汽车整车控制器VCU，作为电动汽车的拥堵跟随控制器，用于实现拥堵跟随功能。
由所述的毫米波雷达获取前方的车辆信息、由电池获取本车放电功率信息、由电机控制器获取电机运转状态信息，以上信息均传递给电动汽车整车控制器VCU，再由电动汽车整车控制器VCU输出信号给电机控制器从而控制电机运转。
本发明的另一目的在于提供一种电动汽车拥堵跟随系统的控制方法，该方法包括下列顺序的步骤：
（1）获取前方车辆信息，包括前方车辆的车速信息，以及前方车辆与自身车辆之间的车距信息；
（2）获取自身车辆的车速信息和电池信息；
（3）根据前方车辆的车速信息以及两车之间车距信息,判断是否进入拥堵跟随控制系统；
（4）根据当前电池状况查表获得电机可回收转矩；
（5）以前方车辆的车速为预期车速，根据电机可回收转矩查表获得本车到达预期车速时的制动距离；
（6）若当前车距小于制动距离，则控制电机进行制动；
（7）若当前车距大于等于制动距离，进行下一步判断：若车距与制动距离差值大于1米，则控制电机按照预期车速加速行驶，否则保持电机原状态不变。
在步骤（3）中，若前方车辆车速低于30km/h且前方车辆与自身车辆之间的车距小于20m，则进入拥堵跟随控制系统，否则不进入。
在步骤（4）中，所述查表是指通过查电池SOC-电池温度表来获得电池允许放电功率，再通过电池允许放电功率-电机转速-电机转矩表查表获得电机可回收转矩。
在步骤（5）中，所述查表是指查电机可回收转矩-车速-制动距离表。
由上述技术方案可知，本发明的优点在于：第一，本发明通过引入前方车辆的位置及其车速信息，优化了频繁操作的驾驶模式；第二，充分利用了电机的回收制动力，无需对原有制动系进行改造就可实现汽车制动，提高了驾驶舒适性和整车经济性。
附图说明
图1为本发明的控制方法流程图。
具体实施方式
一种电动汽车拥堵跟随系统，包括：
毫米波雷达，安装在电动汽车车身的前部，用于获取前方车辆的车速信息与车距信息；
电动汽车电池，用于提供动力源；
电机，用于电动汽车的驱动制动，判断可回收转矩；
电机控制器，用于控制电机；
电动汽车整车控制器VCU，作为电动汽车的拥堵跟随控制器，用于实现拥堵跟随功能。
由所述的毫米波雷达获取前方的车辆信息、由电池获取本车放电功率信息、由电机控制器获取电机运转状态信息，以上信息均传递给电动汽车整车控制器VCU，再由电动汽车整车控制器VCU输出信号给电机控制器从而控制电机运转。
如图1所示，本方法包括下列顺序的步骤：
（1）获取前方车辆信息，包括前方车辆的车速信息，以及前方车辆与自身车辆之间的车距信息；
（2）获取自身车辆的车速信息和电池信息；
（3）根据前方车辆的车速信息以及两车之间车距信息,判断是否进入拥堵跟随控制系统；
（4）根据当前电池状况查表获得电机可回收转矩；
（5）以前方车辆的车速为预期车速，根据电机可回收转矩查表获得本车到达预期车速时的制动距离；
（6）若当前车距小于制动距离，则控制电机进行制动；
（7）若当前车距大于等于制动距离，进行下一步判断：若车距与制动距离差值大于1米，则控制电机按照预期车速加速行驶，否则保持电机原状态不变。
在步骤（3）中，若前方车辆车速V1低于30km/h且前方车辆与自身车辆之间的车距D小于20m，则进入拥堵跟随控制系统，否则不进入。
在步骤（4）中，所述查表是指通过查电池SOC-电池温度表来获得电池允许放电功率，再通过电池允许放电功率-电机转速-电机转矩表查表获得电机可回收转矩。
在步骤（5）中，所述查表是指查电机可回收转矩-车速-制动距离表。
综上所述，本发明通过引入前方车辆的位置及其车速信息，优化了频繁操作的驾驶模式；充分利用了电机的回收制动力，无需对原有制动系进行改造就可实现汽车制动，提高了驾驶舒适性和整车经济性。

Claims (6)

1.一种电动汽车拥堵跟随系统，其特征在于：包括：
毫米波雷达，安装在电动汽车车身的前部，用于获取前方车辆的车速信息与车距信息；
电动汽车电池，用于提供动力源；
电机，用于电动汽车的驱动制动，判断可回收转矩；
电机控制器，用于控制电机；
电动汽车整车控制器VCU，作为电动汽车的拥堵跟随控制器，用于实现拥堵跟随功能。
2.根据权利要求1所述的电动汽车拥堵跟随系统，其特征在于：由所述的毫米波雷达获取前方的车辆信息、由电池获取本车放电功率信息、由电机控制器获取电机运转状态信息，以上信息均传递给电动汽车整车控制器VCU，再由电动汽车整车控制器VCU输出信号给电机控制器从而控制电机运转。
3.根据权利要求1所述的电动汽车拥堵跟随系统的控制方法，该方法包括下列顺序的步骤：
（1）获取前方车辆信息，包括前方车辆的车速信息，以及前方车辆与自身车辆之间的车距信息；
（2）获取自身车辆的车速信息和电池信息；
（3）根据前方车辆的车速信息以及两车之间车距信息，判断是否进入拥堵跟随控制系统；
（4）根据当前电池状况查表获得电机可回收转矩；
（5）以前方车辆的车速为预期车速，根据电机可回收转矩查表获得本车到达预期车速时的制动距离；
（6）若当前车距小于制动距离，则控制电机进行制动；
（7）若当前车距大于等于制动距离，进行下一步判断：若车距与制动距离差值大于1米，则控制电机按照预期车速加速行驶，否则保持电机原状态不变。
4.根据权利要求3所述的控制方法，其特征在于：在步骤（3）中，若前方车辆车速低于30km/h且前方车辆与自身车辆之间的车距小于20m，则进入拥堵跟随控制系统，否则不进入。
5.根据权利要求3所述的控制方法，其特征在于：在步骤（4）中，所述查表是指通过查电池SOC-电池温度表来获得电池允许放电功率，再通过电池允许放电功率-电机转速-电机转矩表查表获得电机可回收转矩。
6.根据权利要求3所述的控制方法，其特征在于：在步骤（5）中，所述查表是指查电机可回收转矩-车速-制动距离表。
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