CN107128306A - Automobile cruise autocontrol method - Google Patents
Automobile cruise autocontrol method Download PDFInfo
- Publication number
- CN107128306A CN107128306A CN201710298824.5A CN201710298824A CN107128306A CN 107128306 A CN107128306 A CN 107128306A CN 201710298824 A CN201710298824 A CN 201710298824A CN 107128306 A CN107128306 A CN 107128306A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msup
- mfrac
- msub
- prime
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007704 transition Effects 0.000 claims abstract description 23
- 230000000881 depressing effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 101150053844 APP1 gene Proteins 0.000 description 5
- 101100055496 Arabidopsis thaliana APP2 gene Proteins 0.000 description 5
- 101100189105 Homo sapiens PABPC4 gene Proteins 0.000 description 5
- 102100039424 Polyadenylate-binding protein 4 Human genes 0.000 description 5
- 101100016250 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) GYL1 gene Proteins 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000011105 stabilization Methods 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
The present invention proposes a kind of automobile cruise autocontrol method, and step is：S1：Cruising speed Vs and cruise control transition region (Vs Vm, Vs+Vm') are set, one control signal of input enters cruise mode control；S2：Cruise control obtains current vehicle speed V and judges speed changing condition, if current vehicle speed V enters cruise control transition region (Vs Vm, Vs+Vm') from less than Vs Vm, then cruise control is according to the first curve calculation of throttle proportionality coefficient k；If current vehicle speed V enters cruise control transition region (Vs Vm, Vs+Vm') from more than Vs+Vm ', then cruise control is according to the second curve calculation of throttle proportionality coefficient k；The abscissa of first curve and the second curve is current vehicle speed V, and ordinate is that throttle proportionality coefficient k, k span are 0~1；S3：ECU is according to A=A0+kA1Throttle signal is exported to control the aperture of air throttle.Remarkable result is：Performance safety is reliable, simple in construction, it is easy to accomplish, it is more steady in vehicle traveling process, using cruise control, the both feet of driver can be liberated, the injury caused by fatigue driving is reduced.
Description
The original bill Application No. of this divisional application：2015105614470, the applying date is：On September 7th, 2015, invention name
Referred to as《Automobile cruise control method》.
Technical field
It is a kind of automobile cruise autocontrol method specifically the present invention relates to vehicle speed control system.
Background technology
With continuing to develop for automobile industry, automobile has become the main means of transport of people's trip, is driven in driver
During sailing automobile, driver not only wants high concentration spirit observation surrounding driving environment, in addition it is also necessary to constantly accelerator pedal
To change speed, it is easy to cause driving fatigue, so that there has been proposed cruise control system.
So-called cruise control system, is to utilize electronic technology, in certain vehicle speed range, and driver is without controlling throttle
Pedal and automobile is can guarantee that to set velocity-stabilization traveling a kind of electronic-controlled installation.
Make a general survey of domestic and international vehicle to patrol, the research and development for control of navigating, it can be found that different control strategies is in cruise system
There is preferable application, some control systems are practical.In stability, degree of being practical from cruise system, at present
It is domestic to also have certain gap with foreign countries in this respect, for example when opening cruise function suddenly or closing cruise function suddenly,
The speed of automobile may change a lot, due to the effect of inertia, and jitter phenomenon occurs in automobile, there is very big safety
Hidden danger, and system architecture is complicated, poor reliability.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of automobile cruise autocontrol method, using output throttle signal
To control the mode of throttle opening, and according to the speed of current running car, to select different curves to carry out calculation of throttle
Proportionality coefficient, makes running car more steady, and cruise control performance safety is reliable, simple in construction, it is easy to accomplish, and use
Cruise control, can liberate the both feet of driver.
To reach above-mentioned purpose, the concrete technical scheme that the present invention is used is as follows：
A kind of automobile cruise autocontrol method, comprises the following steps：
S1：Cruising speed Vs and cruise control transition region (Vs-Vm, Vs+Vm') are set, one control signal of input enters
Cruise mode control；
S2：Cruise control obtains current vehicle speed V and judges speed changing condition, if current vehicle speed V is from less than Vs-Vm
Into cruise control transition region (Vs-Vm, Vs+Vm'), then cruise control is according to the first curve calculation of throttle proportionality coefficient k；Such as
Fruit current vehicle speed V enters cruise control transition region (Vs-Vm, Vs+Vm') from more than Vs+Vm', then cruise control is according to second
Curve calculation of throttle proportionality coefficient k；The abscissa of first curve and the second curve is current vehicle speed V, and ordinate is throttle
Proportionality coefficient k, k span are 0~1, and under same speed, the amplitude of the first curve is more than or equal to the second curve
Amplitude；
S3：ECU is according to A=A0+kA1Throttle signal is exported to control the aperture of air throttle, wherein, A0For throttle signal base
Quasi- value, A1For the increment size corresponding to gas pedal, k is the throttle proportionality coefficient that cruise control is exported.
By above-mentioned design, during driving, cruising speed is set, a control signal is given, into cruise mould
Formula, automobile enters the state automatically controlled, is travelled according to pre-set velocity, has liberated the both feet of driver, makes running car more
Steadily, performance safety is reliable, simple in construction, it is easy to accomplish.
Further describe, first curve and the second curve are same curve, and：
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1At current vehicle speed V
Corresponding throttle proportionality coefficient when cruising speed Vs.
Further describe, cruise control can also take the control mode of snapback, i.e., described first curve is：
Second curve is：
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1For in the first curve when
Preceding vehicle velocity V is in throttle proportionality coefficient corresponding during cruising speed Vs, h2Cruise speed is in for current vehicle speed V in the second curve
Spend throttle proportionality coefficient corresponding during Vs.
Further describe, cruise control can also take parabolical control mode, i.e., described first curve is：
Wherein,
Second curve is：
Wherein,
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1For in the first curve when
Preceding vehicle velocity V is in throttle proportionality coefficient corresponding during cruising speed Vs, h2Cruise speed is in for current vehicle speed V in the second curve
Spend throttle proportionality coefficient corresponding during Vs, a1、b1、c1For the coefficient of the first curve, a2、b2、c2The coefficient of second curve.
As different embodiments, the control signal described in step S1 zooms out what is turned off the light to zoom out light modulating signal
Time is more than 3s and less than 10s.
Further describe, when automobile is in cruising condition, if cruise control receives the letter of brake pedal
Number, cruising condition is released, and removes the cruising speed stored.
Further describe, when automobile is in cruising condition, if depressing gas pedal, cruise control, which is received, to be more than
The signal of appointed threshold Va gas pedal, then temporarily release cruising condition, but does not remove the cruising speed of storage, oily when unclamping
Door pedal, cruise control receives the signal of the gas pedal less than appointed threshold Va, then according to the cruising speed of storage, weight
Newly enter cruising condition.
Further describe, in the cruise control mode, when being set with multiple cruise-speed values, by inputting control letter
Number realize the switching between multiple cruise-speed values.
Further describe, the signal that the cruise control passes through acquisition car speed V in CAN.
The present invention remarkable result be：The aperture of air throttle is controlled in cruise Control by exporting throttle signal,
And according to the speed of current running car, to select different curves, so as to calculate throttle proportionality coefficient, make car speed from
Travel speed originally is transformed into more steady during cruising speed, and the cruise control performance safety is reliable, structure letter
It is single, it is easy to accomplish, and in driving procedure, using cruise control, the both feet of driver can be liberated, reduced because of fatigue driving
The injury caused.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is control flow chart of the present invention；
Fig. 2 is automobile driving speed and throttle proportionality coefficient graph of a relation in first embodiment；
Fig. 3 is automobile driving speed and throttle proportionality coefficient graph of a relation in second embodiment；
Fig. 4 is automobile driving speed and throttle proportionality coefficient graph of a relation in 3rd embodiment.
Embodiment
The embodiment and operation principle to the present invention are described in further detail below in conjunction with the accompanying drawings.
A kind of automobile cruise autocontrol method is can be seen that from Fig. 1-Fig. 4, is comprised the following steps：
S1：Cruising speed Vs and cruise control transition region (Vs-Vm, Vs+Vm') are set, one control signal of input enters
Cruise mode control, the control signal is to zoom out light modulating signal, and zooms out the time turned off the light more than 3s and less than 10s；
S2：Cruise control obtains current vehicle speed V and judges speed changing condition, if current vehicle speed V is from less than Vs-Vm
Into cruise control transition region (Vs-Vm, Vs+Vm'), then cruise control is according to the first curve calculation of throttle proportionality coefficient k；Such as
Fruit current vehicle speed V enters cruise control transition region (Vs-Vm, Vs+Vm') from more than Vs+Vm', then cruise control is according to second
Curve calculation of throttle proportionality coefficient k；The abscissa of first curve and the second curve is current vehicle speed V, and ordinate is throttle
Proportionality coefficient k, k span are 0~1, and under same speed, the amplitude of the first curve is more than or equal to the second curve
Amplitude；
S3：ECU is according to A=A0+kA1Throttle signal is exported to control the aperture of air throttle, wherein, A0For throttle signal base
Quasi- value, A1For the increment size corresponding to gas pedal, k is the throttle proportionality coefficient that cruise control is exported.
Further describe, when the cruising speed set is multiple velocity amplitude, in the cruise control mode, then input a control
Signal processed realizes the switching between multiple cruise-speed values.
Further describe, when automobile is in cruising condition, brake pedal signal has been detected whether in real time, if cruise
Controller receives the signal of brake pedal, and cruising condition is released；Otherwise continue to keep original cruise mode.
When automobile is in cruising condition, if depressing gas pedal, cruise control is received more than appointed threshold Va
Gas pedal signal, then temporarily release cruising condition, but do not remove the cruising speed of storage.When unclamping gas pedal, patrol
Route controller receives the signal of the gas pedal less than appointed threshold Va, then according to the cruising speed of storage, reenters and patrol
Boat state.
In implementation process, the first curve and the second curve can have various ways, but in order to ensure the flat of throttle signal
Steady transition, the first curve and the second curve be gradation type curve, in the absence of unexpected rising edge or trailing edge, specifically
For：
A kind of embodiment as shown in Figure 2：First curve and the second curve are same curve, and：
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1At current vehicle speed V
Corresponding throttle proportionality coefficient when cruising speed Vs, by taking circulation rate 70km/h as an example, left and right critical value could be arranged to
65km/h and 75km/h, can also be set as 68km/h and 75km/h, and Vm and Vm' value can be with identical, can also be different, with by
Nearly cruising speed is defined.
Second of embodiment as shown in Figure 3, the first curve is：
Second curve is：
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1For in the first curve when
Preceding vehicle velocity V is in throttle proportionality coefficient corresponding during cruising speed Vs, h2Cruise speed is in for current vehicle speed V in the second curve
Spend throttle proportionality coefficient corresponding during Vs.
If current vehicle speed V enters cruise control transition region (Vs-Vm, Vs+Vm') from less than Vs-Vm, a paths are walked；Such as
Fruit current vehicle speed V enters cruise control transition region (Vs-Vm, Vs+Vm'), footpath of trying a different way from more than Vs+Vm'；Relative to
For a kind of embodiment, transition is more steady.
The third embodiment as shown in Figure 4, the first curve is：
Wherein,
Second curve is：
Wherein,
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1For in the first curve when
Preceding vehicle velocity V is in throttle proportionality coefficient corresponding during cruising speed Vs, h2Cruise speed is in for current vehicle speed V in the second curve
Spend throttle proportionality coefficient corresponding during Vs, a1、b1、c1For the coefficient of the first curve, a2、b2、c2The coefficient of second curve.
As can be seen that relative to above two kinds of embodiments, curve is more smooth, and vehicle travel process is more steady.
In actual applications, after throttle proportionality coefficient is obtained, throttle signal in practice is generally by the biography of two-way independence
Sensor signal APP1 and APP2 is characterized, and the accelerator pedal sensor signal characteristic of different automobile types is also differed, be set forth below several
The throttle signal of money typical case's vehicle.
(1) 2008 section of Toyota's Camry
During k=0,
During k=100%,
K is between 0~100%,
From the above it can be seen that the throttle signal A=A of vehicle ECU outputs0+kA1, for APP1, A0=0.8,
A1=2.4, in cruising condition, k is the throttle proportionality coefficient that cruise control is exported, and in non-cruising condition, k tramples for driver
The aperture of gas pedal；Similarly, for APP2, A0=1.6, A1=2.4.
(2) 2012 sections of daily output sunlight
During k=0,
During k=100%,
K is between 0~100%,
From the above it can be seen that the throttle signal A=A of vehicle ECU outputs0+kA1, for APP1, A0=
0.37, A1=2, in cruising condition, k is the throttle proportionality coefficient that cruise control is exported, and in non-cruising condition, k is driver
Trample the aperture of gas pedal；Similarly, for APP2, A0=0.74, A1=4.
(3) 2014 sections of celebrating bell 700p lorries
During k=0,
During k=100%,
K is between 0~100%,
From the above it can be seen that the throttle signal A=A of vehicle ECU outputs0+kA1, for APP1, A0=0.5,
A1=4, in cruising condition, k is the throttle proportionality coefficient that cruise control is exported, in non-cruising condition, and k is that driver tramples oil
The aperture of door pedal；Similarly, for APP2, A0=4.5, A1=-4.
From the foregoing, when accelerator open degree is changing between 0~100%, the selected throttle signal of different vehicles
Increment size corresponding to a reference value and throttle brake pedal is different, depends primarily on APP1 and APP2 in the vehicle and is met
Certain restriction relation, the sensor signal mutually constrained using two-way realized the control of throttle opening, can effectively prevented
External interference, it is ensured that vehicle reliability service.
Claims (6)
1. a kind of automobile cruise autocontrol method, it is characterised in that comprise the following steps：
S1：Cruising speed Vs and cruise control transition region (Vs-Vm, Vs+Vm') are set, one control signal of input enters cruise
Control model；
S2：Cruise control obtains current vehicle speed V and judges speed changing condition, if current vehicle speed V enters from less than Vs-Vm
Cruise control transition region (Vs-Vm, Vs+Vm'), then cruise control is according to the first curve calculation of throttle proportionality coefficient k；If worked as
Preceding vehicle velocity V enters cruise control transition region (Vs-Vm, Vs+Vm') from more than Vs+Vm', then cruise control is according to the second curve
Calculation of throttle proportionality coefficient k；The abscissa of first curve and the second curve is current vehicle speed V, and ordinate is throttle ratio
Coefficient k, k span is 0~1, and under same speed, the amplitude of the first curve is more than or equal to the width of the second curve
Value；
S3：ECU is according to A=A0+kA1Throttle signal is exported to control the aperture of air throttle, wherein, A0For throttle signal a reference value,
A1For the increment size corresponding to gas pedal, k is the throttle proportionality coefficient that cruise control is exported；
First curve is：
Wherein,
<mrow>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mo>(</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<msub>
<mi>h</mi>
<mn>1</mn>
</msub>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>,</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>h</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mrow>
<mo>(</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>c</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mo>&lsqb;</mo>
<mfrac>
<msub>
<mi>h</mi>
<mn>1</mn>
</msub>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>&rsqb;</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mfrac>
<mrow>
<msub>
<mi>h</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mrow>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mrow>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mrow>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Second curve is：
Wherein,
<mrow>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mo>(</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<msub>
<mi>h</mi>
<mn>2</mn>
</msub>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>,</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>h</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mrow>
<mo>(</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>c</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mfrac>
<msub>
<mi>h</mi>
<mn>2</mn>
</msub>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<msup>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mfrac>
<mrow>
<msub>
<mi>h</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mrow>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mrow>
<mn>2</mn>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mrow>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>m</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<mi>V</mi>
<mi>m</mi>
</mrow>
</mfrac>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mrow>
<mi>V</mi>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>Vm</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, Vs-Vm and Vs+Vm' is respectively the left and right critical value of cruise control transition region, h1For current vehicle speed in the first curve
V is in throttle proportionality coefficient corresponding during cruising speed Vs, h2When being in cruising speed Vs for current vehicle speed V in the second curve
Corresponding throttle proportionality coefficient, a1、b1、c1For the coefficient of the first curve, a2、b2、c2The coefficient of second curve.
2. automobile cruise autocontrol method according to claim 1, it is characterised in that：Control letter described in step S1
Number to zoom out light modulating signal, and zoom out the time turned off the light and exceed 3s and be less than 10s.
3. automobile cruise autocontrol method according to claim 1, it is characterised in that：When automobile is in cruising condition,
If cruise control receives the signal of brake pedal, cruising condition is released, and removes the cruising speed stored.
4. automobile cruise autocontrol method according to claim 1, it is characterised in that：When automobile is in cruising condition,
If depressing gas pedal, cruise control receives the signal of the gas pedal more than appointed threshold Va, then temporarily releases and patrol
Boat state, but the cruising speed of storage is not removed, when unclamping gas pedal, cruise control is received less than appointed threshold Va's
The signal of gas pedal, then according to the cruising speed of storage, reenter cruising condition.
5. automobile cruise autocontrol method according to claim 1, it is characterised in that：In the cruise control mode, when
When being set with multiple cruise-speed values, switching between multiple cruise-speed values is realized by inputting control signal.
6. automobile cruise autocontrol method according to claim 1, it is characterised in that：The cruise control passes through
CAN obtains car speed V signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298824.5A CN107128306B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise autocontrol method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298824.5A CN107128306B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise autocontrol method |
| CN201510561447.0A CN105083284B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise control method |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510561447.0A Division CN105083284B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107128306A true CN107128306A (en) | 2017-09-05 |
| CN107128306B CN107128306B (en) | 2019-03-15 |
Family
ID=54564852
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710298824.5A Active CN107128306B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise autocontrol method |
| CN201710288112.5A Active CN107264528B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise intelligent control method |
| CN201510561447.0A Active CN105083284B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise control method |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710288112.5A Active CN107264528B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise intelligent control method |
| CN201510561447.0A Active CN105083284B (en) | 2015-09-07 | 2015-09-07 | Automobile cruise control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN107128306B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985309B (en) * | 2016-10-27 | 2020-09-01 | 郑州宇通客车股份有限公司 | Sectional type vehicle constant-speed driving 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 |
| CN108340916B (en) * | 2017-01-23 | 2020-05-12 | 郑州宇通客车股份有限公司 | Vehicle constant speed running control method and control device |
| 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 |
| CN111591290B (en) * | 2020-05-25 | 2022-04-05 | 潍柴动力股份有限公司 | Cruise control method, cruise control device, terminal and vehicle system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003090423A (en) * | 2001-09-18 | 2003-03-28 | Toyota Central Res & Dev Lab Inc | System for calculating turbine torque of hydraulic torque converter and system for controlling drive torque of vehicle |
| CN103381826A (en) * | 2013-07-31 | 2013-11-06 | 中国人民解放军国防科学技术大学 | Adaptive cruise control method based on approximate policy iteration |
| CN103786724A (en) * | 2012-10-31 | 2014-05-14 | 通用汽车环球科技运作有限责任公司 | Systems and methods for vehicle cruise control |
| CN103818379A (en) * | 2012-11-16 | 2014-05-28 | 比亚迪股份有限公司 | Electric car constant-speed cruising method and device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11321389A (en) * | 1998-05-14 | 1999-11-24 | Fuji Heavy Ind Ltd | Vehicle motion control device |
| CN1948043A (en) * | 2005-10-13 | 2007-04-18 | 比亚迪股份有限公司 | AMT vehicle automatic cruising control method |
| CN102114839A (en) * | 2011-01-20 | 2011-07-06 | 浙江吉利汽车研究院有限公司 | Auto cruise control system |
| 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 |
| CN103010213B (en) * | 2012-12-28 | 2016-07-20 | 长城汽车股份有限公司 | The control method of a kind of vehicle cruise and control system |
| CN103350699B (en) * | 2013-07-12 | 2016-02-10 | 孙俊世 | Automobile cruise state method to set up |
| CN104015726B (en) * | 2014-06-30 | 2016-10-05 | 长城汽车股份有限公司 | A kind of automobile cruise control method, device, system and vehicle |
| KR101655594B1 (en) * | 2014-12-08 | 2016-09-22 | 현대자동차주식회사 | Device and method for controlling auto cruise of vehicle |
-
2015
- 2015-09-07 CN CN201710298824.5A patent/CN107128306B/en active Active
- 2015-09-07 CN CN201710288112.5A patent/CN107264528B/en active Active
- 2015-09-07 CN CN201510561447.0A patent/CN105083284B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003090423A (en) * | 2001-09-18 | 2003-03-28 | Toyota Central Res & Dev Lab Inc | System for calculating turbine torque of hydraulic torque converter and system for controlling drive torque of vehicle |
| CN103786724A (en) * | 2012-10-31 | 2014-05-14 | 通用汽车环球科技运作有限责任公司 | Systems and methods for vehicle cruise control |
| CN103818379A (en) * | 2012-11-16 | 2014-05-28 | 比亚迪股份有限公司 | Electric car constant-speed cruising method and device |
| CN103381826A (en) * | 2013-07-31 | 2013-11-06 | 中国人民解放军国防科学技术大学 | Adaptive cruise control method based on approximate policy iteration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107128306B (en) | 2019-03-15 |
| CN107264528A (en) | 2017-10-20 |
| CN105083284A (en) | 2015-11-25 |
| CN107264528B (en) | 2019-08-02 |
| CN105083284B (en) | 2017-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105083284B (en) | Automobile cruise control method | |
| Lv et al. | Simultaneous observation of hybrid states for cyber-physical systems: A case study of electric vehicle powertrain | |
| Huang et al. | Speed trajectory planning at signalized intersections using sequential convex optimization | |
| CN102762428B (en) | Controller of vehicle | |
| CN105035090B (en) | Autonomous land vehicle trajectory predictions control method based on traffic lights | |
| Zhang et al. | Longitudinal control of heavy trucks in mixed traffic: Environmental and fuel economy considerations | |
| Nouveliere | Experimental vehicle longitudinal control using a second order sliding mode technique | |
| CN106740868A (en) | A kind of method of speed planning, device and equipment | |
| Huang et al. | Using 3D road geometry to optimize heavy truck fuel efficiency | |
| CN108216202A (en) | The method and apparatus for learning the engine clutch Half engagement point of hybrid vehicle | |
| CN106347125A (en) | Method and system for filtering signal of opening degree of accelerator pedal | |
| Chen et al. | Enhanced eco-driving system based on V2X communication | |
| Park et al. | A study of adaptive cruise control system to improve fuel efficiency | |
| Zhao et al. | “InfoRich” eco-driving control strategy for connected and automated vehicles | |
| Wi et al. | Model predictive longitudinal control for heavy-duty vehicle platoon using lead vehicle pedal information | |
| Huang et al. | Vehicle longitudinal control using throttles and brakes | |
| Hirata et al. | Fuel consumption in a driving test cycle by robotic driver considering system dynamics | |
| CN115817460A (en) | Intelligent network vehicle-connected active coordination collision avoidance method under mixed flow condition | |
| Attia et al. | Longitudinal control for automated vehicle guidance | |
| Tajeddin et al. | Ecological cruise control of a plug-in hybrid electric vehicle: A comparison of different gmres-based nonlinear model predictive controls | |
| D'Amato et al. | Development of a cruise controller based on current road load information with integrated control of variable velocity set-point and gear shifting | |
| Yamamura et al. | An ACC design method for achieving both string stability and ride comfort | |
| Imanishi et al. | Development of predictive powertrain state switching control for eco-saving ACC | |
| Luu et al. | Ecological and safe driving assistance system: Design and strategy | |
| Flehmig et al. | Energy optimal adaptive cruise control during following of other vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |