CN107244264B - Method for controlling driving speed and system for full vehicle speed range cruise - Google Patents

Method for controlling driving speed and system for full vehicle speed range cruise Download PDF

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Publication number
CN107244264B
CN107244264B CN201710385187.5A CN201710385187A CN107244264B CN 107244264 B CN107244264 B CN 107244264B CN 201710385187 A CN201710385187 A CN 201710385187A CN 107244264 B CN107244264 B CN 107244264B
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speed
acceleration
vehicle
mode
setting
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CN107244264A (en
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王丹
苏阳
肖志光
黄齐琼
王敏
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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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
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • 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
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

The invention discloses the method for controlling driving speed and system for full vehicle speed range cruise, method includes the following steps: whether real-time judge receives the control instruction that driver sets cruising speed；The case where in response to receiving the control instruction for setting cruising speed, parsing obtains set cruising speed, and obtains the current speed of vehicle and acceleration；According to speed, acceleration and the cruising speed of setting, the acceleration change curve for obtaining vehicle is calculated, the speed planning of vehicle is carried out；The current gradient of vehicle is calculated, and then combines speed planning as a result, calculating simultaneously output motor torque, speed control is realized to vehicle.The present invention may be implemented stable speed and automatically control, it is low to the dependence of artificial experience, automatic calculating speed is fast, control process short time consumption is short, there is no oscillation problems brought by PID controller, and stability is high, highly-safe, it can satisfy user experience, can be widely applied in electric car industry.

Description

Method for controlling driving speed and system for full vehicle speed range cruise
Technical field
The present invention relates to constant speed of vehicle cruise control fields, more particularly to the speed for full vehicle speed range cruise Control method and system.
Background technique
Explanation of nouns:
PID controller: full name Proportion Integration Differentiation Controller, ratio- Integral-derivative controller is made of proportional unit P, integral unit I and differentiation element D, according to PID control principle to entire control System processed carries out bias adjustment, so that the predetermined value for requiring the actual value of controlled variable with technique is consistent.
Constant speed cruising system requires speed that can rapidly, be smoothly adjusted according to the intention of driver.It is existing pure Common practice on electric car mostly first measures speed, calculates the difference of the cruising speed of speed and setting, after wave filter, Motor torque is adjusted using PID controller.This mode needs vehicle that can just enter more than certain speed (such as 30km/h) Constant speed cruising system.Filter and the major defect of PID controller include that response speed is not high, and attitude conirol is difficult Deng.Though the PID controller of various higher order filters and improved form helps to improve the non-linear of control system, it is designed Setting method is more complicated, generally requires more engineering experiences.Generally speaking, due to the design of PID controller and filter It is mostly adjusted by artificial experience, time-consuming, if parameter matching is bad, it is unstable existing that constant speed cruising system is likely to occur oscillation etc. As influencing user experience and safety.
Summary of the invention
In order to solve the above technical problems, the object of the present invention is to provide the speeds for full vehicle speed range cruise Control method, it is a further object of the present invention to provide the vehicle speed control systems for full vehicle speed range cruise.
The technical solution adopted by the present invention to solve the technical problems is:
Method for controlling driving speed for full vehicle speed range cruise, comprising the following steps:
Whether real-time judge receives the control instruction that driver sets cruising speed；
The case where in response to receiving the control instruction for setting cruising speed, parsing obtain set cruising speed, and Obtain vehicle current speed and acceleration；
According to speed, acceleration and the cruising speed of setting, the acceleration change curve for obtaining vehicle is calculated, carries out vehicle Speed planning；
The current gradient of vehicle is calculated, and then combines speed planning as a result, calculating simultaneously output motor torque, vehicle is realized Speed control.
Further, described according to speed, acceleration and the cruising speed of setting, the acceleration change curve of design vehicle, The step of carrying out the speed planning of vehicle, specifically:
According to speed, acceleration and the cruising speed of setting, the acceleration change mode selected in response to driver or After obtaining corresponding acceleration change mode according to the matching of the speed, acceleration and the cruising speed of setting, calculates and obtain vehicle Acceleration change curve, the speed planning of vehicle is carried out, so that speed is smoothly transitted into the cruising speed of setting.
Further, the acceleration change mode includes following ten kinds:
Mode one, when speed be less than setting cruising speed when, acceleration is gradually increased to vehicle with the first jerk set Allow peak acceleration, gradually decreased to after the peak acceleration continues for some time, then with the first jerk of setting 0；
Mode two, when speed is less than the cruising speed of setting, acceleration is gradually increased to the with the first jerk set After one acceleration rate threshold, then with the first jerk of setting gradually decrease to 0；
Mode three, when speed is less than the cruising speed of setting, acceleration gradually decreases to the with the first jerk set After two acceleration rate thresholds, then with the second jerk of setting it is gradually reduced to 0；
Mode four, when speed be less than setting cruising speed when, acceleration gradually decreases to 0 with the second jerk set Afterwards, execution pattern six or mode seven；
Mode five, when speed be less than setting cruising speed when, acceleration is gradually increased to 0 with the second jerk set Afterwards, execution pattern one or mode two；
Mode six, when speed be greater than setting cruising speed when, acceleration gradually decreases to vehicle with the first jerk set Allow maximum deceleration be gradually increased to 0 after the maximum deceleration continues for some time, then with the first jerk of setting；
Mode seven, when speed is greater than the cruising speed of setting, acceleration gradually decreases to the with the first jerk set After one deceleration threshold, then with the first jerk of setting it is gradually increased to 0；
Mode eight, when speed is greater than the cruising speed of setting, acceleration gradually decreases to the with the first jerk set After two deceleration thresholds, then with the second jerk of setting it is gradually increased to 0；
Mode nine, when speed be greater than setting cruising speed when, acceleration is gradually increased to 0 with the second jerk set Afterwards, execution pattern one or mode two；
Mode ten, when speed be greater than setting cruising speed when, acceleration gradually decreases to 0 with the second jerk set Afterwards, execution pattern six or mode seven.
Further, acceleration change curve corresponding to the mode one is as follows:
In above formula, t11、t12And t13It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode six is as follows:
In above formula, t61、t62And t63It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, amaxIndicate the peak acceleration that vehicle allows, aminIndicate the maximum deceleration that vehicle allows, j1Indicate the first jerk, t indicates real-time time, Δ t1With Δ t6It indicates to accelerate Spend the time difference in change procedure, vsIndicate given cruising speed, v0Indicate the current speed of vehicle.
Further, acceleration change curve corresponding to the mode two is as follows:
In above formula, t21And t22It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode seven is as follows:
In above formula, t71And t72It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j1Indicating the first jerk, t indicates real-time time, a2 *Indicate the first acceleration rate threshold, a7 *Indicate the first deceleration threshold, vsIndicate given cruising speed, v0Indicate that vehicle is current Speed.
Further, acceleration change curve corresponding to the mode three is as follows:
In above formula, t31And t32It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode eight is as follows:
In above formula, t81And t82It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, a3 *Indicate the second acceleration rate threshold, a8 *Indicate the Two deceleration thresholds, j1Indicate the first jerk, j2Indicate the second jerk, t indicates real-time time, vsIndicate given cruising speed, v0Indicate the current speed of vehicle.
Further, acceleration change curve corresponding to the mode four is as follows:
Acceleration change curve corresponding to the mode nine is as follows:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j2Indicating the second jerk, t indicates real-time time, t41And t91Indicate the timing node value during acceleration change.
Further, acceleration change curve corresponding to the mode five is as follows:
Acceleration change curve corresponding to the mode ten is as follows:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j2Indicating the second jerk, t indicates real-time time, t51And t101Indicate the timing node value during acceleration change.
Further, described to calculate the current gradient of vehicle, and then combine speed planning and turn as a result, calculating simultaneously output motor Square, to vehicle realize speed control the step of, specifically:
By Slope Transducer or the inertial sensor sensing data collected being installed on vehicle, calculates and obtain vehicle The current gradient；
In conjunction with speed planning as a result, according to the following formula, calculating simultaneously output motor torque, speed control is realized to vehicle:
T=[a+ (i+f0+f1×u+f2×u2)×g]×K
In above formula, T indicates that motor torque, a indicate to calculate the acceleration of vehicle obtained, and i indicates the current slope of vehicle Degree, f0、f1、f2Indicate that the related coefficient of vehicle performance, u indicate speed with K, by being obtained to a integral, g indicates that gravity adds Speed.
Another technical solution adopted by the present invention to solve the technical problem thereof is that:
Vehicle speed control system for full vehicle speed range cruise, comprising:
Whether instruction acquisition module receives the control instruction that driver sets cruising speed for real-time judge；
Data acquisition module, in response to receive setting cruising speed control instruction the case where, parsing obtain institute The cruising speed of setting, and obtain the current speed of vehicle and acceleration；
Speed planning module, for calculating the acceleration for obtaining vehicle according to speed, acceleration and the cruising speed of setting Change curve carries out the speed planning of vehicle；
Speed control module for calculating the current gradient of vehicle, and then combines speed planning as a result, calculating and exporting electricity Machine torque realizes speed control to vehicle.
The beneficial effects of the present invention are: the method for controlling driving speed for full vehicle speed range cruise of the invention, including Following steps: whether real-time judge receives the control instruction that driver sets cruising speed；In response to receiving setting cruise The case where control instruction of speed, parsing obtains set cruising speed, and obtains the current speed of vehicle and acceleration；Root According to speed, acceleration and the cruising speed of setting, the acceleration change curve for obtaining vehicle is calculated, carries out the speed rule of vehicle It draws；The current gradient of vehicle is calculated, and then combines speed planning as a result, calculating simultaneously output motor torque, speed is realized to vehicle Control.This method may be implemented stable speed and automatically control, and low to the dependence of artificial experience, automatic calculating speed is fast, control Process short time consumption processed is short, and there is no oscillation problems brought by PID controller, and stability is high, highly-safe, can satisfy use Family experience.
Another beneficial effect of the present invention is: the vehicle speed control system for full vehicle speed range cruise of the invention, Include: instruction acquisition module, whether receives the control instruction that driver sets cruising speed for real-time judge；Data acquisition Module, the case where for control instruction in response to receiving setting cruising speed, parsing obtains set cruising speed, and Obtain vehicle current speed and acceleration；Speed planning module, for according to speed, acceleration and the cruising speed of setting, The acceleration change curve for obtaining vehicle is calculated, the speed planning of vehicle is carried out；Speed control module, it is current for calculating vehicle The gradient, and then combine speed planning as a result, calculate and output motor torque, to vehicle realize speed control.This system can be with Realize that stable speed automatically controls, low to the dependence of artificial experience, automatic calculating speed is fast, control process short time consumption Short, there is no oscillation problems brought by PID controller, and stability is high, highly-safe, can satisfy user experience.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the flow chart of the method for controlling driving speed for full vehicle speed range cruise of the invention；
Fig. 2 is the acceleration change mode one of the method for controlling driving speed for full vehicle speed range cruise of the invention Acceleration and speed change curves figure；
Fig. 3 is the acceleration change mode two of the method for controlling driving speed for full vehicle speed range cruise of the invention Acceleration and speed change curves figure；
Fig. 4 is the acceleration change mode three of the method for controlling driving speed for full vehicle speed range cruise of the invention Acceleration and speed change curves figure；
Fig. 5 be it is during the specific test of the method for controlling driving speed for full vehicle speed range cruise of the invention plus Speed and speed change curves figure；
Fig. 6 is a specific cruise Control of the method for controlling driving speed for full vehicle speed range cruise of the invention Schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described further with regard to technical solution of the present invention.It should be appreciated that this Locate described specific embodiment to be only used to explain the present invention, be not intended to limit the present invention.
Referring to Fig.1, the present invention provides a kind of method for controlling driving speed for full vehicle speed range cruise, including it is following Step:
Whether real-time judge receives the control instruction that driver sets cruising speed；
The case where in response to receiving the control instruction for setting cruising speed, parsing obtain set cruising speed, and Obtain vehicle current speed and acceleration；
According to speed, acceleration and the cruising speed of setting, the acceleration change curve for obtaining vehicle is calculated, carries out vehicle Speed planning；
The current gradient of vehicle is calculated, and then combines speed planning as a result, calculating simultaneously output motor torque, vehicle is realized Speed control.
It is further used as preferred embodiment, it is described according to speed, acceleration and the cruising speed of setting, design vehicle Acceleration change curve, the step of carrying out the speed planning of vehicle, specifically:
According to speed, acceleration and the cruising speed of setting, the acceleration change mode selected in response to driver or After obtaining corresponding acceleration change mode according to the matching of the speed, acceleration and the cruising speed of setting, calculates and obtain vehicle Acceleration change curve, the speed planning of vehicle is carried out, so that speed is smoothly transitted into the cruising speed of setting.Jerk refers to The pace of change of acceleration is the derivative of acceleration.
Under normal circumstances, the acceleration change mode selected in response to driver, matching obtain corresponding acceleration change Mode carries out speed automatic control.But according to the speed, acceleration and the cruising speed of setting, calculating is unable to satisfy When the mode that user selectes, Auto-matching obtains corresponding mode and is controlled.For example, when speed is less than the cruise speed of setting Degree, and when acceleration is greater than 0, at this point, after acceleration gradually decreases to 0 with the jerk set, if speed is more than patrolling for setting Speed of a ship or plane degree, it is also necessary to slow down, therefore, such case carries out acceleration using maximum setting jerk and reduces control, then It is corresponding again to execute deceleration mode.For example, in the present embodiment, setting jerk point the first jerk and the second jerk, the second jerk is than the One jerk is big, for realizing more quick acceleration and deceleration, for referred to herein as the case where, then need to be accelerated with the second jerk Degree control.
It is further used as preferred embodiment, the acceleration change mode includes following ten kinds:
Mode one, when speed be less than setting cruising speed when, acceleration is gradually increased to vehicle with the first jerk set Allow peak acceleration, gradually decreased to after the peak acceleration continues for some time, then with the first jerk of setting 0；
Mode two, when speed is less than the cruising speed of setting, acceleration is gradually increased to the with the first jerk set After one acceleration rate threshold, then with the first jerk of setting gradually decrease to 0；
Mode three, when speed is less than the cruising speed of setting, acceleration gradually decreases to the with the first jerk set After two acceleration rate thresholds, then with the second jerk of setting it is gradually reduced to 0；
Mode four, when speed be less than setting cruising speed when, acceleration gradually decreases to 0 with the second jerk set Afterwards, execution pattern six or mode seven；
Mode five, when speed be less than setting cruising speed when, acceleration is gradually increased to 0 with the second jerk set Afterwards, execution pattern one or mode two；
Mode six, when speed be greater than setting cruising speed when, acceleration gradually decreases to vehicle with the first jerk set Allow maximum deceleration be gradually increased to 0 after the maximum deceleration continues for some time, then with the first jerk of setting；
Mode seven, when speed is greater than the cruising speed of setting, acceleration gradually decreases to the with the first jerk set After one deceleration threshold, then with the first jerk of setting it is gradually increased to 0；
Mode eight, when speed is greater than the cruising speed of setting, acceleration gradually decreases to the with the first jerk set After two deceleration thresholds, then with the second jerk of setting it is gradually increased to 0；
Mode nine, when speed be greater than setting cruising speed when, acceleration is gradually increased to 0 with the second jerk set Afterwards, execution pattern one or mode two；
Mode ten, when speed be greater than setting cruising speed when, acceleration gradually decreases to 0 with the second jerk set Afterwards, execution pattern six or mode seven.
It is further used as preferred embodiment, referring to Fig. 2, acceleration change curve corresponding to the mode one is such as Under:
In above formula, t11、t12And t13It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode six is as follows:
In above formula, t61、t62And t63It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, amaxIndicate the peak acceleration that vehicle allows, aminIndicate the maximum deceleration that vehicle allows, j1Indicate the first jerk, t indicates real-time time, Δ t1With Δ t6It indicates to accelerate Spend the time difference in change procedure, vsIndicate given cruising speed, v0Indicate the current speed of vehicle.
It is further used as preferred embodiment, referring to Fig. 3, acceleration change curve corresponding to the mode two is such as Under:
In above formula, t21And t22It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode seven is as follows:
In above formula, t71And t72It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j1Indicating the first jerk, t indicates real-time time, a2 *Indicate the first acceleration rate threshold, a7 *Indicate the first deceleration threshold, vsIndicate given cruising speed, v0Indicate that vehicle is current Speed.
It is further used as preferred embodiment, referring to Fig. 4, acceleration change curve corresponding to the mode three is such as Under:
In above formula, t31And t32It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode eight is as follows:
In above formula, t81And t82It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, a3 *Indicate the second acceleration rate threshold, a8 *Indicate the Two deceleration thresholds, j1Indicate the first jerk, j2Indicate the second jerk, t indicates real-time time, vsIndicate given cruising speed, v0Indicate the current speed of vehicle.
It is further used as preferred embodiment, acceleration change curve corresponding to the mode four is as follows:
Acceleration change curve corresponding to the mode nine is as follows:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j2Indicating the second jerk, t indicates real-time time, t41And t91Indicate the timing node value during acceleration change.
It is further used as preferred embodiment, acceleration change curve corresponding to the mode five is as follows:
Acceleration change curve corresponding to the mode ten is as follows:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j2Indicating the second jerk, t indicates real-time time, t51And t101Indicate the timing node value during acceleration change.
Be further used as preferred embodiment, it is described to calculate the current gradient of vehicle, and then combine speed planning as a result, The step of calculating simultaneously output motor torque, speed control realized to vehicle, specifically:
By Slope Transducer or the inertial sensor sensing data collected being installed on vehicle, calculates and obtain vehicle The current gradient；
In conjunction with speed planning as a result, according to the following formula, calculating simultaneously output motor torque, speed control is realized to vehicle:
T=[a+ (i+f0+f1×u+f2×u2)×g]×K
In above formula, T indicates that motor torque, a indicate to calculate the acceleration of vehicle obtained, and i indicates the current slope of vehicle Degree, f0、f1、f2Indicate that the related coefficient of vehicle performance, u indicate speed with K, by being obtained to a integral, g indicates that gravity adds Speed.
Specifically, f0And f1Indicate coefficient of rolling resistance, f0For constant term, f1Related to speed, speed is bigger, f1More It is small, f2It is as follows with the value of K:
Wherein, R indicates vehicle wheel roll radius, igIndicate that the transmission ratio of transmission system, η indicate drive line efficiency, CDIndicate empty Vapour lock force coefficient, A indicate that front face area, ρ indicate atmospheric density, and m indicates that vehicle mass, g indicate acceleration of gravity.
The calculating process of the Motor torque of vehicle is briefly described below:
During actual travel, vehicle is also by rolling resistance Ff, air drag FwWith grade resistance FsInfluence, It is considered as when calculating motor torque.Calculation method is as follows:
Rolling resistance is
Ff=(f0+f1×u)×m×g
Wherein, m is vehicle mass, and g is acceleration of gravity, and u is speed, f0、f1It is coefficient of rolling resistance.
Air drag are as follows:
Wherein, CDIt is coefficient of air resistance, A is front face area, and ρ is atmospheric density.
Grade resistance degree are as follows:
Fs=i × m × g
Wherein, i is the gradient.
Therefore, it is necessary to motor torque be
Wherein, R is vehicle wheel roll radius, and a indicates to calculate the acceleration of vehicle obtained, igIt is power train transmission ratio, η It is drive line efficiency.
It enables
It is available, motor torque T are as follows:
T=[a+ (i+f0+f1×u+f2×u2)×g]×K
In above formula, it can be seen that f0、f1、f2The related coefficient of vehicle performance is indicated with K, u indicates speed, by a Integral is obtained, and g indicates acceleration of gravity, the current gradient of i expression vehicle, the Slope Transducer by being installed on vehicle or Inertial sensor sensing data collected calculates and obtains the current gradient of vehicle, so that it may which, according to speed planning, calculating needs The motor torque wanted.
The acceleration change curve and velocity variations song during a specific test of speed control are carried out using this method Line as shown in figure 5, in Fig. 5, tested on high adhesion force road surface by vehicle, and constant-speed-cruise control is entered after stationary vehicle 5s, if Fixed cruising speed is 10km/h.It can be seen that quick, the smooth control of speed may be implemented in this programme.
One specific example of the cruise method for controlling driving speed of this system is constantly examined as shown in fig. 6, in control process The cruising speed for whether receiving new settings is surveyed, and then executes corresponding speed planning, carries out speed automatic control.
By this method for controlling driving speed, under different operating conditions, stable speed may be implemented and automatically control, to artificial experience Dependence it is low, automatic calculating speed is fast, and control process short time consumption is short, there is no oscillation problem brought by PID controller, Stability is high, highly-safe, can satisfy user experience.
The present invention also provides a kind of speeds for full vehicle speed range cruise corresponding with the method for controlling driving speed Control system, comprising:
Whether instruction acquisition module receives the control instruction that driver sets cruising speed for real-time judge；
Data acquisition module, in response to receive setting cruising speed control instruction the case where, parsing obtain institute The cruising speed of setting, and obtain the current speed of vehicle and acceleration；
Speed planning module, for calculating the acceleration for obtaining vehicle according to speed, acceleration and the cruising speed of setting Change curve carries out the speed planning of vehicle；
Speed control module for calculating the current gradient of vehicle, and then combines speed planning as a result, calculating and exporting electricity Machine torque realizes speed control to vehicle.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace It changes, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.

Claims (8)

1. being used for the method for controlling driving speed of full vehicle speed range cruise, which comprises the following steps:
Whether real-time judge receives the control instruction that driver sets cruising speed；
The case where in response to receiving the control instruction for setting cruising speed, parsing obtains set cruising speed, and obtains The current speed of vehicle and acceleration；
According to speed, acceleration and the cruising speed of setting, the acceleration change curve for obtaining vehicle is calculated, the speed of vehicle is carried out Metric is drawn；
The current gradient of vehicle is calculated, and then combines speed planning as a result, calculating simultaneously output motor torque, speed is realized to vehicle Control；
It is described according to speed, acceleration and the cruising speed of setting, the acceleration change curve of design vehicle carries out the speed of vehicle The step of metric is drawn, specifically:
According to speed, acceleration and the cruising speed of setting, the acceleration change mode selected in response to driver or according to After the speed, acceleration and the matching of the cruising speed of setting obtain corresponding acceleration change mode, calculates and obtain adding for vehicle Speed change curves carry out the speed planning of vehicle, so that speed is smoothly transitted into the cruising speed of setting；
The acceleration change mode includes following ten kinds:
Mode one, when speed be less than setting cruising speed when, acceleration with the first jerk set be gradually increased to vehicle permit Perhaps peak acceleration gradually decreases to 0 after the peak acceleration continues for some time, then with the first jerk of setting；
Mode two, when speed be less than setting cruising speed when, acceleration with the first jerk set be gradually increased to first plus After threshold speed, then with the first jerk of setting gradually decrease to 0；
Mode three, when speed be less than setting cruising speed when, acceleration with the first jerk set gradually decrease to second plus After threshold speed, then with the second jerk of setting it is gradually reduced to 0；
Mode four, when speed be less than setting cruising speed when, after acceleration gradually decreases to 0 with the second jerk set, hold Row mode six or mode seven；
Mode five, when speed be less than setting cruising speed when, after acceleration is gradually increased to 0 with the second jerk set, hold Row mode one or mode two；
Mode six, when speed be greater than setting cruising speed when, acceleration with the first jerk set gradually decrease to vehicle permit Perhaps maximum deceleration is gradually increased to 0 after the maximum deceleration continues for some time, then with the first jerk of setting；
Mode seven, when speed be greater than setting cruising speed when, acceleration gradually decreases to first with the first jerk set and subtracts After threshold speed, then with the first jerk of setting it is gradually increased to 0；
Mode eight, when speed be greater than setting cruising speed when, acceleration gradually decreases to second with the first jerk set and subtracts After threshold speed, then with the second jerk of setting it is gradually increased to 0；
Mode nine, when speed be greater than setting cruising speed when, after acceleration is gradually increased to 0 with the second jerk set, hold Row mode one or mode two；
Mode ten, when speed be greater than setting cruising speed when, after acceleration gradually decreases to 0 with the second jerk set, hold Row mode six or mode seven.
2. the method for controlling driving speed according to claim 1 for full vehicle speed range cruise, which is characterized in that described Acceleration change curve corresponding to mode one is as follows:
In above formula, t11、t12And t13It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode six is as follows:
In above formula, t61、t62And t63It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, amaxIndicate the peak acceleration that vehicle allows, aminTable Show the maximum deceleration that vehicle allows, j1Indicate the first jerk, t indicates real-time time, Δ t1With Δ t6Indicate acceleration change Time difference in the process, vsIndicate given cruising speed, v0Indicate the current speed of vehicle.
3. the method for controlling driving speed according to claim 1 for full vehicle speed range cruise, which is characterized in that described Acceleration change curve corresponding to mode two is as follows:
In above formula, t21And t22It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode seven is as follows:
In above formula, t71And t72It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j1Indicate the first jerk, t indicates real-time time, a2 *Table Show the first acceleration rate threshold, a7 *Indicate the first deceleration threshold, vsIndicate given cruising speed, v0Indicate the current vehicle of vehicle Speed.
4. the method for controlling driving speed according to claim 1 for full vehicle speed range cruise, which is characterized in that described Acceleration change curve corresponding to mode three is as follows:
In above formula, t31And t32It indicates the timing node value during acceleration change, and meets:
Acceleration change curve corresponding to the mode eight is as follows:
In above formula, t81And t82It indicates the timing node value during acceleration change, and meets:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, a3 *Indicate the second acceleration rate threshold, a8 *Indicate that second subtracts Threshold speed, j1Indicate the first jerk, j2Indicate the second jerk, t indicates real-time time, vsIndicate given cruising speed, v0Table Show the current speed of vehicle.
5. the method for controlling driving speed according to claim 1 for full vehicle speed range cruise, which is characterized in that described Acceleration change curve corresponding to mode four is as follows:
Acceleration change curve corresponding to the mode nine is as follows:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j2Indicate the second jerk, t indicates real-time time, t41With t91Indicate the timing node value during acceleration change.
6. the method for controlling driving speed according to claim 1 for full vehicle speed range cruise, which is characterized in that described Acceleration change curve corresponding to mode five is as follows:
Acceleration change curve corresponding to the mode ten is as follows:
Wherein, a indicates acceleration, a0Indicate the current acceleration of vehicle, j2Indicate the second jerk, t indicates real-time time, t51With t101Indicate the timing node value during acceleration change.
7. the method for controlling driving speed according to claim 1 for full vehicle speed range cruise, which is characterized in that described The current gradient of vehicle is calculated, and then combines speed planning as a result, calculating simultaneously output motor torque, speed control is realized to vehicle The step of, specifically:
By Slope Transducer or the inertial sensor sensing data collected being installed on vehicle, it is current to calculate acquisition vehicle The gradient；
In conjunction with speed planning as a result, according to the following formula, calculating simultaneously output motor torque, speed control is realized to vehicle:
T=[a+ (i+f0+f1×u+f2×u2)×g]×K
In above formula, T indicates that motor torque, a indicate to calculate the acceleration of vehicle obtained, and i indicates the current gradient of vehicle, f0、 f1、f2Indicate that the related coefficient of vehicle performance, u indicate speed with K, by being obtained to a integral, g indicates acceleration of gravity.
8. being used for the vehicle speed control system of full vehicle speed range cruise characterized by comprising
Whether instruction acquisition module receives the control instruction that driver sets cruising speed for real-time judge；
Data acquisition module, in response to receive setting cruising speed control instruction the case where, parsing obtain set by Cruising speed, and obtain the current speed of vehicle and acceleration；
Speed planning module, for calculating the acceleration change for obtaining vehicle according to speed, acceleration and the cruising speed of setting Curve carries out the speed planning of vehicle；
Speed control module for calculating the current gradient of vehicle, and then combines speed planning and turns as a result, calculating simultaneously output motor Square realizes speed control to vehicle；
The speed planning module, is specifically used for:
According to speed, acceleration and the cruising speed of setting, the acceleration change mode selected in response to driver or according to After the speed, acceleration and the matching of the cruising speed of setting obtain corresponding acceleration change mode, calculates and obtain adding for vehicle Speed change curves carry out the speed planning of vehicle, so that speed is smoothly transitted into the cruising speed of setting；
The acceleration change mode includes following ten kinds:
Mode one, when speed be less than setting cruising speed when, acceleration with the first jerk set be gradually increased to vehicle permit Perhaps peak acceleration gradually decreases to 0 after the peak acceleration continues for some time, then with the first jerk of setting；
Mode two, when speed be less than setting cruising speed when, acceleration with the first jerk set be gradually increased to first plus After threshold speed, then with the first jerk of setting gradually decrease to 0；
Mode three, when speed be less than setting cruising speed when, acceleration with the first jerk set gradually decrease to second plus After threshold speed, then with the second jerk of setting it is gradually reduced to 0；
Mode four, when speed be less than setting cruising speed when, after acceleration gradually decreases to 0 with the second jerk set, hold Row mode six or mode seven；
Mode five, when speed be less than setting cruising speed when, after acceleration is gradually increased to 0 with the second jerk set, hold Row mode one or mode two；
Mode six, when speed be greater than setting cruising speed when, acceleration with the first jerk set gradually decrease to vehicle permit Perhaps maximum deceleration is gradually increased to 0 after the maximum deceleration continues for some time, then with the first jerk of setting；
Mode seven, when speed be greater than setting cruising speed when, acceleration gradually decreases to first with the first jerk set and subtracts After threshold speed, then with the first jerk of setting it is gradually increased to 0；
Mode eight, when speed be greater than setting cruising speed when, acceleration gradually decreases to second with the first jerk set and subtracts After threshold speed, then with the second jerk of setting it is gradually increased to 0；
Mode nine, when speed be greater than setting cruising speed when, after acceleration is gradually increased to 0 with the second jerk set, hold Row mode one or mode two；
Mode ten, when speed be greater than setting cruising speed when, after acceleration gradually decreases to 0 with the second jerk set, hold Row mode six or mode seven.
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CN110015295B (en) * 2018-01-10 2020-12-15 宝沃汽车（中国）有限公司 Cruise torque control method and device and vehicle
CN109774721B (en) * 2019-02-28 2021-08-20 国机智骏汽车有限公司 Speed closed-loop control system and method and electric automobile
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CN111731288A (en) * 2020-06-24 2020-10-02 中国第一汽车股份有限公司 Vehicle constant speed control method and system and vehicle
CN112061106B (en) * 2020-09-15 2022-04-19 中国第一汽车股份有限公司 Automatic driving control method, device, vehicle and storage medium
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