CN107745712B - Method and device for controlling vehicle cruise - Google Patents

Method and device for controlling vehicle cruise Download PDF

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Publication number
CN107745712B
CN107745712B CN201711040083.7A CN201711040083A CN107745712B CN 107745712 B CN107745712 B CN 107745712B CN 201711040083 A CN201711040083 A CN 201711040083A CN 107745712 B CN107745712 B CN 107745712B
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vehicle
speed
torque
cruising
engine
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CN107745712A (en
Inventor
杨德凤
李康
刘鹏鹏
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

The invention discloses a method and a device for controlling a vehicle to cruise, and belongs to the technical field of vehicle electronic control. The method comprises the following steps: when the fact that a vehicle reaches a preset cruising condition is detected, determining the opening degree of a virtual accelerator pedal corresponding to the cruising speed according to the cruising speed of the vehicle; determining a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle; determining an engine torque of the engine and a motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle; and adjusting the current torque of the engine to the engine torque, and adjusting the current torque of the motor to the motor torque, so as to control the current speed of the hybrid vehicle to reach the cruising speed.

Description

Method and device for controlling vehicle cruise
Technical Field
The invention relates to the technical field of vehicle electronic control, in particular to a method and a device for controlling vehicle cruise.
Background
With the development of the vehicle electronic control technology, a control terminal in the vehicle can electronically control the vehicle to cruise, and the vehicle cruise means that the vehicle automatically keeps a fixed speed without a driver stepping on an accelerator pedal in the running process. For example, when the vehicle is running on an expressway for a long time, the control terminal may reduce the driving fatigue of the driver by controlling the vehicle to perform the vehicle cruise state.
The control process of the control terminal for controlling the vehicle to cruise comprises the following steps: the control terminal adjusts the oil supply quantity of the engine in real time according to the vehicle speed set by the driver and by combining the road condition, the form resistance of the vehicle and other factors, so that the vehicle can keep running at the set vehicle speed. However, the method for controlling the vehicle cruise is only suitable for the vehicle powered by the engine, and when the vehicle is a hybrid vehicle, the hybrid vehicle cruise cannot be achieved, so that a method for controlling the vehicle cruise, which is also suitable for the hybrid vehicle, is required.
Disclosure of Invention
To solve the problems of the prior art, the present invention provides a method and apparatus for controlling cruise of a vehicle. The technical scheme is as follows:
the embodiment of the invention provides a method for controlling vehicle cruise, which comprises the following steps:
when the fact that a vehicle reaches a preset cruising condition is detected, determining the opening degree of a virtual accelerator pedal corresponding to the cruising speed according to the cruising speed of the vehicle;
determining a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle;
determining a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle;
and adjusting the current torque of the engine to the target engine torque, and adjusting the current torque of the motor to the target motor torque to control the current speed of the vehicle to reach the cruising speed.
Optionally, the method further includes:
when the fact that the vehicle enters a cruising state is detected, determining that the vehicle reaches a preset cruising condition; and/or the presence of a gas in the gas,
in the cruising state, when the current vehicle speed of the vehicle is detected to be different from the cruising vehicle speed, the vehicle is determined to reach the preset cruising condition.
Optionally, the determining, according to the cruising speed of the vehicle, a virtual accelerator pedal opening corresponding to the cruising speed includes:
determining the cruising wheel end torque corresponding to the cruising speed according to the cruising speed;
and acquiring the virtual accelerator pedal opening corresponding to the cruise wheel end torque from the corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening according to the cruise wheel end torque.
Optionally, the determining the target engine torque and the target motor torque of the motor in the vehicle according to the target wheel end torque and the speed ratio signal of the vehicle includes:
determining a first wheel end torque corresponding to an engine of the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle;
determining the target engine torque according to the first wheel end torque and the speed ratio signal;
and determining the target motor torque according to the second wheel end torque.
Optionally, the adjusting the current torque of the engine to the target engine torque includes:
when the vehicle speed difference between the current vehicle speed of the vehicle and the cruising vehicle speed is not larger than a preset threshold value, determining a first target opening degree of a throttle valve of the engine according to target engine torque, and adjusting the opening degree of the throttle valve to the first target opening degree;
when the vehicle speed difference is larger than a preset threshold value, determining a target gear of a gearbox of the vehicle and a second target opening degree of a throttle valve of the engine according to the cruising vehicle speed, adjusting the gearbox to the target gear, and adjusting the opening degree of the throttle valve to the second target opening degree;
correspondingly, the adjusting the current torque of the motor to the target motor torque includes:
and determining the target power of the motor according to the target motor torque, and adjusting the output power of the motor to the target power.
An embodiment of the present invention provides an apparatus for controlling vehicle cruise, including:
the device comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining the opening degree of a virtual accelerator pedal corresponding to the cruising speed according to the cruising speed of a vehicle when the vehicle is detected to reach the preset cruising condition;
the second determination module is used for determining the target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle;
the third determination module is used for determining a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle;
and the adjusting module is used for adjusting the current torque of the engine to the target engine torque and adjusting the current torque of the motor to the target motor torque so as to control the current speed of the vehicle to reach the cruising speed.
Optionally, the apparatus further comprises:
the fourth determination module is used for determining that the vehicle reaches a preset cruising condition when the fact that the vehicle enters the cruising state is detected; and/or determining that the vehicle reaches a preset cruising condition when the current vehicle speed of the vehicle is detected to be different from the cruising vehicle speed in the cruising state.
Optionally, the first determining module is further configured to determine a cruise wheel end torque corresponding to the cruise vehicle speed according to the cruise vehicle speed; and acquiring the virtual accelerator pedal opening corresponding to the cruise wheel end torque from the corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening according to the cruise wheel end torque.
Optionally, the third determining module is further configured to determine a first wheel end torque corresponding to an engine of the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle; determining the target engine torque according to the first wheel end torque and the speed ratio signal; and determining the target motor torque according to the second wheel end torque.
Optionally, the adjusting module is further configured to determine a first target opening degree of a throttle valve of the engine according to a target engine torque when a vehicle speed difference between a current vehicle speed of the vehicle and the cruising vehicle speed is not greater than a preset threshold, and adjust the opening degree of the throttle valve to the first target opening degree; when the vehicle speed difference is larger than a preset threshold value, determining a target gear of a gearbox of the vehicle and a second target opening degree of a throttle valve of the engine according to the cruising vehicle speed, adjusting the gearbox to the target gear, and adjusting the opening degree of the throttle valve to the second target opening degree;
the adjusting module is further configured to determine a target power of the motor according to the target motor torque, and adjust the output power of the motor to the target power.
In the embodiment of the invention, when the fact that the vehicle reaches the preset cruising condition is detected, the control terminal determines the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle; the control terminal determines a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle, determines a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle, so that the current torque of the engine is adjusted to the target engine torque, and the current torque of the motor is adjusted to the target motor torque, so that the current vehicle speed of the hybrid vehicle is controlled to reach the cruising vehicle speed.
Drawings
FIG. 1 is a flow chart of a method for controlling vehicle cruise, according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling vehicle cruise, according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus for controlling vehicle cruise according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for controlling vehicle cruise according to an embodiment of the present invention, where an execution subject of the method may be a control terminal, as shown in fig. 1, and the method includes:
step 101: when the fact that the vehicle reaches a preset cruising condition is detected, determining the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle;
step 102: determining the target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle;
step 103: determining a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle;
step 104: and adjusting the current torque of the engine to the target engine torque, and adjusting the current torque of the motor to the target motor torque to control the current speed of the vehicle to reach the cruising speed.
In one possible design, the method further includes:
when the fact that the vehicle enters the cruising state is detected, determining that the vehicle reaches a preset cruising condition; and/or the like, and/or,
in the cruising state, when the current vehicle speed of the vehicle is detected to be different from the cruising vehicle speed, the vehicle is determined to reach the preset cruising condition.
In one possible design, the determining the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle includes:
determining the cruise wheel end torque corresponding to the cruise vehicle speed according to the cruise vehicle speed;
and acquiring the virtual accelerator pedal opening corresponding to the cruise wheel end torque from the corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening according to the cruise wheel end torque.
In one possible design, the determining the target engine torque and the target motor torque of the motor in the vehicle based on the target wheel end torque and the speed ratio signal of the vehicle includes:
determining a first wheel end torque corresponding to an engine of the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle;
determining the target engine torque according to the first wheel end torque and the speed ratio signal;
and determining the target motor torque according to the second wheel end torque.
In one possible design, the adjusting the current torque of the engine to the target engine torque includes:
when the vehicle speed difference between the current vehicle speed and the cruising vehicle speed is not larger than a preset threshold value, determining a first target opening degree of a throttle valve of the engine according to target engine torque, and adjusting the opening degree of the throttle valve to the first target opening degree;
when the vehicle speed difference is larger than a preset threshold value, determining a target gear of a gearbox of the vehicle and a second target opening degree of a throttle valve of the engine according to the cruising vehicle speed, adjusting the gearbox to the target gear, and adjusting the opening degree of the throttle valve to the second target opening degree;
correspondingly, the adjusting the current torque of the motor to the target motor torque includes:
and determining the target power of the motor according to the target motor torque, and adjusting the output power of the motor to the target power.
In the embodiment of the invention, when the fact that the vehicle reaches the preset cruising condition is detected, the control terminal determines the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle; the control terminal determines a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle, determines a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle, so that the current torque of the engine is adjusted to the target engine torque, and the current torque of the motor is adjusted to the target motor torque, so that the current vehicle speed of the hybrid vehicle is controlled to reach the cruising vehicle speed.
Fig. 2 is a flowchart of a method for controlling vehicle cruise according to an embodiment of the present invention, where an execution subject of the method may be a control terminal, as shown in fig. 2, and the method includes:
step 201: when the fact that the vehicle reaches the preset cruising condition is detected, the control terminal determines the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle.
In the embodiment of the invention, the vehicle can be a vehicle with a hybrid power source, namely the vehicle can be powered by an engine and a motor together, and in the running process of the vehicle, the control terminal can automatically detect whether the vehicle reaches the preset cruising condition and control the vehicle to keep cruising speed running without driver control, thereby greatly reducing the driving fatigue of the driver. The preset cruise condition may be a condition when the control terminal determines that the vehicle needs to change the current vehicle speed to the cruise vehicle speed. Generally, when the cruise state in the vehicle is turned on, it is necessary to change the current vehicle speed to the cruise vehicle speed for running. In the cruising process, when a user changes the previously set cruising speed as required, the vehicle also needs to change the current speed to the cruising speed which is newly set by the user for running; or, when the vehicle is traveling on an uphill or downhill as the cruising speed, the vehicle speed is likely to change, and the vehicle also needs to change the current speed to the cruising speed. Therefore, the control terminal can determine whether the preset cruise condition is reached in the following two ways.
With the first approach, the control terminal determines that the vehicle reaches the preset cruise condition when it is detected that the vehicle enters the cruise state. When it is detected that the vehicle does not enter the cruise state, the control terminal determines that the vehicle does not reach the preset cruise condition.
Wherein, control terminal can judge whether the vehicle enters the state of cruising through the constant speed cruise button in the vehicle or the situation of change of the speed of a motor vehicle, and this step can be: when a constant-speed cruise button in the vehicle is triggered, a starting instruction is generated, when the control terminal detects the starting instruction, the control terminal determines that the vehicle enters a cruise state, and otherwise, the control terminal determines that the vehicle does not enter the cruise state. Or the control terminal acquires the current speed of the vehicle through a vehicle speed sensor every other preset period, and when the current speed corresponding to each preset period in the preset time range is the same, the control terminal determines that the vehicle enters a cruising state; when the current vehicle speed corresponding to the preset period in the preset time range is different from other vehicle speeds, the control terminal determines that the vehicle does not enter the cruising state.
The preset period and the preset time range may be set and changed according to the user requirement, which is not specifically limited in the embodiment of the present invention. For example, the preset period may be 10 seconds, 5 minutes, or the like. The preset time range may be 1 hour, 30 minutes, etc.
It should be noted that, when a constant-speed cruise button in the vehicle is triggered, the control terminal may obtain a cruise vehicle speed input by a user, and store the cruise vehicle speed, so as to directly obtain the cruise vehicle speed when the vehicle subsequently enters a cruise state.
As for the second manner, in the cruise state, when it is detected that the current vehicle speed of the vehicle and the cruise vehicle speed are different, the control terminal determines that the vehicle reaches the preset cruise condition.
In the vehicle cruising process, the control terminal acquires the current vehicle speed of the vehicle through the vehicle speed sensor, acquires the cruising vehicle speed, judges whether the current vehicle speed of the vehicle is the same as the cruising vehicle speed, and determines that the vehicle reaches the preset cruising condition when the current vehicle speed is different from the cruising vehicle speed; when the current vehicle speed is the same as the cruising vehicle speed, the control terminal determines that the vehicle does not reach the preset cruising condition. In addition, the vehicle can be further provided with an adjusting button for adjusting the cruising speed, in the cruising state, when the control terminal detects that the adjusting button is triggered, the control terminal determines that the cruising speed of the vehicle is adjusted, and the control terminal obtains the cruising speed adjusted by the user through the adjusting button.
It should be noted that, the Control terminal may include an ECU (Engine Control Unit), the ECU in the Control terminal obtains the cruising speed set by the user, and obtains the current speed of the vehicle from the speed sensor, and the process may be: when the cruise control button is triggered, the ECU displays a prompt message through a display screen of the control terminal, the prompt message is used for indicating a user to input the cruise speed in the cruise state, and after the cruise speed input by the user is detected and confirmed, the ECU acquires the cruise speed input by the user on the display screen and stores the cruise speed in a storage space of the ECU. The ECU sends an acquisition instruction to a vehicle speed sensor through a CAN (Controller Area Network), the vehicle speed sensor receives the acquisition instruction, and sends the current vehicle speed of the vehicle to the ECU according to the acquisition instruction, and the ECU receives the current vehicle speed sent by the vehicle speed sensor.
When the vehicle reaches a preset cruising condition, the control terminal needs to convert the cruising speed into a virtual accelerator pedal opening degree, and then carries out torque distribution on the engine and the motor based on the virtual accelerator pedal opening degree. Therefore, after the control terminal determines that the vehicle reaches the preset cruise condition, the step of determining the virtual accelerator pedal opening corresponding to the cruise vehicle speed by the control terminal according to the cruise vehicle speed of the vehicle can be realized through the following steps 2011-2012.
Step 2011: and the control terminal determines the cruise wheel end torque corresponding to the cruise vehicle speed according to the cruise vehicle speed.
In this step, the control terminal may pre-store a corresponding relationship between the cruising speed, the engine speed, and the virtual engine torque, and the control terminal obtains the current engine speed of the engine, and determines the virtual engine torque required to reach the cruising speed from the corresponding relationship between the cruising speed, the engine speed, and the virtual engine torque according to the cruising speed and the engine speed. The control terminal passes through a speed ratio signal from the wheel end to the output end of the crankshaft of the engine according to the virtual engine torque, namely the wheel end torque: and converting the engine torque into wheel end torque of the wheel, and taking the wheel end torque obtained by conversion as the cruising wheel end torque corresponding to the cruising vehicle speed.
It should be noted that, since the control terminal may include the ECU, in this step, the ECU in the control terminal may determine the virtual engine torque corresponding to the cruise vehicle speed according to the cruise vehicle speed, and convert the virtual engine torque into the cruise wheel end torque.
Step 2012: and the control terminal acquires the virtual accelerator pedal opening corresponding to the cruise wheel end torque from the corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening according to the cruise wheel end torque.
In the embodiment of the invention, because the performance and the parameters of each type of vehicle are not completely the same, the virtual accelerator opening corresponding to the cruising wheel end torque may also be different. Therefore, for each type of vehicle, the control terminal may previously test the virtual accelerator opening degrees corresponding to the plurality of cruising wheel end torques respectively, and store each cruising wheel end torque and the corresponding virtual accelerator torque in an associated manner. Therefore, in this step, the control terminal obtains the corresponding relationship between the cruising wheel end torque and the virtual accelerator torque, and determines the virtual accelerator opening corresponding to the cruising wheel end torque from the corresponding relationship between the cruising wheel end torque and the virtual accelerator torque according to the cruising wheel end torque.
It should be noted that the step of determining the virtual accelerator opening according to the cruise wheel end torque may be specifically executed by an ECU in the Control terminal, and the Control terminal further includes an HCU (Hybrid Control Unit), and the cruise state of the vehicle may be controlled by the HCU in the Control terminal, so that after the ECU determines the virtual accelerator opening, the ECU sends the virtual accelerator opening to the HCU through a CAN bus, and the HCU receives the virtual accelerator opening started by the ECU and stores the virtual accelerator opening, so that the HCU may Control the cruise state based on the virtual accelerator opening subsequently.
Step 202: and the control terminal determines the target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle.
In this step, the control terminal may calibrate and store the corresponding relationship among the vehicle speed, the accelerator pedal opening, and the wheel end torque in advance through an experiment. And the control terminal determines the wheel end torque corresponding to the current vehicle speed and the virtual accelerator pedal opening from the corresponding relation among the vehicle speed, the accelerator pedal opening and the wheel end torque according to the current vehicle speed, and determines the wheel end torque as the target wheel end torque of the vehicle.
The step of determining the target wheel end torque may be specifically executed by an ECU in the control terminal, after the control terminal calibrates the corresponding relationship among the vehicle speed, the accelerator pedal opening and the wheel end torque in advance through experiments, the corresponding relationship among the vehicle speed, the accelerator pedal opening and the wheel end torque may be stored in the ECU in the control terminal, and the step of determining the wheel end torque corresponding to the current vehicle speed and the virtual accelerator pedal opening from the corresponding relationship among the vehicle speed, the accelerator pedal opening and the wheel end torque according to the current vehicle speed is specifically executed by the ECU.
Step 203: the control terminal determines a target engine torque of the engine and a target motor torque of the vehicle according to the target wheel end torque and the speed ratio signal of the vehicle.
In the embodiment of the invention, because the vehicle is a hybrid vehicle, the power of the vehicle comprises the power provided by an engine and the power provided by a motor. Therefore, the control terminal may determine the target engine torque and the target motor torque through the hybrid ratio of the vehicle based on the target wheel-end torque. Specifically, this step can be realized by the following steps 2031-2032.
Step 2031: and the control terminal determines a first wheel end torque corresponding to an engine of the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle.
In the embodiment of the invention, the power of the vehicle is hybrid power, and the control terminal can preset the hybrid ratio between the power from the engine and the power from the motor in the hybrid power according to the requirement of a user. The control terminal takes the product of the target wheel end torque and the first proportion as a first wheel end torque corresponding to the engine according to the first proportion occupied by the engine in the hybrid proportion; the control terminal takes the product of the target wheel end torque and the second proportion as a second wheel end torque corresponding to the motor according to the second proportion occupied by the motor in the hybrid proportion; . And the ratio of the first wheel end torque to the second wheel end torque is equal to the mixing ratio.
The mixing ratio may be set and changed according to the user's needs, which is not specifically limited in the embodiment of the present invention. For example, the mixing ratio may be engine: motor 7:3, or engine: motor 4:6, etc.
Step 2032: the control terminal determines the target engine torque according to the first wheel end torque and the speed ratio signal; and determining the target motor torque according to the second wheel end torque.
In the embodiment of the invention, the speed ratio signal comprises a speed ratio signal from a wheel end to an output end of a crankshaft of the engine and a speed ratio signal from the wheel end to an output end of the motor. The vehicle-mounted terminal transmits the first wheel end torque and the first speed ratio signal to the vehicle-mounted terminal through the relationship among the wheel end torque, the engine torque and the speed ratio signal, namely, the wheel end torque: the engine torque is the speed ratio signal from the wheel end to the output end of the engine crankshaft, and the target engine torque is determined. The control terminal, according to the second wheel end torque, through the relationship between the wheel end torque, the motor torque and the speed ratio signal, i.e., the wheel end torque: and determining the target motor torque of the motor according to the speed ratio signal from the wheel end to the output end of the motor crankshaft.
It should be noted that, in step 203, the HCU in the control terminal may perform calculation to determine the target engine torque and the target motor torque, and the process may be: the HCU determines a first wheel end torque corresponding to an engine of the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle, and determines the target engine torque according to the first wheel end torque and the speed ratio signal; and determining the target motor torque according to the second wheel end torque. The implementation manner is the same as the above process, and is not described in detail here.
Step 204: the control terminal adjusts the current torque of the engine to the target engine torque.
In the embodiment of the invention, the control terminal can realize the adjustment of the engine torque by adjusting the throttle valve of the engine, and in addition, the control terminal can also be combined with a gearbox in the vehicle for adjusting the cruise speed required by the cruise state in order to achieve the cruise state more quickly due to the limited adjustment range of the throttle valve. Specifically, the step of adjusting the current torque of the engine to the target engine torque by the control terminal may be: the control terminal determines a vehicle speed difference between a current vehicle speed and a cruising vehicle speed, judges whether the vehicle speed difference is larger than a preset threshold value or not, and determines a first target opening degree of a throttle valve of the engine according to the engine torque and adjusts the opening degree of the throttle valve to the first target opening degree when the vehicle speed difference between the current vehicle speed and the cruising vehicle speed is not larger than the preset threshold value; when the vehicle speed difference is larger than a preset threshold value, the control terminal firstly determines a target gear of a gearbox of the vehicle according to the cruising vehicle speed, determines a second target opening degree of a throttle valve of the engine, adjusts the gearbox to the target gear, and adjusts the opening degree of the throttle valve to the second target opening degree.
It should be noted that, when the difference between the cruising speed and the current speed is not large, that is, the control terminal only needs to adjust the current speed within a small speed range, that is, the opening degree is increased to increase the speed, and the opening degree is decreased to decrease the speed, at this time, the speed adjustment can be realized through the throttle. Specifically, the process may be: the control terminal determines a first target opening degree of a throttle valve of the engine corresponding to the target engine torque from a corresponding relation between the engine torque and the intake air amount according to the target engine torque, and adjusts the opening degree of the throttle valve to the first target opening degree to realize response to the target engine torque.
When the difference between the cruising speed and the current speed is large, namely the control terminal needs to adjust the current speed in a large speed range, the control terminal can be combined with a gearbox and a throttle valve in the vehicle to realize the adjustment of the speed. Specifically, the Control terminal may store a corresponding relationship between the vehicle speed and a gear of the Transmission in a TCU (Transmission Control Unit), and the process may be: an ECU in a control terminal sends a cruising speed to a TCU through a CAN bus, the TCU determines a gear of a gearbox corresponding to the cruising speed from a corresponding relation between the speed and the gear of the gearbox according to the cruising speed, the gear is determined as a target gear, and the TCU adjusts the current gear of the gearbox to the target gear. Meanwhile, the TCU acquires the engine rotating speed corresponding to the current gear, because the engine power is constant, the TCU determines the engine torque corresponding to the engine rotating speed according to the engine rotating speed, determines a second target opening degree of a throttle valve of the engine corresponding to the engine torque corresponding to the engine rotating speed from the corresponding relation between the engine torque and the air intake amount, and adjusts the opening degree of the throttle valve to the second target opening degree so as to realize the response to the target engine torque.
The preset threshold may be set and changed according to a user requirement, which is not specifically limited in the embodiment of the present invention. For example, the preset threshold may be 15km/h, 25 km/h.
It should be noted that the process of adjusting the engine torque may be implemented by an ECU, that is, the ECU adjusts the engine torque based on a vehicle speed difference between the current vehicle speed and a cruising vehicle speed, and when the ECU detects that the vehicle speed difference is not greater than a preset threshold, the ECU determines a first target opening degree corresponding to the throttle valve and controls the current opening degree of the throttle valve to be the first target opening degree; and when the vehicle speed difference is larger than the preset threshold value, the ECU determines a target gear corresponding to the cruising vehicle speed and a second target opening degree of the engine throttle valve, controls a gearbox of the vehicle to be the target gear, and controls the current opening degree of the throttle valve to be the second target opening degree.
Step 205: and the control terminal adjusts the current torque of the motor to the target motor torque.
In the embodiment of the invention, the control terminal respectively controls the current torques of the engine and the motor through the step 204 and the step 205, so as to control the current speed of the vehicle to reach the cruising speed.
In this step, the control terminal may adjust the output power of the motor according to the motor torque to achieve adjustment of the target motor torque, and specifically, the step of adjusting the current torque of the motor to the target motor torque may be: and the control terminal determines the target power of the motor according to the target motor torque and adjusts the output power of the motor to the target power. The control terminal can use the following formula three according to the target motor torque: and calculating the target power of the motor, wherein T is 9.55P/n, and T is the target motor torque and has the unit: N-M, P is the target power of the motor, unit: w and n are motor rotating speed, unit: r/min.
In this step, a target motor torque may be adjusted by an MCU (motor controller) in the Control terminal, that is, the HCU in the Control terminal sends the target motor torque to the MCU, the MCU receives the target motor torque, the target power of the motor is determined through the above steps, and the MCU controls the output power of the motor to be the target power, so as to adjust the current torque of the motor to be the target motor torque.
In the embodiment of the invention, when the fact that the vehicle reaches the preset cruising condition is detected, the control terminal determines the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle; the control terminal determines a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle, determines a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle, so that the current torque of the engine is adjusted to the target engine torque, and the current torque of the motor is adjusted to the target motor torque, so that the current vehicle speed of the hybrid vehicle is controlled to reach the cruising vehicle speed.
Fig. 3 is a schematic structural diagram of an apparatus for controlling vehicle cruise according to an embodiment of the present invention, as shown in fig. 3, the apparatus includes:
the first determining module 301 is configured to determine, according to a cruising speed of a vehicle, a virtual accelerator pedal opening corresponding to the cruising speed when it is detected that the vehicle reaches a preset cruising condition;
a second determining module 302, configured to determine a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and a current vehicle speed of the vehicle;
a third determining module 303, configured to determine a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and the speed ratio signal of the vehicle;
an adjustment module 304 is configured to adjust the current torque of the engine to the target engine torque and the current torque of the motor to the target motor torque to control the current vehicle speed of the vehicle to reach the cruising vehicle speed.
Optionally, the apparatus further comprises:
the fourth determination module is used for determining that the vehicle reaches the preset cruising condition when the fact that the vehicle enters the cruising state is detected; and/or determining that the vehicle reaches a preset cruising condition when the current vehicle speed of the vehicle is detected to be different from the cruising vehicle speed in the cruising state.
Optionally, the first determining module 301 is further configured to determine, according to the cruise vehicle speed, a cruise wheel end torque corresponding to the cruise vehicle speed; and acquiring the virtual accelerator pedal opening corresponding to the cruise wheel end torque from the corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening according to the cruise wheel end torque.
Optionally, the third determining module 303 is further configured to determine a first wheel end torque corresponding to an engine of the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle; determining the target engine torque according to the first wheel end torque and the speed ratio signal; and determining the target motor torque according to the second wheel end torque.
Optionally, the adjusting module 304 is further configured to determine a first target opening degree of a throttle valve of the engine according to a target engine torque when a vehicle speed difference between the current vehicle speed of the vehicle and the cruising vehicle speed is not greater than a preset threshold, and adjust the opening degree of the throttle valve to the first target opening degree; when the vehicle speed difference is larger than a preset threshold value, determining a target gear of a gearbox of the vehicle and a second target opening degree of a throttle valve of the engine according to the cruising vehicle speed, adjusting the gearbox to the target gear, and adjusting the opening degree of the throttle valve to the second target opening degree;
the adjusting module 304 is further configured to determine a target power of the motor according to the target motor torque, and adjust the output power of the motor to the target power.
In the embodiment of the invention, when the fact that the vehicle reaches the preset cruising condition is detected, the control terminal determines the virtual accelerator pedal opening corresponding to the cruising speed according to the cruising speed of the vehicle; the control terminal determines a target wheel end torque of the vehicle according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle, determines a target engine torque of the engine and a target motor torque of a motor in the vehicle according to the target wheel end torque and a speed ratio signal of the vehicle, so that the current torque of the engine is adjusted to the target engine torque, and the current torque of the motor is adjusted to the target motor torque, so that the current vehicle speed of the hybrid vehicle is controlled to reach the cruising vehicle speed.
It should be noted that: the device for controlling vehicle cruise provided in the above embodiment is only illustrated by dividing the functional modules when controlling vehicle cruise, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the device for controlling the vehicle to cruise and the embodiment of the method for controlling the vehicle to cruise provided by the embodiment belong to the same concept, and the specific implementation process is detailed in the embodiment of the method and is not described again.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (2)

1. A method of controlling vehicle cruise, characterized in that the method is applied to a hybrid vehicle, executed by a control terminal, and comprises:
when detecting that the vehicle reaches preset cruising conditions, obtaining the current engine speed of the engine of the vehicle, the vehicle reaches preset cruising conditions, including: when the fact that the vehicle enters a cruising state is detected, determining that the vehicle reaches a preset cruising condition; and/or, under the state of cruising, when detecting the current speed of vehicle with the speed of cruising is different, confirm the vehicle reaches preset cruise condition, preset cruise condition is the control terminal judges the condition when the vehicle needs to change the current speed of vehicle into the speed of cruising, wherein, it includes to get into cruise state: when a constant-speed cruise button in the vehicle is triggered, a starting instruction is generated, and when the control terminal detects the starting instruction, the control terminal determines that the vehicle enters a cruise state; or the control terminal acquires the current speed of the vehicle through a speed sensor every other preset period, and when the current speed corresponding to each preset period in the preset time range is the same, the control terminal determines that the vehicle enters a cruising state;
acquiring the current vehicle speed and a cruising vehicle speed stored in a storage space of an ECU (electronic control unit) through the ECU, wherein the cruising vehicle speed is the cruising vehicle speed in a cruising state input on a display screen of the control terminal when the constant-speed cruising button is triggered, or the cruising vehicle speed adjusted through an adjusting button when the adjusting button is triggered;
determining a virtual engine torque required when the cruising speed is reached from the corresponding relation among the cruising speed, the engine speed and the virtual engine torque through the ECU according to the engine speed and the cruising speed of the vehicle;
converting the virtual engine torque into cruising wheel end torque corresponding to the cruising speed through the ECU according to the virtual engine torque and a speed ratio signal from a wheel end to an engine crankshaft output end, wherein the speed ratio signal comprises a speed ratio signal from the wheel end to the engine crankshaft output end and a speed ratio signal from the wheel end to a motor output end, and the speed ratio signal from the wheel end to the engine crankshaft output end is wheel end torque: engine torque, the speed ratio signal from the wheel end to the motor output end is wheel end torque: motor torque;
acquiring a virtual accelerator pedal opening corresponding to the cruise wheel end torque from a corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening through the ECU according to the cruise wheel end torque, wherein the ECU is further used for sending the virtual accelerator pedal opening to an HCU through a CAN bus, and the HCU is configured to receive and store the virtual accelerator pedal opening sent by the ECU so as to control the cruise state of the vehicle;
determining a target wheel end torque of the vehicle from a corresponding relation among the vehicle speed, the opening degree of the accelerator pedal and the wheel end torque through the ECU according to the virtual accelerator pedal opening degree and the current vehicle speed of the vehicle;
determining a first wheel end torque corresponding to the engine and a second wheel end torque corresponding to the motor through the HCU according to the target wheel end torque and the hybrid ratio of the vehicle;
determining a target engine torque by the HCU based on the first wheel end torque and the speed ratio signal;
when the vehicle speed difference between the current vehicle speed of the vehicle and the cruising vehicle speed is not larger than a preset threshold value, determining a first target opening degree of a throttle valve of the engine corresponding to a target engine torque from a corresponding relation between the engine torque and an air inflow according to the target engine torque, and adjusting the opening degree of the throttle valve to the first target opening degree;
when the vehicle speed difference is larger than a preset threshold value, sending a cruising vehicle speed to a TCU through the ECU based on a CAN bus, wherein the TCU is configured to determine a target gear of a gearbox of the vehicle corresponding to the cruising vehicle speed from a corresponding relation between the cruising vehicle speed and the gear of the gearbox according to the cruising vehicle speed, adjust a current gear of the gearbox to the target gear, acquire an engine rotating speed corresponding to the current gear, determine an engine torque corresponding to the engine rotating speed according to the engine rotating speed, determine a second target opening degree of a throttle valve of the engine corresponding to the engine torque from the corresponding relation between the engine torque and an air inflow, and adjust the opening degree of the throttle valve to the second target opening degree;
determining a target motor torque through the HCU according to the second wheel end torque, and sending the target motor torque to the MCU;
and determining the target power of the motor through the MCU according to the target motor torque, and adjusting the output power of the motor to the target power so as to control the current speed of the vehicle to reach the cruising speed.
2. An apparatus for controlling cruise of a vehicle, the apparatus being applied to a hybrid power source vehicle, the apparatus comprising:
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for acquiring the current engine speed of an engine of a vehicle when the vehicle is detected to reach a preset cruising condition;
the first determining module is further used for acquiring the current vehicle speed and the cruising vehicle speed stored in the storage space, wherein the cruising vehicle speed is the cruising vehicle speed in the cruising state input on the display screen of the control terminal when the constant-speed cruising button is triggered, or the cruising vehicle speed adjusted by the adjusting button when the adjusting button is triggered;
the first determining module is further used for determining the virtual engine torque required when the cruising speed is reached from the corresponding relation among the cruising speed, the engine speed and the virtual engine torque according to the engine speed and the cruising speed of the vehicle;
the first determining module is further configured to convert the virtual engine torque into a cruising wheel end torque corresponding to the cruising vehicle speed according to the virtual engine torque through a speed ratio signal from a wheel end to an engine crankshaft output end, where the speed ratio signal includes a speed ratio signal from the wheel end to the engine crankshaft output end and a speed ratio signal from the wheel end to a motor output end, where the speed ratio signal from the wheel end to the engine crankshaft output end is the wheel end torque: engine torque, the speed ratio signal from the wheel end to the motor output end is wheel end torque: motor torque;
the first determining module is further configured to obtain a virtual accelerator pedal opening degree corresponding to the cruise wheel end torque from a corresponding relation between the cruise wheel end torque and the virtual accelerator pedal opening degree according to the cruise wheel end torque, and store the virtual accelerator pedal opening degree;
the second determination module is used for determining the target wheel end torque of the vehicle from the corresponding relation among the vehicle speed, the accelerator pedal opening and the wheel end torque according to the virtual accelerator pedal opening and the current vehicle speed of the vehicle;
the third determining module is used for determining a first wheel end torque corresponding to the engine and a second wheel end torque corresponding to the motor according to the target wheel end torque and the hybrid ratio of the vehicle; determining a target engine torque according to the first wheel end torque and the speed ratio signal; determining a target motor torque according to the second wheel end torque;
the adjustment module is used for determining a first target opening degree of a throttle valve of the engine corresponding to a target engine torque from a corresponding relation between the engine torque and an air intake amount according to the target engine torque when a vehicle speed difference between the current vehicle speed and the cruising vehicle speed of the vehicle is not larger than a preset threshold value, and adjusting the opening degree of the throttle valve to the first target opening degree;
the adjusting module is further configured to determine a target gear of a gearbox of the vehicle corresponding to the cruising speed from a corresponding relationship between the cruising speed and a gear of the gearbox according to the cruising speed when the vehicle speed difference is larger than a preset threshold, adjust a current gear of the gearbox to the target gear, acquire an engine speed corresponding to the current gear, determine an engine torque corresponding to the engine speed according to the engine speed, determine a second target opening degree of a throttle valve of the engine corresponding to the engine torque from the corresponding relationship between the engine torque and an air intake amount, and adjust the opening degree of the throttle valve to the second target opening degree;
the adjusting module is further used for determining a target power of the motor according to the target motor torque, and adjusting the output power of the motor to the target power so as to control the current speed of the vehicle to reach the cruising speed;
the fourth determination module is used for determining that the vehicle reaches a preset cruising condition when the fact that the vehicle enters the cruising state is detected; and/or, in a cruise state, determining that the vehicle reaches a preset cruise condition when it is detected that a current vehicle speed of the vehicle and the cruise vehicle speed are different, wherein the entering the cruise state comprises: when a constant-speed cruise button in the vehicle is triggered, a starting instruction is generated, and when the control terminal detects the starting instruction, the control terminal determines that the vehicle enters a cruise state; or the control terminal acquires the current speed of the vehicle through the speed sensor every other preset period, and when the current speed corresponding to each preset period in the preset time range is the same, the control terminal determines that the vehicle enters the cruising state.
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