CN108045376B - A kind of control method for vehicle based on road surface adhesive ability, system and automobile - Google Patents
A kind of control method for vehicle based on road surface adhesive ability, system and automobile Download PDFInfo
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- CN108045376B CN108045376B CN201711238443.4A CN201711238443A CN108045376B CN 108045376 B CN108045376 B CN 108045376B CN 201711238443 A CN201711238443 A CN 201711238443A CN 108045376 B CN108045376 B CN 108045376B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
Abstract
The invention discloses a kind of control method for vehicle based on road surface adhesive ability, system and automobile, method includes: to obtain road surface attachment information, obtains road surface characteristic data；The steering behavior and acceleration and deceleration behavior of vehicle are predicted；According to obtained road surface characteristic data and prediction as a result, the highest for calculating vehicle operation turns to speed and maximum longitudinal force；According to the maximum longitudinal force being calculated, the driving force and energy regenerating power of dynamical system are limited.System includes obtaining module, prediction module, computing module and limitation module.Automobile includes controller of vehicle, and the present invention is based on the control method for vehicle of road surface adhesive ability for executing for controller of vehicle.The present invention predicts that the highest for then calculating vehicle operation turns to speed and maximum longitudinal force by the behavior to vehicle, finally limits the driving force of dynamical system and energy regenerating power, improves the stability of vehicle and can effectively recover energy.It the composite can be widely applied to intelligent automobile field.
Description
Technical field
The present invention relates to intelligent automobile field, especially a kind of control method for vehicle based on road surface adhesive ability, system
And automobile.
Background technique
Road surface adhesive ability is mainly reflected on coefficient of road adhesion, and what it can regard as between tire and road surface quiet rubs
Wipe coefficient.This coefficient is bigger, and the available adhesive force of tire is bigger, and vehicle is just less susceptible to skid.Attachment coefficient it is big
It is small, depend primarily on the type and dry condition on road surface, and and the structure of tire, tread contour and travel speed it is all related
System.In general, dry, good pitch or the attachment coefficient of concrete road surface are maximum, and car is not easy to skid；And ice snow covered pavement
The attachment coefficient in face is minimum, is easiest to skid.
The running at high speed of vehicle needs good road surface to adhere to guarantee, but due to weather etc. caused by road surface adhere to
Situation deteriorates suddenly, often causes to lose control of one's vehicle because driver cannot react in time.Conventional truck stability control system
System,, can only be passively it is even more impossible to remind driver safety to drive in time if ABS can not be timely responded to before making to lose control of one's vehicle
Emergency braking, intact stability are poor and not safe enough.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: it is high to provide a kind of stability, is based on road surface energy of attachment
Control method for vehicle, system and the automobile of power.
First technical solution adopted by the present invention is:
A kind of control method for vehicle based on road surface adhesive ability, comprising:
It obtains road surface and adheres to information, obtain road surface characteristic data；
The steering behavior and acceleration and deceleration behavior of vehicle are predicted；
According to obtained road surface characteristic data and prediction as a result, the highest for calculating vehicle operation turns to speed and maximum is vertical
Xiang Li；
According to the maximum longitudinal force being calculated, the driving force and energy regenerating power of dynamical system are limited.
Further, the step for information is adhered on the acquisition road surface, obtains road surface characteristic data, comprising the following steps:
Road surface, which is obtained, by visual perception system, data platform or onboard system adheres to information；
Data correction is carried out to the road surface attachment information of acquisition, and combines Weather information, obtains the knot of road surface slippery situation judgement
The range of fruit and coefficient of road adhesion.
Further, the step for steering behavior to vehicle is predicted, comprising the following steps:
Situation is opened according to vehicle turn signal and/or digital map navigation information determines that the lane-change of vehicle turns to behavior, wherein ground
Figure navigation information includes the distance that vehicle position information and vehicle distances turn to place；
According to the real road curvature of acquisition, the amplitude of Vehicular turn is predicted.
Further, the step for acceleration and deceleration behavior to vehicle is predicted, comprising the following steps:
Judge whether the spacing between vehicle and front truck is less than given threshold, if so, determining that vehicle has deceleration behavior；
Conversely, then performing the next step rapid；
According to the period of the distance between vehicle and signal lamp and signal lamp, judge whether vehicle can directly pass through signal
Lamp, if so, performing the next step rapid；Conversely, then determining that vehicle has deceleration behavior；
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, performing the next step rapid；Conversely,
Then determine that vehicle has deceleration behavior；
Judge whether the curvature of Vehicular turn is less than given threshold, if so, performing the next step rapid；Conversely, then determining vehicle
Have deceleration behavior；
Judging vehicle front, whether there are obstacles, if so, determining that vehicle has deceleration behavior；Conversely, under then executing
One step；
Judge whether vehicle front is to run at a low speed region, if so, determining that vehicle has deceleration behavior；Conversely, then right
The acceleration behavior of vehicle is predicted.
Further, the step for acceleration behavior to vehicle is predicted, comprising the following steps:
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, determining that vehicle has accelerates row
For；Conversely, then performing the next step rapid；
Judge whether vehicle front is upward slope road conditions, if so, determining that vehicle has acceleration behavior；Locate conversely, not doing then
Reason.
Further, the road surface characteristic data that the basis obtains and prediction are as a result, the highest for calculating vehicle operation turns to
The step for speed and maximum longitudinal force, comprising the following steps:
According to obtained road surface characteristic data, the highest for calculating vehicle operation turns to speed, and the highest turns to speed vmax
Expression formula are as follows:
Wherein, μminCoefficient of road adhesion minimum value is represented, r, which is represented, turns to radius of curvature, and g represents universal gravitational constant；
According to obtained road surface characteristic data, the maximum longitudinal force of vehicle operation, the maximum longitudinal force F are calculatedlTable
Up to formula are as follows:
Wherein, m represents the quality of vehicle, and v represents the travel speed of vehicle.
Further, further include that speed is turned to according to the highest being calculated, the step of safe driving prompting is carried out to driver
Suddenly.
Further, the highest that the basis is calculated turns to speed, carries out this step of safe driving prompting to driver
Suddenly, comprising the following steps:
Judge whether current vehicle speed is less than highest and turns to speed, if so, not carrying out safe driving prompting to driver；Instead
It, then perform the next step rapid；
Combining road characteristic and vehicle slide energy regenerating strategy, calculate the coastdown degree of vehicle, the vehicle
The coastdown degree a of speedcoast(v) calculation formula are as follows:
acoast(v)=gw+ [fcoast(v)+fregn(v)]/m,
Wherein, w represents the gradient, and w is positive value, f when vehicle driving upcoast(v) resistance of taxing of vehicle, f are representedregn(v) it is
Vehicle slides energy regenerating power, and m represents car weight；
According to the coastdown degree being calculated, obtain current vehicle speed and reach highest turning to speed variation during speed
The interval time of sequence and speed；
According to speed change sequence and the interval time of speed, the operating range of vehicle, the traveling of the vehicle are calculated
The calculation formula of distance d0 are as follows:
D0=∑ viΔ t,
Wherein, viIndicate a speed in speed change sequence, Δ t indicates the interval time of speed；
According to the operating range for the vehicle being calculated, in vehicle and turning place or low road adherence place at a distance of d0
Apart from when, remind driver's release the gas pedal.
Second technical solution adopted by the present invention is:
A kind of vehicle control system based on road surface adhesive ability, comprising:
Module is obtained, for obtaining road surface attachment information, obtains road surface characteristic data；
Prediction module, steering behavior, acceleration behavior and deceleration behavior used for vehicles are predicted；
Computing module, for according to the processing result for obtaining module and prediction module, the highest for calculating vehicle operation to be turned to
Speed and maximum longitudinal force；
It limits module and limits the driving force and energy regenerating power of dynamical system for the processing result according to computing module.
Third technical solution adopted by the present invention is:
A kind of automobile, including controller of vehicle, the controller of vehicle is for executing as described in the first technical solution
The control method for vehicle based on road surface adhesive ability.
The beneficial effects of the present invention are: compared to traditional vehicle stability controlled system, the present invention passes through to vehicle
Behavior is predicted that the highest for then calculating vehicle operation turns to speed and maximum longitudinal force, finally to the driving of dynamical system
Power and energy regenerating power are limited, and are improved the stability of vehicle and can effectively be recovered energy.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of the control method for vehicle based on road surface adhesive ability of the present invention；
Fig. 2 is a kind of overall structure block diagram of the vehicle control system based on road surface adhesive ability of the present invention.
Specific embodiment
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.For of the invention real
The step number in example is applied, is arranged only for the purposes of illustrating explanation, any restriction is not done to the sequence between step, is implemented
The execution sequence of each step in example can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to Fig.1, a kind of control method for vehicle based on road surface adhesive ability, comprising:
It obtains road surface and adheres to information, obtain road surface characteristic data；
The steering behavior and acceleration and deceleration behavior of vehicle are predicted；
According to obtained road surface characteristic data and prediction as a result, the highest for calculating vehicle operation turns to speed and maximum is vertical
Xiang Li；
According to the maximum longitudinal force being calculated, the driving force and energy regenerating power of dynamical system are limited.
Wherein, the driving force and energy regenerating power of dynamical system are limited specifically: be less than the driving force of dynamical system most
Big longitudinal force makes the energy regenerating power (including sliding energy regenerating power) of dynamical system be less than maximum longitudinal force.
It is further used as preferred embodiment, the acquisition road surface adheres to information, obtains this step of road surface characteristic data
Suddenly, comprising the following steps:
Road surface, which is obtained, by visual perception system, data platform or onboard system adheres to information；
Data correction is carried out to the road surface attachment information of acquisition, and combines Weather information, obtains the knot of road surface slippery situation judgement
The range of fruit and coefficient of road adhesion.
Wherein, data platform includes high-precision map, navigation system, preceding vehicle travelling state and Weather information system etc.；Vehicle
Loading system includes precipitation rain fall sensor and rain brush inductor etc..
It is further used as preferred embodiment, the step for steering behavior to vehicle is predicted, including with
Lower step:
Situation is opened according to vehicle turn signal and/or digital map navigation information determines that the lane-change of vehicle turns to behavior, wherein ground
Figure navigation information includes the distance that vehicle position information and vehicle distances turn to place；
According to the real road curvature of acquisition, the amplitude of Vehicular turn is predicted.
It is further used as preferred embodiment, the step for acceleration and deceleration behavior to vehicle is predicted, including
Following steps:
Judge whether the spacing between vehicle and front truck is less than given threshold, if so, determining that vehicle has deceleration behavior；
Conversely, then performing the next step rapid；
According to the period of the distance between vehicle and signal lamp and signal lamp, judge whether vehicle can directly pass through signal
Lamp, if so, performing the next step rapid；Conversely, then determining that vehicle has deceleration behavior；
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, performing the next step rapid；Conversely,
Then determine that vehicle has deceleration behavior；
Judge whether the curvature of Vehicular turn is less than given threshold, if so, performing the next step rapid；Conversely, then determining vehicle
Have deceleration behavior；
Judging vehicle front, whether there are obstacles, if so, determining that vehicle has deceleration behavior；Conversely, under then executing
One step；
Judge whether vehicle front is to run at a low speed region, if so, determining that vehicle has deceleration behavior；Conversely, then right
The acceleration behavior of vehicle is predicted.
It is further used as preferred embodiment, the step for acceleration behavior to vehicle is predicted, including with
Lower step:
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, determining that vehicle has accelerates row
For；Conversely, then performing the next step rapid；
Judge whether vehicle front is upward slope road conditions, if so, determining that vehicle has acceleration behavior；Locate conversely, not doing then
Reason.
It is further used as preferred embodiment, the road surface characteristic data that the basis obtains and prediction are as a result, calculate
The highest of vehicle operation turns to the step for speed and maximum longitudinal force, comprising the following steps:
According to obtained road surface characteristic data, the highest for calculating vehicle operation turns to speed, and the highest turns to speed vmax
Expression formula are as follows:
Wherein, μminCoefficient of road adhesion minimum value is represented, r, which is represented, turns to radius of curvature, and g represents universal gravitational constant；
According to obtained road surface characteristic data, the maximum longitudinal force of vehicle operation, the maximum longitudinal force F are calculatedlTable
Up to formula are as follows:
Wherein, m represents the quality of vehicle, and v represents the travel speed of vehicle.
Be further used as preferred embodiment, further include that speed is turned to according to the highest that is calculated, to driver into
The step of row safe driving prompting.
Such as: adhere to and turn to the highest steering speed that route calculation allows according to road surface, and according to current steering state
Energy regenerating power is slided with the limitation of road surface attachment state, and is mentioned in advance according to the distance for sliding energy regenerating arrival steering position
Awake driver does not further accelerate.
It is further used as preferred embodiment, the highest that the basis is calculated turns to speed, carries out to driver
The step for safe driving prompting, comprising the following steps:
Judge whether current vehicle speed is less than highest and turns to speed, if so, not carrying out safe driving prompting to driver；Instead
It, then perform the next step rapid；
Combining road characteristic and vehicle slide energy regenerating strategy, calculate the coastdown degree of vehicle, the vehicle
The coastdown degree a of speedcoast(v) calculation formula are as follows:
acoast(v)=gw+ [fcoast(v)+fregn(v)]/m,
Wherein, w represents the gradient, and w is positive value, f when vehicle driving upcoast(v) resistance of taxing of vehicle, f are representedregn(v) it is
Vehicle slides energy regenerating power, and m represents car weight；
According to the coastdown degree being calculated, obtain current vehicle speed and reach highest turning to speed variation during speed
The interval time of sequence and speed；
According to speed change sequence and the interval time of speed, the operating range of vehicle, the traveling of the vehicle are calculated
The calculation formula of distance d0 are as follows:
D0=∑ viΔ t,
Wherein, viIndicate a speed in speed change sequence, Δ t indicates the interval time of speed；
According to the operating range for the vehicle being calculated, in vehicle and turning place or low road adherence place at a distance of d0
Apart from when, remind driver's release the gas pedal.
Wherein, since the gradient in actual conditions is basically unchanged in short distance, it may be assumed that the gradient is segmentation variation, because
This, for the gradient of segmentation variation, the sequence of the speed composition at each segmentation is speed change sequence, each adjacent speed
Between interval time be Δ t.
It is corresponding with the method for Fig. 1 referring to Fig. 2, a kind of vehicle control system based on road surface adhesive ability of the present invention, packet
It includes:
Module is obtained, for obtaining road surface attachment information, obtains road surface characteristic data；
Prediction module, steering behavior, acceleration behavior and deceleration behavior used for vehicles are predicted；
Computing module, for according to the processing result for obtaining module and prediction module, the highest for calculating vehicle operation to be turned to
Speed and maximum longitudinal force；
It limits module and limits the driving force and energy regenerating power of dynamical system for the processing result according to computing module.
Corresponding with the method for Fig. 1, a kind of automobile of the present invention, including controller of vehicle, the controller of vehicle are used
In executing, the present invention is based on the control method for vehicle of road surface adhesive ability.
Workflow the present invention is based on a kind of specific embodiment of the automobile control method of road surface adhesive ability include with
Lower step:
S1, road surface attachment information is obtained, obtains road surface characteristic data.
Step S1 specifically includes the following steps:
S11, road surface characteristic data are obtained by visual perception system: stores wet-skid road surface from vehicle visual perception system
Characteristic, detect road surface ahead data first from vehicle visual perception system, then to illumination and block etc. influence factors into
Row amendment, obtain the feature of current road, then estimate current road attachment coefficient, if estimation coefficient of road adhesion compared with
It is low, then determine that current road belongs to wet-skid road surface, for wet-skid road surface, visual perception system is further subdivided into different attachments
The road surface of grade.
Wherein, step S11 specifically: according to the image data of visual perception system acquisition and road surface adhesive ability feature
Corresponding relationship obtains the probability distribution p1 that vehicle is in different adhesive ability road surfaces.
S12, road surface characteristic data are obtained by data platform: each car is used as a sensor, and real-time judge is current
Whether road surface is wet-skid road surface, if judging result is then transferred to data platform.Data platform judges further according to Weather information
Currently there is the probability of wet-skid road surface, for example will appear icing within second day after will appear ponding or wet road surface, Winter Snow after rain
Road surface etc..
By taking the rainy and two kinds of weather scenes that snow as an example, the road surface characteristic data obtained by data platform are calculated low attached
The detailed process of the probability distribution p2 on ability road surface are as follows:
1) rain: according to rainfall and the event establishment vehicle away from rainy end is in the probability point on different adhesive ability road surfaces
Cloth.
2) snow: according to snowfall, distance snow end time, whether cleared the snow, the factors such as environment temperature, establish vehicle
Probability distribution in ice and snow road.
S13, road surface characteristic data are obtained by onboard system: automobile has a variety of perception means, such as precipitation rain fall sensor/rain
Brush speed etc..
By taking the rainy and two kinds of weather scenes that snow as an example, passes through precipitation rain fall sensor, rain brush speed and temperature sensor and obtain
The detailed process of road surface adhesive ability probability distribution p3 are as follows:
1) rain: precipitation rain fall sensor combination rain brush working condition judges whether current weather is in rainy state and rainfall
Size, and then judge possible road surface adhesive ability；
2) snow: temperature sensor combination rain brush working condition judges whether current weather is in the state of snowing and snowfall
Size, and then judge possible road surface adhesive ability.
The information that S14, comprehensive visual sensory perceptual system, data platform and onboard system obtain, judges that road surface is most locating for vehicle
The adhesive ability of high probability is as final recognition result.
S141: divide road surface adhesive ability grade: the coefficient of road adhesion of grade 1 is 0.7, such as dry good road surface；Deng
The coefficient of road adhesion of grade 2 is 0.4~0.7, such as wet road surface；The coefficient of road adhesion of grade 3 is 0.3~0.4, such as rainy day road
Face；The coefficient of road adhesion of class 4 is 0.1~0.3, such as ice and snow road.
S142: visual perception system, the road surface adhesive ability probability distribution of data platform and onboard system are obtained respectively: view
Feel that sensory perceptual system calculates to obtain p1=[0.2,0.3,0.4,0.1], respectively corresponds the probability of 1~class 4 of grade；Data platform point
30min heavy rain just terminates before this region is precipitated, and calculates to obtain p2=[0.1,0.4,0.5,0]；Onboard system recognizes at present also
In medium rainfall situation and environment temperature it is higher, and then obtain p3=[0,0.2,0.8,0].
S143: final to confirm road surface adhesive ability according to p1, p2 and the p3 being calculated.
Wherein, specific step is as follows by S143:
1) possible road surface types are chosen, good road surface and ice and snow are excluded according to p1, p2 and the p3 being calculated first
Road surface；
2) probability of possible pavement grade is redefined according to the result after exclusion.Remove dry pavement and ice and snow road
Afterwards, the result of p1 are as follows: the probability 3/7 of grade 2, the probability 4/7 of grade 3；The result of p2 are as follows: the probability 4/9 of grade 2, grade 3
Probability 5/9；The result of p3 are as follows: the probability 2/10 of grade 2, the probability 8/10 of grade 3；
3) average probability is highest as final recognition result, confirmation current road adhesive ability is grade 3, and road surface is attached
Coefficient be 0.3-0.4.
S2, the steering behavior and acceleration and deceleration behavior of vehicle are predicted.
Step S2 specifically includes the following steps:
S21: predicting the steering behavior of vehicle: judging whether vehicle opens turn signal, if so, determining vehicle tool
There is lane-change to turn to behavior；Conversely, then combining cartographic information determines that the lane-change of vehicle turns to behavior, wherein cartographic information includes vehicle
Lane information where and vehicle distances turn to the distance in place；
According to real road curvature, the amplitude of Vehicular turn is predicted.
S22: the acceleration and deceleration behavior of vehicle is predicted: judging whether the spacing between vehicle and front truck is less than setting threshold
Value, if so, determining that vehicle has deceleration behavior；Conversely, then performing the next step rapid；
According to the period of the distance between vehicle and signal lamp and signal lamp, judge whether vehicle can directly pass through signal
Lamp, if so, performing the next step rapid；Conversely, then determining that vehicle has deceleration behavior；
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, performing the next step rapid；Conversely,
Then determine that vehicle has deceleration behavior；
Judge whether the curvature of Vehicular turn is less than given threshold, if so, performing the next step rapid；Conversely, then determining vehicle
Have deceleration behavior；
Judging vehicle front, whether there are obstacles, if so, determining that vehicle has deceleration behavior；Conversely, under then executing
One step；
Judge whether vehicle front is to run at a low speed region, if so, determining that vehicle has deceleration behavior；Conversely, then holding
Row next step；
The acceleration behavior of vehicle is predicted: judging whether the travel speed of vehicle is less than the restricted speed of limited speed belt,
If so, determining that vehicle has acceleration behavior；Conversely, then performing the next step rapid；
Judge whether vehicle front is upward slope road conditions, if so, determining that vehicle has acceleration behavior；Locate conversely, not doing then
Reason.
S3, according to obtained road surface characteristic data and prediction as a result, the highest for calculating vehicle operation turns to speed and most
Big longitudinal force.
Step S3 is specifically included: according to obtained road surface characteristic data, the highest for calculating vehicle operation turns to speed, described
Highest turns to speed vmaxExpression formula are as follows:
Wherein, μminCoefficient of road adhesion minimum value is represented, r, which is represented, turns to radius of curvature, and g represents universal gravitational constant；
According to obtained road surface characteristic data, the maximum longitudinal force of vehicle operation, the maximum longitudinal force F are calculatedlTable
Up to formula are as follows:
Wherein, m represents the quality of vehicle, and v represents the travel speed of vehicle.
S4, speed and maximum longitudinal force are turned to according to the highest being calculated, to the driving force and energy of automotive power
Amount recycling power is limited, and carries out safe driving prompting to driver at suitable time point.
Step S4 specifically includes the following steps:
S41, so that the driving force of dynamical system is less than maximum longitudinal force, slide the energy regenerating power of dynamical system (including
Energy regenerating power) it is less than maximum longitudinal force；
S42, judge whether current vehicle speed is less than highest and turns to speed, mentioned if so, not carrying out safe driving to driver
It wakes up；Conversely, then performing the next step rapid；
Combining road characteristic and vehicle slide energy regenerating strategy, calculate the coastdown degree of vehicle, the vehicle
The coastdown degree a of speedcoast(v) calculation formula are as follows:
acoast(v)=gw+ [fcoast(v)+fregn(v)]/m,
Wherein, w represents the gradient, and w is positive value, f when vehicle driving upcoast(v) resistance of taxing of vehicle, f are representedregn(v) it is
Vehicle slides energy regenerating power, and m represents car weight；
According to the coastdown degree being calculated, obtain current vehicle speed and reach highest turning to speed variation during speed
The interval time of sequence and speed；
According to speed change sequence and the interval time of speed, the operating range of vehicle, the traveling of the vehicle are calculated
The calculation formula of distance d0 are as follows:
D0=∑ viΔ t,
Wherein, viIndicate a speed in speed change sequence, Δ t indicates the interval time of speed；
According to the operating range for the vehicle being calculated, in vehicle and turning place or low road adherence place at a distance of d0
Apart from when, remind driver's release the gas pedal.
In conclusion a kind of control method for vehicle based on road surface adhesive ability of the present invention, system and automobile are with following
Advantage:
1), the present invention is predicted by the behavior to vehicle, and the highest for then calculating vehicle operation turns to speed and most
Big longitudinal force finally limits the driving force of dynamical system and energy regenerating power, improves the stability of vehicle.
2), the present invention can mention under vehicle turning operating condition according to the deceleration distance for sliding energy regenerating for meeting stability
Awake driver does not further accelerate, and is beneficial to prevent to bring to a halt and operating condition and effectively recovers energy.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (9)
1. a kind of control method for vehicle based on road surface adhesive ability, it is characterised in that: include:
It obtains road surface and adheres to information, obtain road surface characteristic data；
The steering behavior and acceleration and deceleration behavior of vehicle are predicted；
According to obtained road surface characteristic data and prediction as a result, the highest for calculating vehicle operation turns to speed and maximum is longitudinal
Power；
According to the maximum longitudinal force being calculated, the driving force and energy regenerating power of dynamical system are limited；
The step for acceleration and deceleration behavior to vehicle is predicted, comprising the following steps:
Judge whether the spacing between vehicle and front truck is less than given threshold, if so, determining that vehicle has deceleration behavior；Instead
It, then perform the next step rapid；
According to the period of the distance between vehicle and signal lamp and signal lamp, judge whether vehicle can directly pass through signal lamp,
If so, performing the next step rapid；Conversely, then determining that vehicle has deceleration behavior；
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, performing the next step rapid；Conversely, then sentencing
Vehicle is determined with deceleration behavior；
Judge whether the curvature of Vehicular turn is less than given threshold, if so, performing the next step rapid；Conversely, then determining that vehicle has
There is deceleration behavior；
Judging vehicle front, whether there are obstacles, if so, determining that vehicle has deceleration behavior；Conversely, then performing the next step
Suddenly；
Judge whether vehicle front is to run at a low speed region, if so, determining that vehicle has deceleration behavior；
Conversely, then predicting the acceleration behavior of vehicle.
2. a kind of control method for vehicle based on road surface adhesive ability according to claim 1, it is characterised in that: described to obtain
The step for taking road surface to adhere to information, obtaining road surface characteristic data, comprising the following steps:
Road surface, which is obtained, by visual perception system, data platform or onboard system adheres to information；
Data correction is carried out to the road surface of acquisition attachment information, and combines Weather information, obtain road surface slippery situation judgement result and
The range of coefficient of road adhesion.
3. a kind of control method for vehicle based on road surface adhesive ability according to claim 1, it is characterised in that: described right
The step for steering behavior of vehicle is predicted, comprising the following steps:
Situation is opened according to vehicle turn signal and/or digital map navigation information determines that the lane-change of vehicle turns to behavior, wherein map is led
Boat information includes the distance that vehicle position information and vehicle distances turn to place；
According to the real road curvature of acquisition, the amplitude of Vehicular turn is predicted.
4. a kind of control method for vehicle based on road surface adhesive ability according to claim 1, it is characterised in that: described right
The step for acceleration behavior of vehicle is predicted, comprising the following steps:
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, determining that vehicle has acceleration behavior；Instead
It, then perform the next step rapid；
Judge whether vehicle front is upward slope road conditions, if so, determining that vehicle has acceleration behavior；Conversely, being then not processed.
5. a kind of control method for vehicle based on road surface adhesive ability according to claim 1, it is characterised in that: described
According to obtained road surface characteristic data with prediction as a result, the highest for calculating vehicle operation turns to speed and this step of maximum longitudinal force
Suddenly, comprising the following steps:
According to obtained road surface characteristic data, the highest for calculating vehicle operation turns to speed, and the highest turns to speed vmaxTable
Up to formula are as follows:
Wherein, μminCoefficient of road adhesion minimum value is represented, r, which is represented, turns to radius of curvature, and g represents universal gravitational constant；
According to obtained road surface characteristic data, the maximum longitudinal force of vehicle operation, the maximum longitudinal force F are calculatedlExpression formula
Are as follows:
Wherein, m represents the quality of vehicle, and v represents the travel speed of vehicle.
6. a kind of control method for vehicle based on road surface adhesive ability according to claim 1, it is characterised in that: further include
The step of turning to speed according to the highest being calculated, safe driving prompting carried out to driver.
7. a kind of control method for vehicle based on road surface adhesive ability according to claim 6, it is characterised in that: described
The step for turning to speed according to the highest being calculated, safe driving prompting carried out to driver, comprising the following steps:
Judge whether current vehicle speed is less than highest and turns to speed, if so, not carrying out safe driving prompting to driver；Conversely,
It then performs the next step rapid；
Combining road characteristic and vehicle slide energy regenerating strategy, calculate the coastdown degree of vehicle, the speed
Coastdown degree acoast(v) calculation formula are as follows:
acoast(v)=gw+ [fcoast(v)+fregn(v)]/m,
Wherein, w represents the gradient, and w is positive value, f when vehicle driving upcoast(v) resistance of taxing of vehicle, f are representedregnIt (v) is vehicle
Slide energy regenerating power, m represents car weight；
According to the coastdown degree being calculated, obtain current vehicle speed and reach highest turning to speed change sequence during speed
And the interval time of speed；
According to speed change sequence and the interval time of speed, the operating range of vehicle, the operating range of the vehicle are calculated
The calculation formula of d0 are as follows:
D0=∑ viΔ t,
Wherein, viIndicate a speed in speed change sequence, Δ t indicates the interval time of speed；
According to the operating range for the vehicle being calculated, in vehicle and turning place or low road adherence place at a distance of d0 distance
When, remind driver's release the gas pedal.
8. a kind of vehicle control system based on road surface adhesive ability, it is characterised in that: include:
Module is obtained, for obtaining road surface attachment information, obtains road surface characteristic data；
Prediction module, steering behavior, acceleration behavior and deceleration behavior used for vehicles are predicted；
Computing module, for according to the processing result for obtaining module and prediction module, the highest for calculating vehicle operation to turn to speed
With maximum longitudinal force；
It limits module and limits the driving force and energy regenerating power of dynamical system for the processing result according to computing module；
The prediction module, is specifically used for:
Judge whether the spacing between vehicle and front truck is less than given threshold, if so, determining that vehicle has deceleration behavior；Instead
It, then perform the next step rapid；
According to the period of the distance between vehicle and signal lamp and signal lamp, judge whether vehicle can directly pass through signal lamp,
If so, performing the next step rapid；Conversely, then determining that vehicle has deceleration behavior；
Judge whether the travel speed of vehicle is less than the restricted speed of limited speed belt, if so, performing the next step rapid；Conversely, then sentencing
Vehicle is determined with deceleration behavior；
Judge whether the curvature of Vehicular turn is less than given threshold, if so, performing the next step rapid；Conversely, then determining that vehicle has
There is deceleration behavior；
Judging vehicle front, whether there are obstacles, if so, determining that vehicle has deceleration behavior；Conversely, then performing the next step
Suddenly；
Judge whether vehicle front is to run at a low speed region, if so, determining that vehicle has deceleration behavior；Conversely, then to vehicle
Acceleration behavior predicted.
9. a kind of automobile, including controller of vehicle, it is characterised in that: the controller of vehicle is for executing such as claim
The described in any item control method for vehicle based on road surface adhesive ability of 1-7.
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| CN109131281A (en) * | 2018-07-16 | 2019-01-04 | 华东师范大学 | A kind of pilotless automobile automatic safety parking method |
| CN109131335B (en) * | 2018-08-20 | 2021-06-11 | 中国联合网络通信集团有限公司 | Pavement condition identification method, device and system |
| CN110293972B (en) * | 2019-06-13 | 2021-04-06 | 重庆长安汽车股份有限公司 | Method for determining road adhesion grade for braking distance compensation |
| CN110588656B (en) * | 2019-09-30 | 2021-01-12 | 的卢技术有限公司 | Self-adaptive kinetic energy recovery method and system based on road and road condition information |
| CN112744086B (en) * | 2019-10-31 | 2022-06-28 | 北京新能源汽车股份有限公司 | Vehicle control method and device and automobile |
| CN111223320B (en) * | 2020-02-18 | 2021-09-24 | 上汽大众汽车有限公司 | Low-adhesion road surface intelligent driving safety control method based on V2I |
| CN114312796A (en) * | 2022-01-25 | 2022-04-12 | 中国第一汽车股份有限公司 | Vehicle speed control method, vehicle speed control device, storage medium and vehicle speed control system |
| CN115199740B (en) * | 2022-05-20 | 2023-06-16 | 北京博格华纳汽车传动器有限公司 | Automatic switching method, device, equipment and medium for driving mode |
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