CN108528268B - Torque adjusting method of electric automobile self-adaptive cruise system - Google Patents
Torque adjusting method of electric automobile self-adaptive cruise system Download PDFInfo
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- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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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
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides a torque adjusting method of an adaptive cruise system of an electric automobile, and relates to the field of automobiles. The method comprises the following steps: calculating an expected acceleration using an adaptive cruise controller
Detecting automobile tire pressure p by utilizing tire pressure sensortir(ii) a Inclination angle sensor for detecting road surface gradient
Detecting the mass M of the whole vehicle by a pressure sensor; the vehicle speed sensor detects the actual speed v (n) of the vehicle; acceleration sensor for detecting actual acceleration of vehicle
The man-machine interaction system inputs driving environment information. And obtaining the rolling resistance coefficient according to the relation function of the rolling resistance coefficient and the road surface and the tire pressure. Implementation of the reference torque T by means of a dynamic modelfid(n) feed forward regulation, coupled with adaptive PID feedback correction, to obtain the desired torque Tdes(n) of (a). The switching holding area realizes effective switching of drive control and brake control, and finally realizes adaptive cruise control. The invention shortens the adjustment time for stabilizing to the final target acceleration and improves the stability of the system.
Description
Technical Field
The patent belongs to the technical field of automobiles, and particularly relates to a torque adjusting method of an adaptive cruise system of an electric automobile.
Background
In order to realize green travel and renewable energy, new energy automobiles are popular and popular with people all over the world. The birth and development of the internet + and artificial intelligence technology enables people to pursue more efficient, convenient and comfortable life. The technologies are combined together to form the electric automobile with the intelligent auxiliary driving function, and the electric automobile is further developed into an intelligent electric automobile. The self-adaptive cruise control system is a sub-function in the intelligent auxiliary driving system, and in the driving process of the vehicle, the driving motor and the brake system are cooperatively controlled by detecting the current traffic environment state and the vehicle running state, so that the vehicle can drive under the safe working condition, and the comfort and the economy of a driver are further improved.
At present, most of the existing self-adaptive cruise control systems are realized on the traditional automobile, and the technology related to multi-information fusion is rarely adopted. Compared with the conventional automobile, the new energy automobile has the greatest advantage that the proper braking of the vehicle can be realized through the regenerative braking torque of the driving motor. The existing adaptive cruise control mode of the new energy automobile mostly concentrates the control modes of torque switching and regenerative braking torque among an engine, a driving motor and a mechanical brake system, and the specific implementation of a torque request in an adaptive cruise system is not described in detail.
The prior invention patent provides a case, which is based on a hybrid new energy automobile and provides an adaptive cruise control system and method comprising regenerative braking and start-stop functions. The cruise module determines a cruise torque based on the following distance and the vehicle approach rate, and a corresponding torque request is then made by an engine control module and a brake control module, where the engine control module includes an engine and a drive motor. Although all patents teach three of the engine, electric motor and mechanical braking system to respond individually or in combination to a torque request, the specific method of cruise torque adjustment is not described in detail.
Disclosure of Invention
In view of the fact that the torque adjustment method of the new energy automobile is not described in detail in the existing patent, the patent proposes a torque adjustment method of an electric automobile adaptive cruise control system.
The invention also includes the following scheme:
the utility model provides an electric automobile self-adaptation system of cruising's torque adjustment method, electric automobile has self-adaptation controller, vehicle control unit, on-vehicle CAN bus, tire pressure sensor, inclination sensor, pressure sensor, acceleration sensor and man-machine interaction system of patrolling and voyaging, adopt CAN bus communication between the mobile unit, its characterized in that, electric automobile's the torque adjustment of cruising includes following step:
101. And starting the self-adaptive cruise system, and acquiring related information in real time by the vehicle controller through a CAN bus. The information includes a desired acceleration sent by the adaptive cruise controller
Tire pressure sensor for detecting automobile tire pressure ptir(ii) a Inclination angle sensor for detecting road surface gradient
Detecting the mass M of the whole vehicle by a pressure sensor; the vehicle speed sensor detects the actual speed v (n) of the vehicle; acceleration sensor for detecting actual acceleration of vehicle
The man-machine interaction system inputs driving environment information.
102. The vehicle controller obtains a reference value of the calculated torque according to the formula (1) by using the information obtained in the step 101, and the specific calculation mode of the vehicle controller obtains the reference torque value T of the (n) th control cycle according to the formula (1)fid(n)。
103. The vehicle control unit uses the reference torque value calculated in step 102 as a feedforward control quantity and controls the reference value T through position type PIDfid(n) correction to obtain the desired torque value Tdes(n), PID tuned desired Torque Tdes(n) maintaining a stable following of the actual acceleration to the desired acceleration.
104. According to the desired torque T in step 103des(n) greater than an association threshold ThUThe desired torque is then sent over the CAN busA motor controller; which is less than the association threshold ThLIf so, transmitting the expected torque to at least one of the motor controller or the brake controller through the CAN bus; and the former control mode is kept between the threshold values.
Further, in step 101, a pressure sensor is installed in a suspension system of the electric vehicle to detect a total vehicle mass M.
Further scheme, its characterized in that: rolling resistance coefficient f in step 1021Is determined by the road surface and the tire pressure. The rolling resistance in the current driving environment is derived from the formula (2) shown.
f1＝an0+an1(Ptir-P0) (2)，
A in formula (2)n0Is a standard tire pressure P on different road surfaces0A corresponding rolling resistance coefficient reference value; a isn1Is a proportional coefficient related to the tire pressure, and the unit of the proportional coefficient is 1/kPa.
Further scheme, its characterized in that: coefficient of rolling resistance f1The formula construction method comprises the following steps: selecting a straight coating pavement, an asphalt pavement and a gravel pavement from Pmin(kPa) to Pmax(kPa) fixing a tire pressure every 10kPa, recording the rolling resistance coefficient of the vehicle in a stable constant speed state, and fitting the relation between the rolling resistance coefficient and the tire pressure by adopting a least square method to obtain an1。
Further scheme, its characterized in that: the position-based PID feedback adjustment in step 103 is shown in equation (3),
in the formula (3), e (n) is the target acceleration at the time of (n)
With actual acceleration
Error value, Ki is a constant integral coefficient, Kd is a constant differential coefficient, Kp isAnd (4) changing the scaling coefficient. Kp is determined by a linear one-dimensional table of Kd versus e (n).
Further scheme, its characterized in that: t in step 104des(n)≥ThUA motor drive control area; t isdes(n)≤ThUThe control area is regenerative braking and mechanical braking; thL≤Tdes(n)≤ThUIs a torque holding region. The specific switching mode is as follows: switching from drive control to brake control, and adopting drive control in a holding area; the braking control is switched to the driving control, and the holding area adopts the braking control.
Numerous advantages are provided by embodiments of the present invention. Wherein the content of the first and second substances,
firstly, the torque adjusting method realized by the electronic sensor technology avoids the complex process of system parameter calibration and verification, and is suitable for all kinds of new energy automobiles. Has application value in practical engineering projects.
Secondly, aiming at the self-adaptive cruise system of the electric automobile, the torque adjusting method of parameter self-adjustment realized by the multi-information sensor technology can realize the feedforward quick adjustment and the PID feedback accurate adjustment. Meanwhile, the stable state can be quickly achieved aiming at the change of the external driving environment, so that good driving feeling is brought to the driver
The above and other advantages of the present invention will be apparent from the following detailed description of specific embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
FIG. 1 is a system block diagram of a torque adjustment method for an adaptive cruise system for an electric vehicle;
FIG. 2 is a detailed flow chart diagram of a torque adjustment method of the electric vehicle adaptive cruise system;
Detailed Description
The present invention will be further described with reference to the following examples and drawings for better understanding of the present invention, but they are not intended to limit the present invention.
The invention provides a torque adjusting method for an electric automobile adaptive cruise system, which adopts presetTherefore, the establishment of the relation curve of the rolling resistance coefficient and the road surface and the tire pressure based on the actual driving experiment acquisition parameters is a key step. The specific implementation method comprises the following steps: on a flat coated road surface, the pressure of the automobile tire is increased from Pmin(kPa) to Pmax(kPa), fixing the air pressure value of the automobile tire at intervals of 10kPa, and recording the corresponding rolling resistance coefficient of the automobile at a stable speed. For each tire pressure group, the average value of the data collected by the experiment is calculated by repeating 5 times. And finally fitting the proportion coefficient of the rolling resistance coefficient and the automobile tire pressure by a least square method. And repeating the operation aiming at the asphalt pavement and the gravel pavement to obtain a relation curve between the rolling resistance coefficient and the tire pressure under the corresponding pavement. The relationship between the rolling resistance coefficient and the road surface and the tire pressure is finally established as shown in formula (2).
f1＝an0+an1(Ptir-P0) (2)
Where n0 represents a serial number corresponding to the road surface; a isn0Standard tyre pressure P0A corresponding rolling resistance coefficient reference value; ptirIndicating the current tire pressure of the automobile; a isn1The coefficient of proportionality between the rolling resistance coefficient and the tire air pressure is expressed in units of 1/kPa.
The invention provides a torque adjusting method of an electric automobile adaptive cruise system, which comprises the following steps:
after the adaptive cruise is started, the adaptive cruise controller plans the expected acceleration at the current moment according to the driving environment information including the detection information of the sensor, the input information of the driver, the transmission information of the communication system and the like
And the data is transmitted to the vehicle control unit through the CAN bus.
The vehicle control unit communicates with the vehicle-mounted equipment through the CAN bus, acquires required information in real time, and the specific information comprises: current running speed v (n) obtained by a vehicle speed sensor mounted at the wheel axle, current vehicle actual acceleration obtained by an acceleration sensor integrated in the electronic stability controller
Actual gradient of road surface where vehicle is currently located acquired by inclination angle sensor integrated in electronic stability controller
Driving environment information input by a driver in a human-computer interaction system, tire pressure p obtained by a pressure sensor installed in a tire of an automobile tir. And the vehicle controller calculates the rolling resistance coefficient value according to the current running environment of the vehicle and the tire pressure of the vehicle.
The vehicle control unit is according to the expected acceleration that the adaptive cruise control sent
And information collected by the sensor, information input by a driver and information calculated by the sensor are used for calculating a reference value of the current torque regulation of the vehicle by adopting a formula (1).
Wherein g represents the acceleration of gravity, f2Representing the coefficient of the relation between the rolling resistance coefficient and the vehicle speed, R representing the effective radius of the vehicle tyre, xieffRepresenting the mechanical transmission efficiency of the vehicle.
The whole vehicle controller is accelerated according to the expected acceleration of the current moment
With actual acceleration
The difference e (n) of (a) is used as an input signal for feedback adjustment, and the reference torque is corrected by a position type PID adjustment method as shown in formula (3).
In order to quickly correct the error e (n), a constant integral coefficient Ki, a constant differential coefficient Kd, and a variable ratio coefficient Kd are used. Wherein Kd is linearly proportional to error e (n), the larger Kd, and the smaller e (n).
The vehicle control unit sends the expected torque T through the CAN bus according to the relation between the expected torque and the associated threshold value des(n) sending a motor controller or an electric power-assisted brake controller. In order to avoid frequent switching between the drive control and the brake control, a transition holding region is employed. The specific switching process is as follows: t isdes(n)≥ThUFor the motor drive control region, the desired torque at the current time is sent to the motor controller to effect the drive torque adjustment. T isdes(n)≤ThUIn order to brake a control area, the expected torque at the current moment is sent to a motor controller and an electric brake power assisting controller, so that regenerative braking and mechanical braking are realized; thL≤Tdes(n)≤ThUSwitching from drive control to brake control for a torque holding area, wherein the holding area adopts drive control; the braking control is switched to the driving control, and the holding area adopts the braking control.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall within the scope of the invention defined by the method claims.
Claims (6)
1. The utility model provides an electric automobile self-adaptation system of cruising's torque adjustment method, electric automobile has self-adaptation controller, vehicle control unit, on-vehicle CAN bus, tire pressure sensor, inclination sensor, pressure sensor, acceleration sensor and man-machine interaction system of patrolling and voyaging, adopt CAN bus communication between the mobile unit, its characterized in that, electric automobile's the torque adjustment of cruising includes following step:
101. Starting the self-adaptive cruise system, and controlling the whole vehicleAcquiring related information in real time through a CAN bus; the information includes a desired acceleration sent by the adaptive cruise controller
Tire pressure sensor for detecting automobile tire pressure ptir(ii) a Inclination angle sensor for detecting road surface gradient
Detecting the mass M of the whole vehicle by a pressure sensor; the vehicle speed sensor detects the actual speed v (n) of the vehicle; acceleration sensor for detecting actual acceleration of vehicle
Inputting driving environment information by a man-machine interaction system;
102. the vehicle controller obtains a calculated torque reference value according to the formula (1) by using the information obtained in the step 101, and the specific calculation mode is that the reference torque value T of the nth control period is obtained according to the formula (1)fid(n)：
Wherein f is1Is the rolling resistance coefficient; f. of2The relation coefficient of the rolling resistance coefficient and the vehicle speed is obtained; r represents the effective radius of the vehicle tyre; xieffRepresenting the mechanical transmission efficiency of the vehicle;
103. the vehicle control unit uses the reference torque value calculated in step 102 as a feedforward control quantity and controls the reference value T through position type PIDfid(n) correction to obtain the desired torque value Tdes(n), PID tuned desired Torque Tdes(n) maintaining a stable following of the actual acceleration to the desired acceleration;
104. according to the desired torque T in step 103 des(n) greater than an association threshold ThUIf so, the expected torque is sent to the motor controller through the CAN bus; which is less than the association threshold ThLThen will expect to twistThe torque is sent to at least one of a motor controller or a brake controller through a CAN bus; and the former control mode is kept between the threshold values.
2. The torque adjustment method of the electric vehicle adaptive cruise system according to claim 1, characterized by comprising the following steps: in step 101, a pressure sensor is installed in a suspension system of an electric vehicle for detecting a total vehicle mass M.
3. The torque adjustment method of the electric vehicle adaptive cruise system according to claim 1, characterized by comprising the following steps: rolling resistance coefficient f in step 1021The rolling resistance under the current driving environment is determined by the road surface and the tire pressure together and is obtained according to the formula (2):
f1＝an0+an1(Ptir-P0) (2)，
n in the formula (2) represents different road surface serial number values; a isn0Is a standard tire pressure P0A corresponding rolling resistance coefficient reference value; a isn1Is a proportional coefficient related to the tire pressure, and the unit is 1/kPa.
4. The method for adjusting the torque of the adaptive cruise system of the electric vehicle as claimed in claim 3, wherein: coefficient of rolling resistance f1The formula construction method comprises the following steps: selecting a straight coating pavement, an asphalt pavement and a gravel pavement from P min(kPa) to Pmax(kPa) fixing a tire pressure every 10kPa, recording the rolling resistance coefficient of the vehicle in a stable constant speed state, and fitting the relation between the rolling resistance coefficient and the tire pressure by adopting a least square method to obtain an1。
5. The torque adjustment method of the electric vehicle adaptive cruise system according to claim 1, characterized by comprising the following steps: the position-based PID feedback adjustment in step 103 is shown in equation (3):
in the formula (3), e (n) is the target acceleration at the nth time
With actual acceleration
Error value, Ki is a constant integral coefficient, Kd is a constant differential coefficient, Kp is a scaling coefficient; kp is proportional to e (n) by a linear one-dimensional table.
6. The torque adjustment method of the electric vehicle adaptive cruise system according to claim 1, characterized by comprising the following steps: t in step 104des(n)＞ThUA motor drive control area; t isdes(n)＜ThLThe control area is regenerative braking and mechanical braking; thL≤Tdes(n)≤ThUA torque holding region; the specific control mode is as follows: switching from drive control to brake control, and adopting drive control in a holding area; the braking control is switched to the driving control, and the holding area adopts the braking control.
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| CN109017789B (en) * | 2018-08-09 | 2020-12-25 | 北京智行者科技有限公司 | Vehicle control method |
| CN109484197A (en) * | 2018-11-16 | 2019-03-19 | 北京长城华冠汽车科技股份有限公司 | Electric car and its method for slowing-down control and device |
| EP3697640B1 (en) * | 2018-12-26 | 2022-06-01 | Baidu.com Times Technology (Beijing) Co., Ltd. | Torque feedback based vehicle longitudinal automatic calibration system for autonomous driving vehicles |
| CN109747651B (en) * | 2018-12-27 | 2021-08-06 | 东软睿驰汽车技术（沈阳）有限公司 | Vehicle control method, device and system |
| CN111409633A (en) * | 2019-01-07 | 2020-07-14 | 上汽通用汽车有限公司 | Control method and device in vehicle adaptive cruise |
| CN110155052A (en) * | 2019-05-29 | 2019-08-23 | 台州学院 | Improved adaptive cruise lower layer control design case method |
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| CN110696833B (en) * | 2019-06-27 | 2021-05-07 | 江铃汽车股份有限公司 | Vehicle self-adaptive speed limit control method |
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