CN108860147A - Cruise control method, entire car controller and automobile - Google Patents
Cruise control method, entire car controller and automobile Download PDFInfo
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- CN108860147A CN108860147A CN201810596714.1A CN201810596714A CN108860147A CN 108860147 A CN108860147 A CN 108860147A CN 201810596714 A CN201810596714 A CN 201810596714A CN 108860147 A CN108860147 A CN 108860147A
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- cruise
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005183 dynamical system Methods 0.000 claims description 15
- 230000005856 abnormality Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 238000012512 characterization method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the present invention proposes a kind of cruise control method, entire car controller and automobile, is related to technical field of automobile control, this method includes：First control chip is obtaining the current demand torque parsed by accelerator pedal in automobile with cruise mode holding when driving, and it determines to be worth biggish conduct current goal torque from current demand torque and current cruise torque, and current goal torque is sent to the second control chip；Second control chip judges whether the sum of current goal torque and predetermined torque offset are greater than or equal to predetermined torque export-restriction value；When the sum of current goal torque and predetermined torque offset are greater than or equal to predetermined torque export-restriction value, the second control chip controls automobile exits cruise mode.A kind of cruise control method, entire car controller provided by the embodiment of the present invention and automobile, improve the redundancy and robustness of entire car controller.
Description
Technical field
The present invention relates to technical field of automobile control, in particular to a kind of cruise control method, entire car controller and
Automobile.
Background technique
When hybrid electric vehicle works normally, due to the particularity of its dynamical system, by two kinds of power sources of engine and motor
Complete power output.Demand torque is distributed to hair by the traditional combustion engine that compares automobile and pure electric automobile, hybrid vehicle
Motivation and motor, while also to guarantee that actual output torque cannot differ excessively with demand torque, therefore its complexity mentions
It is high very much.
The cruise function of automobile is the function based on comfortableness and security exploitation, before driver not stepping on accelerator pedal
It puts, travels car speed according to the speed that driver sets.It is intended to and bend the throttle, vehicle when driver overtakes other vehicles
Speed can be made to increase with normal response.When driver's brake pedal, vehicle can with normal braking and exit cruise control
System.
Summary of the invention
The purpose of the present invention is to provide a kind of cruise control method, entire car controller and automobiles, improve full-vehicle control
The redundancy and robustness of device.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, being applied to entire car controller, the vehicle the embodiment of the invention provides a kind of cruise control method
Controller includes the first control chip and the second control chip, and the first control chip and the second control chip are established logical
Letter, the method includes：The first control chip is obtained when driving with cruise mode holding by accelerator pedal solution in automobile
The current demand torque of precipitation, and determine to be worth biggish be used as currently from the current demand torque and current cruise torque
Target torque, and the current goal torque is sent to the second control chip；Described in the second control chip judgement
Whether the sum of current goal torque and predetermined torque offset are greater than or equal to predetermined torque export-restriction value；When the current mesh
When marking the sum of torque and predetermined torque offset more than or equal to the predetermined torque export-restriction value, the second control chip
It controls the automobile and exits cruise mode.
Second aspect, the embodiment of the invention provides a kind of entire car controllers, including the first control chip and the second control
Chip, the first control chip are communicated with the second control chip foundation；The first control chip in automobile for existing
Obtain the current demand torque parsed by accelerator pedal when driving with cruise mode holding, and from the current demand torque and
Determine to be worth in current cruise torque it is biggish be used as current goal torque, and the current goal torque is sent to described the
Two control chips；The second control chip is for judging whether the sum of the current goal torque and predetermined torque offset are big
In or equal to predetermined torque export-restriction value；When the sum of the current goal torque and predetermined torque offset are greater than or equal to institute
When stating predetermined torque export-restriction value, the second control chip is also used to control the automobile and exits cruise mode.
The third aspect, the embodiment of the invention provides a kind of automobile, the automobile includes above-mentioned entire car controller.
Compared with the existing technology, a kind of cruise control method, entire car controller provided by the embodiment of the present invention and automobile,
The the first control chip and the second control chip of communication are established by being arranged in entire car controller, and ensure the first control core
Independence when both piece and the second control chip respectively calculate, the first control chip is for calculating automobile under cruise mode
Current goal torque is simultaneously sent to the second control chip, and the second control chip is again by current goal torque and predetermined torque offset
The sum of compared with predetermined torque export-restriction value so that second control chip judge whether automobile currently should exit cruise mould
Formula improves the redundancy and robustness of entire car controller compared to the prior art.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of a kind of schematic diagram of entire car controller provided by the embodiment of the present invention；
Fig. 2 shows a kind of a kind of schematic flow charts of cruise control method provided by the embodiment of the present invention；
Fig. 3 shows a kind of Some illustrative flow chart of cruise control method provided by the embodiment of the present invention.
In figure：10- entire car controller；100- first controls chip；200- second controls chip.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
In cruise control, entire car controller (Vehicle control unit, VCU) connects automobile according to the preset period
The cruise for receiving automobile inputs information, for example every 50ms is received once.When driver have increase speed demand or overtake other vehicles demand and
When bend the throttle, entire car controller causes entire car controller that cannot compare if there is dropout or signal error etc.
Compared with driver pedal demand torque and cruise demand torque, entire car controller would not the speed of corresponding driver increase request,
Cause speed not change, can not only cause the fear of driver, but also is easy to happen the danger such as collision.
Based on the problems of the above-mentioned prior art, referring to Fig. 1, Fig. 1 is shown one provided by the embodiment of the present invention
A kind of schematic diagram of kind entire car controller 10, in embodiments of the present invention, entire car controller 10 include the first control core
Piece 100 and the second control chip 200, and establish and communicate between the first control core and the second control chip 200.The input of automobile is believed
The first control chip 100 and the second control chip 200, and the first control chip 100 and the second control number can be inputed to simultaneously
Chip 200 can generate output signal, execute corresponding operation to control automobile.
Specifically, referring to Fig. 2, Fig. 2 shows a kind of one kind of cruise control method provided by the embodiment of the present invention
Schematic flow chart, the cruise control method are applied to entire car controller 10 shown in FIG. 1, and in embodiments of the present invention, this is patrolled
Boat control method includes the following steps：
Step S200, the first control chip are keeping obtaining when driving being parsed by accelerator pedal in automobile with cruise mode
Current demand torque, and determine that being worth biggish as current goal turns round from current demand torque and current cruise torque
Square, and current goal torque is sent to the second control chip.
Automobile is kept when driving with cruise mode, and when driver jams on accelerator pedal, accelerator pedal is i.e. according to driving
The degree that member jams on parses current demand torque required for driver, and then believes the current demand torque as input
Number, it is sent to entire car controller 10.
As shown in Figure 1, including the first control chip 100 and the second control chip 200, the first control in entire car controller 10
It establishes and communicates between chip 100 and the second control chip 200.The input signal of automobile can input to the first control chip simultaneously
100 and second control chip 200, and the first control chip 100 and the second control chip 200 can generate output signal, with
It controls automobile and executes corresponding operation.Entire car controller 10 is during handling input signal, the first control 100 conduct of chip
Function realization layer, for calculating and fuction output；And the second control chip 200 is used to monitor what the first control chip 100 calculated
As a result and whether the instruction of fuction output is abnormal.
Specifically, when accelerator pedal parses current demand torque and is sent to entire car controller 10, the first control core
Piece 100 and the second control chip 200 receive the current demand torque.First control chip 100 is receiving accelerator pedal
After the current demand torque parsed, determine to be worth from current demand torque and current cruise torque biggish as current mesh
Mark torque.For example it is assumed that the current demand torque that the first control chip 100 receives is 120NM, and the torque that currently cruises is
100NM, the first control chip 100 is i.e. using the 120NM of current demand torque as current goal torque at this time.Wherein, when
For automobile, currently, with cruise mode holding, dynamical system is exported preceding cruise torque to the torque value of automobile when driving.
Also, the current target torque is sent to the after determining current goal torque by the first control chip 100
Two control chips 200.
Step S310, the second control chip judge whether the sum of current goal torque and predetermined torque offset are greater than or wait
In predetermined torque export-restriction value？When to be, step S420 is executed；When to be no, step S410 is executed.
Second control chip 200 is after receiving current goal torque, i.e., in this prior on the basis of target torque, in addition
One predetermined torque offset, by the sum of current goal torque and predetermined torque offset as in current continuation of the journey control process
Maximum permissible torque.For example, assuming that predetermined torque offset is 50NM, chip 100 is controlled by current demand above-mentioned first
When the 120NM of torque is as current goal torque, the maximum permissible torque that the second control chip 200 is calculated is
170N·M。
The maximum permissible torque is compared with predetermined torque export-restriction value, when current goal torque and predetermined torque are mended
When repaying maximum permissible torque that the sum of value obtains and being greater than or equal to predetermined torque export-restriction value, the second control chip 200 is executed
Step S420；When the maximum permissible torque that the sum of current goal torque and predetermined torque offset obtain is defeated less than the predetermined torque
Out when limits value, the second control chip 200 executes step S410.Wherein, which is preset not
The torque output stage limit value of dynamical system under the premise of damage dynamical system is generally set for the purpose of protection dynamical system
It sets.
Step S410 keeps cruise mode traveling with current goal torque.
When the maximum permissible torque that the sum of current goal torque and predetermined torque offset obtain is defeated less than the predetermined torque
Out when limits value, if characterization automobile continues to keep cruise mode when driving with the current target torque, the torsion of dynamical system output
Square will not damage dynamical system, and the second control chip 200 controls automobile and keeps cruise mode row with current goal torque at this time
It sails.
Step S420, control automobile exit cruise mode.
When the maximum permissible torque that the sum of current goal torque and predetermined torque offset obtain is default more than or equal to this
When torque export-restriction value, if characterization automobile continues to keep cruise mode when driving with the current target torque, dynamical system is defeated
Torque out may follow bad dynamical system, and the second control chip 200 controls automobile and releases cruise mode at this time, avoid power
System is damaged.
Based on above-mentioned design, a kind of cruise control method provided by the embodiment of the present invention, by entire car controller 10
The first control chip 100 that communication is established in middle setting controls chip 200 with second, and ensures the first control chip 100 and the
Independence when both two control chips 200 respectively calculate, the first control chip 100 is for calculating automobile under cruise mode
Current goal torque is simultaneously sent to the second control chip 200, and the second control chip 200 is again by current goal torque and predetermined torque
The sum of offset is compared with predetermined torque export-restriction value, so that the second control chip 200 judges that automobile currently whether should
Cruise mode is exited, compared to the prior art, improves the redundancy and robustness of entire car controller 10.
Driver can generally generate two signals in the brake for stepping on automobile, and one is braking modulating signal, another is
Brake pedal signal.When driver steps on the brake of automobile, changes will occur for braking modulating signal meeting brake pedal signal.?
In cruise control method provided by the embodiment of the present invention, the first control chip 100 and the second control chip 200 receive system respectively
Dynamic modulating signal and brake pedal signal, and then judge whether automobile should currently exit with the signal intensity respectively specifically received
Cruise mode.
Specifically, please continue to refer to Fig. 2, as an implementation, in embodiments of the present invention, the cruise control method
It is further comprising the steps of：
Whether step S320, the braking modulating signal that the first control chip receives change？When a change, first
It controls chip 100 and executes step S420.
For automobile during being travelled with cruise mode, the first control chip 100 receives braking modulating signal in real time.Generally
For, automobile is during keeping cruise traveling, as long as depression of brake pedal, braking modulating signal would not sent out driver yet
Changing, i.e. characterization driver will not exit cruise mode depression of brake pedal in a manner of slowing down.Therefore, the first control
Chip 100 judges to brake whether modulating signal changes according to the braking modulating signal received, when the first control chip 100
When determining that braking modulating signal changes, then driver has necessarily jammed on brake pedal deceleration, at this time the first control chip 100
It executes step S420 and exits cruise mode to control automobile.
Whether step S330, the brake pedal signal that the second control chip receives change？When a change,
Two control chips 200 execute step S420.
Correspondingly, for automobile during cruise mode travels, the second control chip 200 receives brake pedal letter in real time
Number.And in general, automobile is during keeping cruise traveling, as long as driver not believe by depression of brake pedal, brake pedal
It number would not also change, i.e., characterization driver will not exit cruise mode jamming on brake pedal in a manner of slowing down.
Therefore, the second control chip 200 judges whether brake pedal signal changes according to the brake pedal signal received,
When the second control chip 200 determines that brake pedal signal changes, then driver has necessarily jammed on brake pedal deceleration,
The second control chip 200 executes step S420 and exits cruise mode to control automobile at this time.
That is, the first control chip 100 and the second control chip 200 respectively receive braking modulating signal and braking
Pedal signal, when the braking modulating signal that the first control chip 100 receives changes, then the first control chip 100 executes
Step S420 releases cruise mode to control automobile；When the brake pedal signal that the second control chip 200 receives changes
When, the second control chip 200 executes step S420 and releases cruise mode to control automobile；When the first control chip 100 and second
When the braking modulating signal and brake pedal signal that control chip 200 respectively receives simultaneously change, the first control chip
100 and second control chip 200 be then performed both by step S420 control automobile exit cruise mode.
It is worth noting that being not carried out sequencing between step S410 and step S420.
Also, in some other embodiment provided by the embodiment of the present invention, it may be arranged as the first control
Chip 100 receives brake pedal signal, and the second control chip 200 receives braking modulating signal；Either first control chip 100 with
Second control chip 200 receives braking modulating signal and brake pedal signal, at this time the first control chip 100 and the second control core
When the braking modulating signal that at least one of piece 200 receives changes or brake pedal signal changes, letter is received
Number changed control chip executes step S420, exits cruise mode to control automobile.
Based on above-mentioned design, a kind of cruise control method provided by the embodiment of the present invention passes through setting the first control core
Piece 100 and the second control chip 200 receive braking modulating signal and brake pedal signal respectively so that the first control chip 100 and
When the second respective received braking modulating signal of control chip 200 changes or brake pedal signal changes, the first control
Respectively control automobile releases cruise mode for chip 100 and the second control chip 200, does not interfere with each other, enables entire car controller 10
Timely respond to the demand that driver exits cruise mode by depression of brake pedal.
As an implementation, referring to Fig. 3, Fig. 3 shows a kind of cruise control provided by the embodiment of the present invention
The Some illustrative flow chart of method, in embodiments of the present invention, the cruise control method is further comprising the steps of：
Step S510, the second control chip checking first control control instruction that chip is sent whether output abnormality？When for
When being, step S520 is executed.
Second control chip 200 is as the instruction for monitoring result and fuction output that the first control chip 100 calculates
Whether Yi Chang chip, input signal is when being sent to the first control chip 100 and the second control chip 200, the first control core
Piece 100 not only needs to calculate corresponding result or issues control instruction to automobile, for example determines current goal torque, control vapour
Vehicle exits cruise mode, and the first control chip 100 is also sent to by the result cleared out or to the control instruction that automobile issues
Second control chip 200, so that whether the control instruction that second control chip 200 verifying the first control chip 100 is sent exports
It is abnormal, for example, the first control chip 100 is when determining current goal torque, it is assumed that the first control chip 100 is determined current
Target torque is current demand torque, which is sent to the second control chip 200 by the first control chip 100
Afterwards, the result that the second control chip 200 calculates but characterizes current goal torque and should be determined as the torque that currently cruises, and at this time second
Control chip 200 determines that the first control chip 100 breaks down, and the second control chip 200 executes step S520.
Step S520, the dynamical system of the second control chip closing automobile.
When the control instruction output abnormality that second control chip 200 verifying the first control chip 100 is sent, the second control
Chip 200 determines that the first control chip 100 breaks down, and the second control chip 200 is the dynamical system of closing automobile at this time,
To cut off the torque output of dynamical system, avoid driving risk caused by because of control error.
Based on above-mentioned design, a kind of cruise control method provided by the embodiment of the present invention passes through setting the second control core
Piece 200 verifying first control chip 100 control instruction whether output abnormality, and when first control chip 100 control
When instruction is verified as output abnormality by the second control chip 200, the second control chip 200 is the dynamical system of closing automobile, with
It avoids driving risk caused by because of control error, it is ensured that the accuracy for the control instruction that entire car controller 10 exports.
As an implementation, please continue to refer to Fig. 2, before step S200, the cruise control method further include with
Lower step：
Step S110, the first control chip receive the cruise input signal of automobile and verify to cruise input signal？
When the authentication succeeds, step S200 is executed；When failing the authentication, the first control chip 100 executes step S420.
Entire car controller 10 is when the cruise that each preset period receives automobile inputs information, the first control chip 100
The cruise input signal of reception automobile, such as cruise mode request etc., when the first control chip 100 receives the cruise of automobile
After input signal, the first control chip 100 verifies the cruise input signal, for example, by preset algorithm to this
Cruise input signal is decoded verifying etc., when the authentication succeeds, i.e. execution step S200；When failing the authentication, the first control
Chip 100 executes step S420 control automobile and exits cruise mode.
Step S120, the second control chip receive the cruising condition signal of automobile and verify to cruising condition signal？
When the authentication succeeds, step S200 is executed；When failing the authentication, the second control chip 200 executes step S420.
Correspondingly, entire car controller 10 is when the cruise that each preset period receives automobile inputs information, the and control
The cruising condition signal of chip reception automobile, such as cruise time, cruising speed etc., when the second control chip 200 receives
After the cruising condition signal of automobile, the second control chip 200 verifies the cruising condition signal, for example, by default
Algorithm to the cruising condition signal be decoded verifying etc., when the authentication succeeds, i.e., execution step S200；Work as authentication failed
When, the second control chip 200 executes step S420 control automobile and exits cruise mode.
That is, the first control chip 100 respectively receives cruise input signal with the second control chip 200 and patrols
Navigate status signal, and the first control chip 100 and the second control chip 200 are respectively to cruise input signal and cruising condition signal
It is verified, only when being both proved to be successful, just executes step S200, if there is any one control chip checking failure,
Then it is corresponding with authentication failed control chip and execute step S420 exit cruise mode to control automobile.
It is worth noting that being not carried out sequencing between step S110 and step S120.
Also, in some other embodiment provided by the embodiment of the present invention, it may be arranged as the first control
Chip 100 receives cruise input signal, and the second control chip 200 receives cruising condition signal；Either the first control chip 100
Cruise input signal and cruising condition signal are received with the second control chip 200, at this time the first control chip 100 and the second control
Coremaking piece 200 respectively verifies cruise input signal and cruising condition signal, only when the first control chip 100 and the
When two control chips 200 are respectively proved to be successful cruise input signal and cruising condition signal, step S200 is just executed, if appointing
Anticipate one control chip to cruise input signal or cruising condition signal at least one authentication failed, then with authentication failed phase
Corresponding control chip executes step S420, exits cruise mode to control automobile.
Based on above-mentioned design, a kind of cruise control method provided by the embodiment of the present invention passes through setting the first control core
Piece 100 with second control chip 200 respectively to cruise input signal and cruising condition signal verify, only when the two respectively
When being proved to be successful, the calculating of cruise torque is just executed, when wherein at least one authentication failed, automobile exits cruise
Mode improves the safety and reliability of cruise control.
The embodiment of the invention also provides a kind of automobile (not shown), the automobile includes above-mentioned entire car controller 10.
In conclusion a kind of cruise control method, entire car controller provided by the embodiment of the present invention and automobile, by
The the first control chip 100 and the second control chip 200 of communication are established in setting in entire car controller 10, and ensure the first control
Independence when both chip 100 and the second control chip 200 respectively calculate, the first control chip 100 exist for calculating automobile
Current goal torque under cruise mode is simultaneously sent to the second control chip 200, and the second control chip 200 again turns round current goal
The sum of square and predetermined torque offset are compared with predetermined torque export-restriction value, so that the second control chip 200 judges automobile
Currently whether cruise mode should be exited, compared to the prior art, improve the redundancy and robustness of entire car controller 10；Also
Braking modulating signal and brake pedal signal are received respectively by the first control chip 100 of setting and the second control chip 200, so that
Respectively received braking modulating signal changes or brake pedal signal is sent out for first control chip 100 and the second control chip 200
When changing, respectively control automobile releases cruise mode for the first control chip 100 and the second control chip 200, does not interfere with each other, makes
Entire car controller 10 can timely respond to the demand that driver exits cruise mode by depression of brake pedal；Also pass through setting
Second control chip 200 verifying first control chip 100 control instruction whether output abnormality, and when first control chip
When 100 control instruction is verified as output abnormality by the second control chip 200, the second control chip 200 is the dynamic of closing automobile
Force system, to avoid because driving risk caused by control error, it is ensured that the accuracy for the control instruction that entire car controller 10 exports；
Also by the first control chip 100 of setting and the second control chip 200 respectively to cruise input signal and cruising condition signal into
Row verifying just executes the calculating for the torque that cruises, when wherein at least one is tested only when the two is respectively proved to be successful
Card failure, automobile exit cruise mode, improve the safety and reliability of cruise control.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of cruise control method, which is characterized in that be applied to entire car controller, the entire car controller includes the first control
Chip and the second control chip, the first control chip are communicated with the second control chip foundation, the method includes：
The first control chip is obtaining the current need parsed by accelerator pedal in automobile with cruise mode holding when driving
Torque is sought, and determines to be worth biggish conduct current goal torque from the current demand torque and current cruise torque, and
The current goal torque is sent to the second control chip；
It is pre- that the second control chip judges whether the sum of the current goal torque and predetermined torque offset are greater than or equal to
If torque export-restriction value；
When the sum of the current goal torque and predetermined torque offset are greater than or equal to the predetermined torque export-restriction value,
Automobile described in the second control chip controls exits cruise mode.
2. the method as described in claim 1, which is characterized in that the method also includes：
When the sum of the current goal torque and predetermined torque offset are less than the predetermined torque export-restriction value, described the
Automobile described in two control chip controls keeps cruise mode traveling with the current goal torque.
3. the method as described in claim 1, which is characterized in that the first control chip also divides with the second control chip
Modulating signal and brake pedal signal Jie Shou not be braked, the method also includes：
When the braking modulating signal that the first control chip receives changes, first control chip controls institute
It states automobile and exits cruise mode；Or
When the brake pedal signal that the second control chip receives changes, the second control chip controls
The automobile exits cruise mode；Or
When the braking modulating signal that receives of the first control chip changes and the second control chip receives
To the braking modulating signal change when, the first control chip and the second control at least one of chip control
The automobile exits cruise mode.
4. the method as described in claim 1, which is characterized in that the first control chip issues control instruction to the automobile
When, the control instruction is also sent to the second control chip by the first control chip, the method also includes：
It is described second control chip checking described in control instruction whether output abnormality；
When the output order output abnormality, the second control chip closes the dynamical system of the automobile.
5. the method as described in claim 1, which is characterized in that protected in automobile with cruise mode in the first control chip
Hold the current demand torque for obtaining parsed by accelerator pedal when driving, and from the current demand torque and current cruise torque
In determine to be worth it is biggish be used as current goal torque, and the current goal torque is sent to the second control chip
Before step, the method also includes：
The first control chip receives the cruise input signal of automobile and verifies to the cruise input signal；
The second control chip receives the cruising condition signal of automobile and verifies to the cruising condition signal；
When the cruise input signal is verified unsuccessfully, automobile described in the first control chip controls exits cruise mode；
When the cruising condition signal is verified unsuccessfully, automobile described in the second control chip controls exits cruise mode.
6. a kind of entire car controller, which is characterized in that including the first control chip and the second control chip, the first control core
Piece is communicated with the second control chip foundation；
The first control chip is used to keep obtaining when driving being worked as by what accelerator pedal parsed with cruise mode in automobile
Preceding demand torque, and determine that being worth biggish as current goal turns round from the current demand torque and current cruise torque
Square, and the current goal torque is sent to the second control chip；
The second control chip is for judging whether the sum of the current goal torque and predetermined torque offset are greater than or wait
In predetermined torque export-restriction value；
When the sum of the current goal torque and predetermined torque offset are greater than or equal to the predetermined torque export-restriction value,
The second control chip is also used to control the automobile and exits cruise mode.
7. entire car controller as claimed in claim 6, which is characterized in that when the current goal torque and predetermined torque compensate
When the sum of value is less than the predetermined torque export-restriction value, the second control chip is also used to control the automobile and is worked as with described
Preceding target torque keeps cruise mode traveling.
8. entire car controller as claimed in claim 6, which is characterized in that the first control chip and the second control core
Piece is also respectively used to receive braking modulating signal and brake pedal signal；Wherein,
The first control chip is also used to when the braking modulating signal that the first control chip receives changes,
It controls the automobile and exits cruise mode；
Second control chip is used to control institute when the braking modulating signal that the second control chip receives changes
It states automobile and exits cruise mode.
9. entire car controller as claimed in claim 6, which is characterized in that the first control chip is issued to the automobile to be controlled
When system instruction, the control instruction is also sent to the second control chip by the first control chip；
It is described second control chip be also used to verify the control instruction whether output abnormality；
When the output order output abnormality, the second control chip is used to close the dynamical system of the automobile.
10. a kind of automobile, which is characterized in that the automobile includes entire car controller described in any one of claim 6-9.
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| CN201810596714.1A CN108860147B (en) | 2018-06-11 | 2018-06-11 | Cruise control method, vehicle control unit and vehicle |
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| CN201810596714.1A CN108860147B (en) | 2018-06-11 | 2018-06-11 | Cruise control method, vehicle control unit and vehicle |
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| CN108860147B CN108860147B (en) | 2020-04-21 |
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