CN109760668A - A kind of vehicle hybrid driving control system and control method based on car networking - Google Patents
A kind of vehicle hybrid driving control system and control method based on car networking Download PDFInfo
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Abstract
The invention belongs to vehicle traction technical fields, a kind of vehicle hybrid driving control system and control method based on car networking is disclosed, control system includes: power plant module, locating module, central control module, wireless communication module, network server, driving switching module, shift module, display module.The present invention, when hybrid vehicle goes up a slope, is driven it the pattern switching drive mode bigger to driving capability so that the operation of hybrid vehicle is more stable and smooth and promotes the user experience of passenger by driving switching module；In hybrid vehicle descending, the energy consumption of hybrid vehicle in the process of running is reduced；Simultaneously by shift module, vehicle is when being shifted gears, without separating clutch, shift time can effectively be shortened, improve the comfort driven and the labor intensity for reducing driver, additionally it is possible to which the damaged condition for reducing clutch improves the service life of clutch.
Description
Technical field
The invention belongs to vehicle traction technical fields more particularly to a kind of vehicle hybrid based on car networking to drive control
System and control method processed.
Background technique
Currently, the prior art commonly used in the trade is such that
Hybrid power just refers to automobile using gasoline driven and is driven by electricity two kinds of driving methods.Advantage is vehicle launch
When stopping, only being driven by motor, be not up to certain speed, engine does not just work, and therefore, just engine can be made to be always held at
Optimum condition state, good dynamic property, discharge amount are very low.And the source of electric energy is all engine, need to only be refueled.With generation
The measure of various countries, boundary environmental protection is increasingly stringenter, and the scheme of replacing fuel oil engine automobile is also more and more, such as hydrogen energy source
Automobile, fuel cell car, hybrid vehicle etc..But most there is practical value at present and have the mode of commercialization operating,
Only hybrid vehicle.The key of hybrid vehicle is hybrid power system, its performance is directly related to hybrid power
Vehicle complete vehicle performance.By the development of more than ten years, hybrid power system assembly from original engine and motor discrete topology to
Motor of engine and the development of gearbox integral structure, i.e., integrated hybrid drive train.Hybrid power assembly is with power
Transmission route classification, can be divided into three kinds of tandem, parallel and series parallel type etc..However, when driving hybrid vehicle upward slope,
Due to driver often climb to certain slope just can open out or speed be reduced to certain speed when can just trigger drive mode
Conversion, and at this moment driving conversion can because in a short time formed driving force deficiency and cause automobile to shake, reduce use
Family experience；In descending, hybrid vehicle generally no longer needs additional driving force to drive automobile, but hybrid power
Automobile itself can not identify the descending state that is currently at, therefore current drive mode can be kept to continue to drive, it will cause
The waste of the energy；The process for gear for the separation clutch that existing vehicle uses simultaneously, mainly has the disadvantage that: needing to drive when plucking gear
Member steps on clutch, hangs shelves and unclamps again clutch after the completion, increases the driving fatigue degree of driver；Shift time mainly depends on
In the manual shift speed of driver；Clutch can all have abrasion in separation, combination stage；If shift time is long, vehicle is deposited
In shift shock, comfort is bad.
In conclusion problem of the existing technology is:
When driving hybrid vehicle upward slope, since driver is often climbing to certain slope just meeting open out or vehicle
Prompt drop is as low as the conversion that can just trigger drive mode when certain speed, and driving conversion at this moment can be because form in a short time
The deficiency of driving force and cause automobile to shake, reduce user experience；In descending, hybrid vehicle generally no longer needs additionally
Driving force automobile is driven, but hybrid vehicle itself can not identify the descending state that is currently at, therefore can keep
Current drive mode continues to drive, and it will cause the wastes of the energy；
The process for gear for the separation clutch that existing vehicle uses simultaneously, mainly has the disadvantage that: needing driver when plucking gear
Clutch is stepped on, shelves is hung and unclamps again clutch after the completion, increase the driving fatigue degree of driver；Shift time depends primarily on
The manual shift speed of driver；Clutch can all have abrasion in separation, combination stage；If shift time is long, vehicle exists
Shift shock, comfort is bad, also has motor often and will appear the problem of overload depth fluctuation is discontinuously overloaded；
Filter in GPS locator is not sufficiently stable the syncretizing effect of data, the data inaccuracy of tracking.Wireless communication
Safety it is to be improved, encryption complexity is high, decrypts slow-footed problem.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of, and the vehicle hybrid based on car networking drives control
System processed.
The invention is realized in this way a kind of vehicle hybrid drive control method based on car networking, described to be based on
The vehicle hybrid drive control method of car networking includes:
Thermal model is based on by the way that power plant module is improvedBy engine and electronic
Machine provides power to vehicle；In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the thermal capacitance of motor
Coefficient of discharge；H is the coefficient of heat transfer of motor；R is the stator resistance of motor；
The integrated positioning system model foundation east-north-day space coordinate in GPS locator integrated by locating module
System, state vector are as follows: X=[E N U S φ H]T, position positioning is carried out to vehicle；Wherein: E is " east-north-day " coordinate system
East orientation coordinate, N are north orientation coordinate, and U is height above sea level, and S is step-length, and φ is course angle, and H is height；
After carrying out position positioning to vehicle, also needs to carry out position tracking, improve figure according to Robust Statistics using MRD algorithm
As relativity measurement method, sum after being weighted using Robust Estimation function object element gray scale difference；Target is in spot distribution, is adopted
Influence of the interference to tracking is eliminated with the associated method tracking target of target signature；When target carry out fast reserve when or presence
When target occlusion, the filter forecasting of target component is realized using the method that sef-adapting filter and Kalman filtering combine；
Module obtains network information number using wireless signal connection network server to central control module by wireless communication
According to；
Wireless communication module connects in network server, and the processing and transmission of data are carried out by encryption method；Wherein, it passes
Defeated condition are as follows:
If Char (K) ≠ 2,3: y2=x3+a4x+a6；
If Char (K)=2, and the y of j ≠ 02+ xy=x3+a2x2+a6；
If Char (K)=2, and j=0 y2+a3Y=x3+a4x+a6；
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6；
Switch vehicle driving drive mode according to the gradient of upward slope or descending；
Gear switch is carried out in vehicle travel process；
Vehicle Speed, oil mass information are shown using automobile instrument panel.
Further, the formula of MRD algorithm are as follows:
Wherein, ρ (x；It σ) is Robust Estimation function, the template image of T:K × L, the realtime graphic of f:M × N, 1≤m≤M-K
+ 1,1≤n≤N-L+1 is best match position when D (m, n) is minimized.
Further, motor is improved based in thermal model, and the essential characteristic of electromotor overload is that practical temperature rise is more than
Specified temperature rise, the basic goal of overload protection are exactly to prevent motor from burning out because of overheat, and therefore, it is very wide that present invention introduces applications
Single order motor thermal models equation:
In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the heat capacity coefficient of motor；H
For the coefficient of heat transfer of motor；R is the stator resistance of motor；
It enables:
In formula: Tmax is the maximum allowable temperature rise of motor；Ie is the rated current of motor；
Then:
It enables:
In formula: τ is motor thermal time constant；SF is motor coefficient of utilization, generally desirable 1；
Then:
Contain the differential equation in above formula, be not easy to computer disposal, by its discretization, and sets Tiny increment dt Δ T, Δ t, contain
Justice is within the extremely short Δ t time, and the temperature of motor rises to T+ Δ T by T:
After arrangement:
From the above equation, we can see that the temperature of t+ time Δt can be calculated after knowing temperature T (t), the electric current I (t) of t moment
T (t+ Δ t), thus only it is to be understood that the electric current of n time Δt, can obtain the temperature of (n+1) time Δt, so as in real time
Compared with maximum allowable temperature, when to motor carry out overload protection；
It is very easy that above method is implemented with digitial controller, as long as sampling using Δ t as the period to electric current, so
Simple calculations is carried out afterwards, and this method has the advantage that compared with the inverse time lag method of front
(1) allow the variation at any time of load current I.Because after each calculating cycle, I value needs resampling.And at 1
Within period, because its time is very short, it will be assumed that I is constant；
(2) heat dissipation of analog motor and heat accumulation, when electromotor overload,Then temperature T
Slowly increase；When motor no longer overloads,T value slowly reduces, heat dissipation with motor and its
It is similar.
Further, the integrated positioning system model in GPS locator includes:
Pedestrian's positioning is analyzed, establishes " east-north-day " space coordinates, then state vector are as follows:
X=[E N U S φ H]T
Wherein: E is " east-north-day " coordinate system east orientation coordinate, and N is north orientation coordinate, and U is height above sea level, and S is step-length, and φ is course
Angle, H are height；
State equation are as follows:
Observation vector is；Z=[ZGPS ZPDR]T
Wherein: ZGPS=[EGPS NGPS UGPS]T, EGPS, NGPS, UGPSIt is east orientation coordinate, the north orientation coordinate of GPS output respectively
And height above sea level；
ZPDR=[SPDR φPDR HPDR]T SPDRFor the step-size estimation of PDR positioning, φ PDR is course angle estimation, and HPDR is gas
Press the Height Estimation of meter；
Observational equation are as follows:
Further, wireless communication encryption method are as follows:
Be arranged represent the algebraci closed field of domain K asK*=K/ { 0 } is multiplicative group, and its component is the non-zero in K
Element, if algebraci closed fieldAffine plane beThat is:
Then
Known algebraci closed fieldOn affine plane curve be by irreducible polynomialIn zero point
The set of composition, i.e.,
Known C is affine plane curve, P=(x, a y) point on curve thus, if the conditions are met
Then P=(x, y) is the singular point on C, then curve C is singular curve, on the contrary, if the arbitrary point on curve not
It is able to satisfy above-mentioned condition, this curve is nonsingular curve；
If E meets following equations
E:y2+a1+xy+a3Y=x3+a2x+a4x+a6
Assuming that P=(x, y) is a point on E, and meet x, y ∈ K, then P is the rational point of K；
The point group E (K) being then made of the point on elliptic curve can be described with following formula:
E (K)={ (x, y): x, y ∈ K, E (x, y)=0 } ∪ { 0 }
Setting
Then the discrimination formula of elliptic curve E can be described as follows in network communication:
In formula, only as δ=0, which is singular curve；
When E carries out isomorphism, property is constant, therefore can use its simple types and calculated, and as standard type is encrypted
Journey can be described as follows respectively:
If Char (K) ≠ 2,3: y2=x3+a4x+a6；
If Char (K)=2, and the y of j ≠ 02+ xy=x3+a2x2+a6；
If Char (K)=2, and j=0 y2+a3Y=x3+a4x+a6；
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6。
Further, process for gear includes:
First, it is determined that whether user has input gear to update request, if user has input, gear updates request, by institute
The torque for stating the dynamical system of vehicle is zeroed out；
Secondly, extracing old shelves after torque is reset；
Then, it is switched between engine and driving motor and is passed through by electric-only mode in the dynamical system of the vehicle
When the hybrid mode that clutch is connected, the revolving speed of the engine and/or the driving motor is adjusted, the engine is made
And/or the revolving speed of the driving motor and the speed ratio of the gearbox of the vehicle match；
Finally, engaging a new gear, completes shift process.
Another object of the present invention is to provide the vehicle hybrid drive controls described in a kind of realize based on car networking
The computer program of method.
Another object of the present invention is to provide the vehicle hybrid drive controls described in a kind of realize based on car networking
The computer of method.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the vehicle hybrid drive control method based on car networking.
Another object of the present invention is to provide the vehicle hybrid drive controls described in a kind of realize based on car networking
The vehicle hybrid driving control system based on car networking of method, the vehicle hybrid based on car networking drive control
System processed includes:
Power plant module is connect with central control module, for providing power to vehicle by engine and motor；
Locating module is connect with central control module, for carrying out position positioning to vehicle by GPS locator；
Central control module, with power plant module, locating module, wireless communication module, driving switching module, shift module,
Display module connection is worked normally for controlling modules；
Wireless communication module is connect with central control module, network server, for connecting network clothes by wireless signal
Business device, obtains network information data；
Switching module is driven, is connect with central control module, for switching vehicle driving according to the gradient of upward slope or descending
Drive mode；
Shift module is connect with central control module, the gear switch for vehicle travel process；
Display module is connect with central control module, for showing Vehicle Speed, oil mass etc. by automobile instrument panel
Information.
Further, the driving switching module includes detection module, analysis module, upward slope control module, descending control mould
Block；
Detection module, for detecting hybrid vehicle currently corresponding road gradient by slope detection device；
Analysis module, for determining the actual motion posture of the hybrid vehicle based on the road gradient；
Upward slope control module, in the case where determining the actual motion posture to go up a slope: judging the road surface slope
Whether degree meets default upward slope condition, meets default upward slope condition and the current driving of hybrid vehicle in the road gradient
When mode is the first drive mode, the drive mode of the hybrid vehicle is switched to the second drive mode；
Downhill control module, in the case where determining the actual motion posture is descending: judging the road surface slope
Whether degree meets default descending condition, meets default descending condition and the current driving of hybrid vehicle in the road gradient
When mode is the second drive mode, the drive mode of the hybrid vehicle is switched to the first drive mode.
Advantages of the present invention and good effect are as follows:
The present invention detects hybrid vehicle using special slope detection device by driving switching module and currently corresponds to
Road gradient, so as to further determine that the current actual motion posture of hybrid vehicle, so as to according to mixing
The current actual motion posture of power car automatically switches to more particularly suitable drive mode, does not need manual operation, therefore mention
The high working efficiency of system, while there is higher safety；When hybrid vehicle goes up a slope, if hybrid electric vehicle at this time
Driving capability it is insufficient, then the pattern switching drive mode bigger to driving capability is driven it, so that hybrid vehicle
Operation it is more stable and smooth, promote the user experience of passenger；In hybrid vehicle descending, if hybrid electric vehicle at this time
Drive mode be non-saving driving mode, then pattern switching is driven it to energy-efficient drive mode, to reduce mixed
Close the energy consumption of power car in the process of running；Simultaneously by shift module, vehicle when being shifted gears, without by clutch into
Row separation, can effectively shorten shift time, improve the comfort of driving and reduce the labor intensity of driver, additionally it is possible to subtract
The damaged condition of small clutch, improves the service life of clutch, and the present invention is effective by the improvement thermal model method of motor
It solves the problems, such as the fluctuation of electromotor overload depth, discontinuously overload, and is easy to be realized with microcomputer, the combination of GPS locator is fixed
Position system model makes filter more stable to the effect of data fusion, more accurate, and the encryption method of wireless communication is effectively realized
The encryption under certificateless public key cryptography in wireless communication, meets the demand for security of wireless communication.
The present invention to vehicle carry out position positioning after, also need carry out position tracking, using MRD algorithm according to Robust Statistics come
Image correlation measure is improved, is summed after being weighted using Robust Estimation function object element gray scale difference；Target is in dotted
Distribution eliminates influence of the interference to tracking using the associated method tracking target of target signature；When target carries out fast reserve
Or there are when target occlusion, the filtering of target component is realized using the method that sef-adapting filter and Kalman filtering combine
Prediction；The tracking that location data can be achieved, provides guarantee for intelligent control.
Detailed description of the invention
Fig. 1 is the vehicle hybrid driving control system structural block diagram provided in an embodiment of the present invention based on car networking.
In figure: 1, power plant module；2, locating module；3, central control module；4, wireless communication module；5, network service
Device；6, switching module is driven；7, shift module；8, display module.
Fig. 2 is shift module process for gear flow chart provided in an embodiment of the present invention.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
The present invention is when driving hybrid vehicle and going up a slope, since driver can often refuel climbing to certain slope
Door or speed can just trigger the conversion of drive mode when being reduced to certain speed, and driving conversion at this moment can be because in short-term
It is interior formed driving force deficiency and cause automobile to shake, reduce user experience；In descending, hybrid vehicle is generally no longer
Additional driving force is needed to drive automobile, but hybrid vehicle itself can not identify and be currently at descending state, because
This can keep current drive mode to continue to drive, and it will cause the wastes of the energy.
As shown in Figure 1, the vehicle hybrid driving control system provided in an embodiment of the present invention based on car networking, packet
Include: power plant module 1, locating module 2, central control module 3, wireless communication module 4, network server 5, driving switching module 6,
Shift module 7, display module 8.
Power plant module 1 is connect with central control module 3, for providing power to vehicle by engine and motor；
Locating module 2 is connect with central control module 3, for carrying out position positioning to vehicle by GPS locator；
Central control module 3, with power plant module 1, locating module 2, wireless communication module 4, driving switching module 6, shift
Module 7, display module 8 connect, and work normally for controlling modules；
Wireless communication module 4 is connect, for connecting net by wireless signal with central control module 3, network server 5
Network server 5 obtains network information data；
Switching module 6 is driven, is connect with central control module 3, for switching vehicle row according to the gradient of upward slope or descending
Sail drive mode；
Shift module 7 is connect with central control module 3, the gear switch for vehicle travel process；
Display module 8 is connect with central control module 3, for showing Vehicle Speed, oil mass by automobile instrument panel
Etc. information.
Driving switching module 6 provided by the invention includes detection module, analysis module, upward slope control module, descending control
Module；
Detection module, for detecting hybrid vehicle currently corresponding road gradient by slope detection device；
Analysis module, for determining the actual motion posture of the hybrid vehicle based on the road gradient；
Upward slope control module, in the case where determining the actual motion posture to go up a slope: judging the road surface slope
Whether degree meets default upward slope condition, meets default upward slope condition and the current driving of hybrid vehicle in the road gradient
When mode is the first drive mode, the drive mode of the hybrid vehicle is switched to the second drive mode；
Downhill control module, in the case where determining the actual motion posture is descending: judging the road surface slope
Whether degree meets default descending condition, meets default descending condition and the current driving of hybrid vehicle in the road gradient
When mode is the second drive mode, the drive mode of the hybrid vehicle is switched to the first drive mode.
Such as Fig. 2,7 process for gear of shift module provided in an embodiment of the present invention is as follows:
S101: first, it is determined that whether user has input gear to update request, if user has input, gear updates request,
Then the torque of the dynamical system of the vehicle is zeroed out；
S102: secondly, after torque is reset, old shelves are extractd；
S103: then, the vehicle dynamical system by electric-only mode be switched to engine and driving motor it
Between be connected by clutch hybrid mode when, adjust the revolving speed of the engine and/or the driving motor, make described
The revolving speed of engine and/or the driving motor and the speed ratio of the gearbox of the vehicle match；
S104: finally, engaging a new gear, completes shift process.
When the invention works, power is provided to vehicle by engine and motor by power plant module 1；Pass through locating module
2 pairs of vehicles carry out position positioning；Module 4 utilizes wireless signal connection network server to central control module 3 by wireless communication
5, obtain network information data；Vehicle driving drive mode is switched according to the gradient of upward slope or descending by driving switching module 6；
Gear switch is carried out in vehicle travel process by shift module 7；Vehicle is shown using automobile instrument panel by display module 8
The information such as travel speed, oil mass.
Below with reference to concrete analysis, the invention will be further described.
Vehicle hybrid drive control method provided in an embodiment of the present invention based on car networking, it is described to be based on car networking
Vehicle hybrid drive control method include:
Thermal model is based on by the way that power plant module is improvedBy engine and electronic
Machine provides power to vehicle；In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the thermal capacitance of motor
Coefficient of discharge；H is the coefficient of heat transfer of motor；R is the stator resistance of motor；
The integrated positioning system model foundation east-north-day space coordinate in GPS locator integrated by locating module
System, state vector are as follows: X=[E N U S φ H]T, position positioning is carried out to vehicle；Wherein: E is " east-north-day " coordinate system
East orientation coordinate, N are north orientation coordinate, and U is height above sea level, and S is step-length, and φ is course angle, and H is height；
After carrying out position positioning to vehicle, also needs to carry out position tracking, improve figure according to Robust Statistics using MRD algorithm
As relativity measurement method, sum after being weighted using Robust Estimation function object element gray scale difference；Target is in spot distribution, is adopted
Influence of the interference to tracking is eliminated with the associated method tracking target of target signature；When target carry out fast reserve when or presence
When target occlusion, the filter forecasting of target component is realized using the method that sef-adapting filter and Kalman filtering combine；
Module obtains network information number using wireless signal connection network server to central control module by wireless communication
According to；
Wireless communication module connects in network server, and the processing and transmission of data are carried out by encryption method；
Wherein, transmission conditions are as follows:
If Char (K) ≠ 2,3: y2=x3+a4x+a6；
If Char (K)=2, and the y of j ≠ 02+ xy=x3+a2x2+a6；
If Char (K)=2, and j=0 y2+a3Y=x3+a4x+a6；
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6；
Switch vehicle driving drive mode according to the gradient of upward slope or descending；
Gear switch is carried out in vehicle travel process；
Vehicle Speed, oil mass information are shown using automobile instrument panel.
Preferred embodiment provided in an embodiment of the present invention, the formula of MRD algorithm are as follows:
Wherein, ρ (x；It σ) is Robust Estimation function, the template image of T:K × L, the realtime graphic of f:M × N, 1≤m≤M-K
+ 1,1≤n≤N-L+1 are best match positions when D (m, n) is minimized.
Preferred embodiment provided in an embodiment of the present invention, motor is improved to be based in thermal model, electromotor overload
Essential characteristic is that practical temperature rise is more than specified temperature rise, and the basic goal of overload protection is exactly to prevent motor from burning out because of overheat,
Therefore, present invention introduces apply very wide single order motor thermal models equation:
In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the heat capacity coefficient of motor；H
For the coefficient of heat transfer of motor；R is the stator resistance of motor；
It enables:
In formula: Tmax is the maximum allowable temperature rise of motor；Ie is the rated current of motor；
Then:
It enables:
In formula: τ is motor thermal time constant；SF is motor coefficient of utilization, generally desirable 1；
Then:
Contain the differential equation in above formula, be not easy to computer disposal, by its discretization, and sets Tiny increment dt Δ T, Δ t, contain
Justice is within the extremely short Δ t time, and the temperature of motor rises to T+ Δ T by T:
After arrangement:
From the above equation, we can see that the temperature of t+ time Δt can be calculated after knowing temperature T (t), the electric current I (t) of t moment
T (t+ Δ t), thus only it is to be understood that the electric current of n time Δt, can obtain the temperature of (n+1) time Δt, so as in real time
Compared with maximum allowable temperature, when to motor carry out overload protection；Above method implements ten partial volumes with digitial controller
Easily, as long as sampling using Δ t as the period to electric current, simple calculations, the inverse time lag of this method and front are then carried out
Method is compared and is had the advantage that
(1) allow the variation at any time of load current I.Because after each calculating cycle, I value needs resampling.And at 1
Within period, because its time is very short, it will be assumed that I is constant；
(2) heat dissipation of analog motor and heat accumulation, when electromotor overload,Then temperature T
Slowly increase；When motor no longer overloads,T value slowly reduces, heat dissipation with motor and its
It is similar.
Preferred embodiment provided in an embodiment of the present invention, the integrated positioning system model in GPS locator include:
Pedestrian's positioning is analyzed, establishes " east-north-day " space coordinates, then state vector are as follows:
X=[E N U S φ H]T
Wherein: E is " east-north-day " coordinate system east orientation coordinate, and N is north orientation coordinate, and U is height above sea level, and S is step-length, and φ is course
Angle, H are height；
State equation are as follows:
Observation vector is；Z=[ZGPS ZPDR]T
Wherein: ZGPS=[EGPS NGPS UGPS]T, EGPS, NGPS, UGPSIt is east orientation coordinate, the north orientation coordinate of GPS output respectively
And height above sea level；
ZPDR=[SPDR φPDR HPDR]TSPDR is the step-size estimation of PDR positioning, and φ PDR is course angle estimation, and HPDR is
Barometrical Height Estimation；
Observational equation are as follows:
Preferred embodiment provided in an embodiment of the present invention, wireless communication encryption method are as follows:
Be arranged represent the algebraci closed field of domain K asK*=K/ { 0 } is multiplicative group, and its component is the non-zero in K
Element, if algebraci closed fieldAffine plane beThat is:
Then
Known algebraci closed fieldOn affine plane curve be by irreducible polynomialIn zero point
The set of composition, i.e.,
Known C is affine plane curve, P=(x, a y) point on curve thus, if the conditions are met
Then P=(x, y) is the singular point on C, then curve C is singular curve, on the contrary, if the arbitrary point on curve not
It is able to satisfy above-mentioned condition, this curve is nonsingular curve；
If E meets following equations
E:y2+a1+xy+a3Y=x3+a2x+a4x+a6
Assuming that P=(x, y) is a point on E, and meet x, y ∈ K, then P is the rational point of K；
The point group E (K) being then made of the point on elliptic curve can be described with following formula:
E (K)={ (x, y): x, y ∈ K, E (x, y)=0 } ∪ { 0 }
Setting
Then the discrimination formula of elliptic curve E can be described as follows in network communication:
In formula, only as δ=0, which is singular curve；
When E carries out isomorphism, property is constant, therefore can use its simple types and calculated, and as standard type is encrypted
Journey can be described as follows respectively:
If Char (K) ≠ 2,3: y2=x3+a4x+a6；
If Char (K)=2, and the y of j ≠ 02+ xy=x3+a2x2+a6；
If Char (K)=2, and j=0 y2+a3Y=x3+a4x+a6；
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6。
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of vehicle hybrid drive control method based on car networking, which is characterized in that the vehicle based on car networking
Mixing power driving control method includes:
Thermal model is based on by the way that power plant module is improvedIt is given by engine and motor
Vehicle provides power；In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the thermal capacity system of motor
Number；H is the coefficient of heat transfer of motor；R is the stator resistance of motor；
The integrated positioning system model foundation east-north-day space coordinates in GPS locator integrated by locating module, shape
State vector are as follows: X=[E N U s φ H]T, position positioning is carried out to vehicle；Wherein: E is " east-north-day " coordinate system east orientation seat
Mark, N are north orientation coordinate, and U is height above sea level, and S is step-length, and φ is course angle, and H is height；
After carrying out position positioning to vehicle, also needs to carry out position tracking, improve image phase according to Robust Statistics using MRD algorithm
Closing property measure, is summed after being weighted using Robust Estimation function object element gray scale difference；Target is in spot distribution, using mesh
The method tracking target for marking feature association eliminates influence of the interference to tracking；When target carries out fast reserve or there are targets
When blocking, the filter forecasting of target component is realized using the method that sef-adapting filter and Kalman filtering combine；
Module obtains network information data using wireless signal connection network server to central control module by wireless communication；
Wireless communication module connects in network server, and the processing and transmission of data are carried out by encryption method；Wherein, item is transmitted
Part are as follows:
If Char (K) ≠ 2,3: y2=x3+a4x+a6；
If Char (K)=2, and the y of j ≠ 02+ xy=x3+a2x2+a6；
If Char (K)=2, and j=0 y2+a3Y=x3+a4x+a6；
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6
If Char (K)=3, and the y of j ≠ 02=x3+x2+a6；
Switch vehicle driving drive mode according to the gradient of upward slope or descending；
Gear switch is carried out in vehicle travel process；
Vehicle Speed, oil mass information are shown using automobile instrument panel.
2. the vehicle hybrid drive control method based on car networking as described in claim 1, which is characterized in that
Motor is improved to be based in thermal model, single order motor thermal models equation:
In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the heat capacity coefficient of motor；H is electricity
The coefficient of heat transfer of motivation；R is the stator resistance of motor；
In formula: Tmax is the maximum allowable temperature rise of motor；Ie is the rated current of motor；
In formula: τ is motor thermal time constant；SF is motor coefficient of utilization, takes 1；
Then:
Discretization is carried out, if Tiny increment dt Δ T, Δ t, within the extremely short Δ t time, the temperature of motor rises to T+ Δ T by T:
After arrangement:
3. the vehicle hybrid drive control method based on car networking as described in claim 1, which is characterized in that
Integrated positioning system model in GPS locator includes:
Pedestrian's positioning is analyzed, establishes " east-north-day " space coordinates, then state vector are as follows:
X=[E N U S φ H]T
Wherein: E is " east-north-day " coordinate system east orientation coordinate, and N is north orientation coordinate, and U is height above sea level, and S is step-length, and φ is course angle, H
For height；
State equation are as follows:
Observation vector is；Z=[ZGPS ZPDR]T
Wherein: ZGPS=[EGPS NGPS UGPS]T, EGPS, NGPS, UGPSIt is east orientation coordinate, north orientation coordinate and the sea of GPS output respectively
It pulls out；
ZPDR=[SPDR φPDR HPDR]TSPDR is the step-size estimation of PDR positioning, and φ PDR is course angle estimation, and HPDR is barometer
Height Estimation；
Observational equation are as follows:
4. the vehicle hybrid drive control method based on car networking as described in claim 1, which is characterized in that MRD is calculated
The formula of method are as follows:
Wherein, ρ (x；It σ) is Robust Estimation function, the template image of T:K × L, the realtime graphic of f:M × N, 1≤m≤M-K+1,1
≤ n≤N-L+1 is best match position when D (m, n) is minimized.
5. the vehicle hybrid drive control method based on car networking as described in claim 1, which is characterized in that shift side
Method includes:
First, it is determined that whether user has input gear to update request, if user has input, gear updates request, by the vehicle
The torque of dynamical system be zeroed out；
Secondly, extracing old shelves after torque is reset；
Then, it is switched between engine and driving motor by electric-only mode in the dynamical system of the vehicle and passes through clutch
When the connected hybrid mode of device, adjust the revolving speed of the engine and/or the driving motor, make the engine and/
Or the revolving speed of the driving motor and the speed ratio of the gearbox of the vehicle match；
Finally, engaging a new gear, completes shift process.
6. a kind of vehicle hybrid drive control method realized described in Claims 1 to 5 any one based on car networking
Computer program.
7. a kind of vehicle hybrid drive control method realized described in Claims 1 to 5 any one based on car networking
Computer.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires the vehicle hybrid drive control method described in 1-5 any one based on car networking.
9. a kind of vehicle hybrid drive control method realized described in claim 1 based on car networking based on car networking
Vehicle hybrid driving control system, which is characterized in that the vehicle hybrid driving control system based on car networking
Include:
Power plant module is connect with central control module, for providing power to vehicle by engine and motor；
Locating module is connect with central control module, for carrying out position positioning to vehicle by GPS locator；
Central control module, with power plant module, locating module, wireless communication module, driving switching module, shift module, display
Module connection is worked normally for controlling modules；
Wireless communication module is connect with central control module, network server, for connecting network service by wireless signal
Device obtains network information data；
Switching module is driven, is connect with central control module, for the gradient switching vehicle driving driving according to upward slope or descending
Mode；
Shift module is connect with central control module, the gear switch for vehicle travel process；
Display module is connect with central control module, for showing the letter such as Vehicle Speed, oil mass by automobile instrument panel
Breath.
10. the vehicle hybrid driving control system based on car networking as claimed in claim 9, which is characterized in that
The driving switching module includes detection module, analysis module, upward slope control module, downhill control module；
Detection module, for detecting hybrid vehicle currently corresponding road gradient by slope detection device；
Analysis module, for determining the actual motion posture of the hybrid vehicle based on the road gradient；
Upward slope control module, in the case where determining the actual motion posture to go up a slope: judging that the road gradient is
It is no to meet default upward slope condition, meet default upward slope condition and the current drive mode of hybrid vehicle in the road gradient
When for the first drive mode, the drive mode of the hybrid vehicle is switched to the second drive mode；
Downhill control module, in the case where determining the actual motion posture is descending: judging that the road gradient is
It is no to meet default descending condition, meet default descending condition and the current drive mode of hybrid vehicle in the road gradient
When for the second drive mode, the drive mode of the hybrid vehicle is switched to the first drive mode.
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