CN110015287A - A kind of adaptive cruise shift control method based on single planetary row driving device - Google Patents
A kind of adaptive cruise shift control method based on single planetary row driving device Download PDFInfo
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- CN110015287A CN110015287A CN201910332098.3A CN201910332098A CN110015287A CN 110015287 A CN110015287 A CN 110015287A CN 201910332098 A CN201910332098 A CN 201910332098A CN 110015287 A CN110015287 A CN 110015287A
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Classifications
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of adaptive cruise shift control method based on single planetary row driving device, include the following steps: Step 1: determining expectation safe distance Δ D0；Step 2: acquiring current vehicle speed v, front truck speed v by vehicle speed sensor1, acquire the practical relative distance Δ D of this vehicle and front truck；Step 3: calculating the practical opposite speed of the front truck speed and the current vehicle speed, the first shift probability is obtained；The distance difference for calculating the practical relative distance and the expectation safe distance, obtains the second shift probability；Step 4: according to the current vehicle speed v, the front truck speed v1, the practical relative distance Δ D, the first shift probability and the second shift probability, final shift probability is calculated, when the final shift probability is greater than given threshold, control vehicle keeps off from one and shifts to second gear；When selection one is kept off, first clutch separation, second clutch is combined；When selecting second gear, first clutch is combined, second clutch separation.
Description
Technical field
The present invention relates to drive areas, and in particular to a kind of adaptive cruise shift control based on single planetary row driving device
Method processed.
Background technique
Electric car refers to using vehicle power supply as power, with motor driven wheels travel, meets road traffic, security legislation
The vehicle of requirements.It is started using the electricity stored in the battery.Use 12 or 24 pieces of batteries sometimes when driving automobile,
Sometimes it then needs more.The composition of electric car includes: to be driven by electricity and the mechanical systems, complete such as control system, driving force transmission
At the equipment etc. of assigned tasks.It is driven by electricity and control system is the core of electric car, and be different from I. C. engine steam
The maximum difference of vehicle.It is driven by electricity and control system is by groups such as the speed-regulating control devices of drive motor, power supply and motor
At.Other devices of electric car are substantially identical as internal-combustion engines vehicle.The effect of transmission device of electric vehicle is by motor
Driving torque is transmitted to the drive shaft of automobile, and when using In-wheel-motor driving, most components of transmission device can usually be ignored.Cause
It can be started for motor with bringing onto load, so being not necessarily to the clutch of traditional combustion engine automobile on electric car.Because of driving motor
Rotation direction can be realized and convert by circuit control, so electric car is without the reverse gear in internal-combustion engines vehicle speed changer.When adopting
When being controlled with motor stepless speed regulation, electric car can ignore the speed changer of orthodox car.When using In-wheel-motor driving, electricity
Electrical automobile also can be omitted the differential mechanism of traditional combustion engine car transmissions.
Summary of the invention
The present invention has designed and developed a kind of adaptive cruise shift control method based on single planetary row driving device, this hair
The running data by acquiring this vehicle and front truck of improving eyesight rationally controls shift according to fuzzy control model, is effectively mentioned
The driver that wakes up carries out gear shift operation.
Technical solution provided by the invention are as follows:
A kind of adaptive cruise shift control method based on single planetary row driving device, includes the following steps:
Step 1: determining expectation safe distance Δ D0；
Step 2: acquiring current vehicle speed v, front truck speed v by vehicle speed sensor1, acquire the practical phase of this vehicle and front truck
Adjust the distance Δ D；
Step 3: calculating the practical opposite speed of the front truck speed and the current vehicle speed, the first shift probability is obtained；
And
The distance difference for calculating the practical relative distance and the expectation safe distance, obtains the second shift probability；
Step 4: according to the current vehicle speed v, the front truck speed v1, the practical relative distance Δ D, described first
Shift probability and the second shift probability, are calculated final shift probability, set threshold when the final shift probability is greater than
When value, control vehicle shifts to second gear from a gear；
When selection one is kept off, first clutch separation, second clutch is combined；When selecting second gear, first clutch knot
It closes, second clutch separation；
Wherein, the final shift probability U is calculated as
In formula, δ1For the first correction coefficient, δ2For the second correction coefficient, U1For the first shift probability, U2It is general for the second shift
Rate, e are the truth of a matter of natural logrithm, and v is current vehicle speed, v1For front truck speed, Δ v0Opposite speed, Δ D are compared for experience0By a definite date
Hope that safe distance, Δ D are practical relative distance；
The value range of the threshold value is 0.88~1.13.
Preferably, in the step 3, the first shift probability, mistake are obtained by establishing fuzzy control method
Journey includes:
Respectively by the practical opposite speed of front truck speed and current vehicle speed, practical opposite vehicle speed variation rate and the first shift
Probability is converted to the quantification gradation in fuzzy domain；
The reality is inputted into fuzzy control model, the fuzzy control with respect to speed and practical opposite vehicle speed variation rate
Practical opposite speed and practical opposite vehicle speed variation rate in model are divided into 7 grades；
Fuzzy control model output is the first shift probability；The first shift probability is divided into 5 grades.
Preferably, the domain of the practical opposite speed of front truck speed and current vehicle speed is [- 20,20], front truck speed and
The domain of the practical opposite vehicle speed variation rate of current vehicle speed is [- 0.4,0.4], and setting quantizing factor is all 1；First shift
The domain of probability is [0,1].
Preferably, the fuzzy set of the practical opposite speed of the front truck speed and current vehicle speed be NB, NM, NS, Z,
PS, PM, PB }, the fuzzy set of the practical opposite vehicle speed deviation change rate of the front truck speed and current vehicle speed be NB, NM, NS,
Z, PS, PM, PB }, the fuzzy set of the first shift probability is { S, SM, M, MB, B }；And
Membership function selects Gauss π membership function, and expression formula is
In formula, x is the arbitrary element in domain, the position at c determining function center, the width of σ determining function curve.
Preferably, in the step 3, the second shift probability, mistake are obtained by establishing fuzzy control method
Journey includes:
Respectively by the practical relative distance and the expectation distance difference of safe distance, distance difference change rate and
Second shift probability is converted to the quantification gradation in fuzzy domain；
The distance difference and distance difference change rate are inputted into fuzzy control model, in the fuzzy control model
Distance difference and distance difference change rate are divided into 7 grades；
Fuzzy control model output is the second shift probability；The second shift probability is divided into 5 grades.
Preferably, the practical relative distance and it is described expectation safe distance distance difference domain be [- 30,
30], the domain of the distance difference change rate of the practical relative distance and the expectation safe distance is [- 1,1], setting quantization
The factor is all 1；The domain of second shift probability is [0,1].
Preferably, the practical relative distance and it is described expectation safe distance distance difference fuzzy set be NB,
NM, NS, Z, PS, PM, PB }, the fuzzy set of the distance difference change rate of the practical relative distance and the expectation safe distance
Fuzzy set for { NB, NM, NS, Z, PS, PM, PB }, the second shift probability is { S, SM, M, MB, B }；And
Membership function selects Gauss π membership function, and expression formula is
In formula, x is the arbitrary element in domain, the position at c determining function center, the width of σ determining function curve.
Preferably, the first correction coefficient δ1For
The second correction coefficient δ2For
In formula, v is current vehicle speed, v1For front truck speed, Δ v0Opposite speed, Δ D are compared for experience0For expectation safety away from
From Δ D is practical relative distance, and e is the truth of a matter of natural logrithm.
Preferably, the experience compares opposite speed Δ v0For 10km/h；And
The expectation safe distance Δ D0For 30m.
Preferably, the threshold value is 0.98.
The present invention compared with prior art possessed by the utility model has the advantages that
1, there are two kinds of operating modes for driving motor of the present invention, and when vehicle is in driving operating condition, driving motor is in electricity
Motivation operating mode provides power for vehicle traveling, and when vehicle is in damped condition, driving motor is converted to generator mould
Formula plays Brake energy recovery, improves the utilization rate of vehicle energy, achievees the effect that energy saving；
2, the present invention, by using fuzzy control model, rationally controls shift during adaptive cruise, into
And prompting shift is carried out to driver.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the present invention.
Fig. 2 is the membership function of the practical opposite speed of front truck speed and current vehicle speed.
Fig. 3 is the membership function of practical opposite vehicle speed variation rate.
Fig. 4 is the membership function of the first shift probability.
Fig. 5 is the membership function of the distance difference of practical relative distance and desired safe distance.
Fig. 6 is the membership function of distance difference change rate.
Fig. 7 is the membership function of the second shift probability.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, a kind of motor based on single planetary row driving device provided by the invention is by motor shaft 110, stator
120 and rotor 130 form；Stator 120 is connect with first shell 101, and rotor 130 is connect with motor shaft 110；Motor shaft 110 can
Rotation is supported on inner wall, and is connect after being pierced by inner wall with sun gear 210；Output shaft 250 and deceleration driving gear 251 are solid
Fixed connection, sun gear 210 are fixed together with motor shaft 110, and planetary gear 220 is mounted on planet carrier 230, planet carrier
230 are fixedly connected with output shaft 250, and planet carrier 230 is connect with motor shaft 110 by the clutch hub of first clutch 410, interior
Gear ring 240 is connect with second clutch 420；The clutch hub of first clutch 410 is connect with planet carrier 230, first clutch
410 clutch disk is connect with motor shaft 110, brake disc and ring gear 240 connection of second clutch 420, second clutch
420 clutch hub is connect with first shell 101；Driving gear 251 is fixed on 250 right end of output shaft, driven gear 252 and poor
Fast device shell 300 connects, and driving gear 251 is engaged with driven gear 252 by gear；Differential carrier 300 and driven gear 252 connect
It connects, planetary gear shaft 320 is mounted in differential carrier 300, and planetary gear 310 is mounted in planetary gear shaft 320, the first semiaxis
Gear 311 is connect with the first semiaxis 330, and the second axle shaft gear 312a is connect with the second semiaxis 340；First semiaxis 330 is mounted on
In first shell 101 and differential carrier 300, the right end of the first semiaxis 330 is connect with the first axle shaft gear 311, the second semiaxis 340
It is mounted on shell 102 and differential carrier 300, the left end of the second semiaxis 340 is connect with the second axle shaft gear 312a.
The gear switching of driving device is realized by first clutch 410 and second clutch 420, is specifically included: a gear
When, driving motor rotates forward (direction of motor rotation that vehicle advances is forward rotation direction), and first clutch 410 separates, the second clutch
Device 420 combines；When second gear, driving motor rotates forward (direction of motor rotation that vehicle advances is forward rotation direction), second clutch 420
Separation, first clutch 410 combine；When reversing gear, driving motor reversion (direction of motor rotation of vehicle reverse is reverse directions),
First clutch 410 separates, and second clutch 420 combines；When neutral gear, first clutch 410 and second clutch 420 are divided equally
From；When one gear rises second gear, realize that first clutch 410 is switched to combination, second clutch by separation by shift control unit
420 are switched to separation by combining；When second gear one gear of drop, realize that first clutch 410 is switched by combining by shift control unit
To separation, second clutch 420 is switched to combination by separation；When vehicle need to be braked with a gear traveling, driving motor is by electronic
Machine pattern switching plays the role of dragging to generator mode, to transmission system, and the traveling kinetic energy of vehicle is converted to electric energy；When whole
When vehicle need to be braked with second gear traveling, driving motor is switched to generator mode by electric motor mode, and first clutch 410 combines,
Second clutch 420 separates.
The invention also discloses a kind of slope road shift control method based on single planetary row driving device, including walk as follows
It is rapid:
Step 1: determining expectation safe distance Δ D0；
Step 2: acquiring current vehicle speed v, front truck speed v by vehicle speed sensor1, acquire the practical phase of this vehicle and front truck
Adjust the distance Δ D；
Step 3: calculating the practical opposite speed of the front truck speed and the current vehicle speed, the first shift probability is obtained；
And
The distance difference for calculating the practical relative distance and the expectation safe distance, obtains the second shift probability；
Step 4: according to the current vehicle speed v, the front truck speed v1, the practical relative distance Δ D, described first
Shift probability and the second shift probability, are calculated final shift probability, set threshold when the final shift probability is greater than
When value, control vehicle shifts to second gear from a gear；
When selection one is kept off, the first clutch separation, the second clutch is combined；It is described when selecting second gear
First clutch combines, the second clutch separation；
Wherein, the final shift probability U is calculated as
In formula, δ1For the first correction coefficient, δ2For the second correction coefficient, U1For the first shift probability, U2It is general for the second shift
Rate, e are the truth of a matter of natural logrithm, and v is current vehicle speed, v1For front truck speed, Δ v0Opposite speed, Δ D are compared for experience0By a definite date
Hope that safe distance, Δ D are practical relative distance；The value range of the threshold value is 0.88~1.13；As a preference, at this
In embodiment, threshold value 0.98.
In another embodiment, in step 3, the first shift probability is obtained by establishing fuzzy control method,
It specifically includes as follows:
Respectively by the practical opposite speed E of front truck speed and current vehicle speed1, practical opposite vehicle speed variation rate EC1And first
Shift gears probability U1Be converted to the quantification gradation in fuzzy domain；By the practical opposite speed E of front truck speed and current vehicle speed1And
Practical opposite vehicle speed variation rate EC1Fuzzy control model is inputted, fuzzy control model output is the first shift probability U1。
The practical opposite speed E of front truck speed and current vehicle speed1Variation range be [- 20,20], practical opposite speed becomes
Rate EC1Variation range be [- 0.4,0.4], setting quantizing factor is all 1, therefore the reality of front truck speed and current vehicle speed
Opposite speed E1And practical opposite vehicle speed variation rate EC1Domain be respectively [- 20,20] and [- 0.4,0.4], first shift generally
Rate U1Domain be [0,1]；In order to guarantee control precision, control it can well in different environments,
According to repetition test, finally by the practical opposite speed E of front truck speed and current vehicle speed1Variation range be divided into 7 grades, mould
Paste collection is { NB, NM, NS, Z, PS, PM, PB }, respectively indicates { negative big, to bear, bear small, zero, just small, center is honest }；It will be practical
Opposite vehicle speed variation rate EC1Variation range be divided into 7 grades, fuzzy set is { NB, NM, NS, Z, PS, PM, PB }, is respectively indicated
{ negative big, to bear, bear small, zero, just small, center is honest }；First shift probability U of output1It is divided into 5 grades, fuzzy set is
{ S, SM, M, MB, B }, S indicate small, and SM indicates smaller, and M indicates medium, and MB indicates larger, and B indicates big；The equal Gauss of membership function
π membership function, expression formula areIn formula, x is the arbitrary element in domain, c determining function center
Position, the width of σ determining function curve；As shown in Figure 2,3, 4.
Specific fuzzy control rule is as shown in table 1.
1 fuzzy control rule of table
In another embodiment, in step 3, the second shift probability is obtained by establishing fuzzy control method,
It specifically includes as follows:
Respectively by the distance difference E of practical relative distance and desired safe distance2, distance difference change rate EC2And second
Shift gears probability U2Be converted to the quantification gradation in fuzzy domain；By the distance difference E of practical relative distance and desired safe distance2
And distance difference change rate EC2Fuzzy control model is inputted, fuzzy control model output is the second shift probability U2。
The distance difference E of practical relative distance and desired safe distance2Variation range be [- 30,30], distance difference become
Rate EC2Variation range be [- 1,1], setting quantizing factor is all 1, therefore practical relative distance and desired safe distance
Distance difference E2And distance difference change rate EC2Domain be respectively [- 30,30] and [- 1,1], second shift gears probability U2Opinion
Domain is [0,1]；In order to guarantee the precision of control, it control it can well in different environments, according to repeatedly
Test, finally by the distance difference E of practical relative distance and desired safe distance2Variation range be divided into 7 grades, fuzzy set
For { NB, NM, NS, Z, PS, PM, PB }, { negative big, to bear, bear small, zero, just small, center is honest } is respectively indicated；By distance difference
Change rate EC2Variation range be divided into 7 grades, fuzzy set is { NB, NM, NS, Z, PS, PM, PB }, respectively indicate it is negative big, bear
In, bear it is small, zero, it is just small, center, it is honest；Second shift probability U of output2Be divided into 5 grades, fuzzy set be S, SM, M,
MB, B }, S indicates small, and SM indicates smaller, and M indicates medium, and MB indicates larger, and B indicates big；The equal Gaussian of membership function is subordinate to letter
Number, expression formula areIn formula, x is the arbitrary element in domain, the position at c determining function center, σ
The width of determining function curve；As shown in Fig. 5,6,7.
Specific fuzzy control rule is as shown in table 2.
2 fuzzy control rule of table
In another embodiment, the first correction coefficient δ1For
Second correction coefficient δ2For
In formula, v is current vehicle speed, v1For front truck speed, Δ v0Opposite speed, Δ D are compared for experience0For expectation safety away from
From Δ D is practical relative distance, and e is the truth of a matter of natural logrithm.
In another embodiment, experience compares opposite speed Δ v0For 10km/h；It is expected that safe distance Δ D0For 30m.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of adaptive cruise shift control method based on single planetary row driving device, which is characterized in that including walking as follows
It is rapid:
Step 1: determining expectation safe distance Δ D0；
Step 2: acquiring current vehicle speed v, front truck speed v by vehicle speed sensor1, acquire the practical relative distance of this vehicle and front truck
ΔD；
Step 3: calculating the practical opposite speed of the front truck speed and the current vehicle speed, the first shift probability is obtained；And
The distance difference for calculating the practical relative distance and the expectation safe distance, obtains the second shift probability；
Step 4: according to the current vehicle speed v, the front truck speed v1, the practical relative distance Δ D, first shift it is general
Rate and the second shift probability, are calculated final shift probability, when the final shift probability is greater than given threshold, control
Vehicle processed shifts to second gear from a gear；
When selection one is kept off, first clutch separation, second clutch is combined；When selecting second gear, first clutch is combined, the
Two clutch separations；
Wherein, the final shift probability U is calculated as
In formula, δ1For the first correction coefficient, δ2For the second correction coefficient, U1For the first shift probability, U2For the second shift probability, e
For the truth of a matter of natural logrithm, v is current vehicle speed, v1For front truck speed, Δ v0Opposite speed, Δ D are compared for experience0For expectation peace
Full distance, Δ D are practical relative distance；
The value range of the threshold value is 0.88~1.13.
2. as described in claim 1 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
In obtaining the first shift probability by establishing fuzzy control method, process includes: in the step 3
Respectively by the practical opposite speed of front truck speed and current vehicle speed, practical opposite vehicle speed variation rate and the first shift probability
Be converted to the quantification gradation in fuzzy domain；
The reality is inputted into fuzzy control model, the fuzzy control model with respect to speed and practical opposite vehicle speed variation rate
In practical opposite speed and practical opposite vehicle speed variation rate be divided into 7 grades；
Fuzzy control model output is the first shift probability；The first shift probability is divided into 5 grades.
3. as claimed in claim 2 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
In the domain of the practical opposite speed of front truck speed and current vehicle speed is [- 20,20], the reality of front truck speed and current vehicle speed
The domain of opposite vehicle speed variation rate is [- 0.4,0.4], and setting quantizing factor is all 1；It is described first shift probability domain be
[0,1].
4. as claimed in claim 3 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
In the fuzzy set of the practical opposite speed of the front truck speed and current vehicle speed is { NB, NM, NS, Z, PS, PM, PB }, before described
The fuzzy set of the practical opposite vehicle speed deviation change rate of vehicle speed and current vehicle speed is { NB, NM, NS, Z, PS, PM, PB }, described
The fuzzy set of first shift probability is { S, SM, M, MB, B }；And
Membership function selects Gauss π membership function, and expression formula is
In formula, x is the arbitrary element in domain, the position at c determining function center, the width of σ determining function curve.
5. as claimed in claim 4 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
In obtaining the second shift probability by establishing fuzzy control method, process includes: in the step 3
Respectively by distance difference, the distance difference change rate and second of the practical relative distance and the expectation safe distance
Shift probability is converted to the quantification gradation in fuzzy domain；
The distance difference and distance difference change rate are inputted into fuzzy control model, the distance in the fuzzy control model
Difference and distance difference change rate are divided into 7 grades；
Fuzzy control model output is the second shift probability；The second shift probability is divided into 5 grades.
6. as claimed in claim 5 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
In the domain of the distance difference of the practical relative distance and the expectation safe distance is [- 30,30], and the reality is opposite
The domain of the distance difference change rate of distance and the expectation safe distance is [- 1,1], and setting quantizing factor is all 1；Second changes
The domain for keeping off probability is [0,1].
7. as claimed in claim 6 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
Be in the fuzzy set of, the practical relative distance and the distance difference of the expectation safe distance NB, NM, NS, Z, PS, PM,
PB }, the practical relative distance and it is described expectation safe distance distance difference change rate fuzzy set be NB, NM, NS, Z,
PS, PM, PB }, the fuzzy set of the second shift probability is { S, SM, M, MB, B }；And
Membership function selects Gauss π membership function, and expression formula is
In formula, x is the arbitrary element in domain, the position at c determining function center, the width of σ determining function curve.
8. as claimed in claim 7 based on the adaptive cruise shift control method of single planetary row driving device, feature exists
In the first correction coefficient δ1For
The second correction coefficient δ2For
In formula, v is current vehicle speed, v1For front truck speed, Δ v0Opposite speed, Δ D are compared for experience0It is expected safe distance, Δ
D is practical relative distance, and e is the truth of a matter of natural logrithm.
9. as described in claim 8 based on the adaptive cruise shift control method of single planetary row driving device, feature
It is, the experience compares opposite speed Δ v0For 10km/h；And
The expectation safe distance Δ D0For 30m.
10. as described in claim 9 based on the adaptive cruise shift control method of single planetary row driving device, feature
It is, the threshold value is 0.98.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112392922A (en) * | 2019-08-19 | 2021-02-23 | 比亚迪股份有限公司 | Transmission, integrated axle assembly and car |
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| CN110015287B (en) | 2023-09-08 |
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