CN110228469A - A kind of control method for vehicle, apparatus and system - Google Patents
A kind of control method for vehicle, apparatus and system Download PDFInfo
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- CN110228469A CN110228469A CN201810179487.2A CN201810179487A CN110228469A CN 110228469 A CN110228469 A CN 110228469A CN 201810179487 A CN201810179487 A CN 201810179487A CN 110228469 A CN110228469 A CN 110228469A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 54
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 238000012544 monitoring process Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 13
- 238000012360 testing method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
The embodiment of the present application provides a kind of control method for vehicle, device and system, the method is applied to the first vehicle, first vehicle includes the first vehicular control unit OBU, the 2nd OBU that first OBU and power supplying apparatus include is communicated to connect, the power supplying apparatus is used to provide power for the first vehicle, which comprises the first OBU monitors the motion state of first vehicle；The motion state of first vehicle includes at least one of the drag torque value of first vehicle, acceleration value, velocity amplitude；When the motion state for determining first vehicle meets preset condition, the first OBU controls first vehicle braking, is consistent or reaches unanimity to control the motion state of first vehicle and the power supplying apparatus.The automatic control of trailer may be implemented in the embodiment of the present application, reduces human cost waste, improves safety, improve the convenience of trailer.
Description
Technical field
The invention relates to automobile technical fields, and in particular to a kind of control method for vehicle, apparatus and system.
Background technique
Currently, vehicle is very widely used, have become the important vehicles.When vehicle, which casts anchor, to run out of steam,
It generally requires another vehicle and power is provided drags it to maintenace point to repair.In general, being to pass through cable traction by another vehicle
The first vehicle to cast anchor, the vehicle to cast anchor control steering wheel and brake by driver, to follow advance.But this side
Formula needs additional driver to operate, and cannot achieve the first vehicle and follows power car automatically, and there are inconvenient, wastes
The not high defect of manpower, safety.
Summary of the invention
The embodiment of the present application provides a kind of control method for vehicle, apparatus and system, it is intended to solve of the existing technology
The technical problem that trailer control method is inconvenient, waste of manpower, safety be not high.
For this purpose, the embodiment of the present application provides the following technical solutions:
The first aspect of the embodiment of the present application discloses a kind of control method for vehicle, be applied to the first vehicle, described first
The 2nd OBU that vehicle includes the first vehicular control unit OBU, the first OBU and power supplying apparatus includes is communicated to connect, institute
Power supplying apparatus is stated for providing power for the first vehicle, which comprises the first OBU monitors first vehicle
Motion state；The motion state of first vehicle includes drag torque value, acceleration value and the speed of first vehicle
At least one of value；When the motion state for determining first vehicle meets preset condition, described in the first OBU control
First vehicle braking is consistent or tends to one to control the motion state of first vehicle and the power supplying apparatus
It causes.
The second aspect of the embodiment of the present application discloses a kind of controller of vehicle, comprising: monitoring unit, for monitoring
The motion state of first vehicle；The motion state of first vehicle includes the drag torque value of first vehicle, acceleration
At least one of value and velocity amplitude；Brak control unit, for being preset when the motion state for determining first vehicle meets
When condition, first vehicle braking is controlled, is protected with controlling the motion state of first vehicle and the power supplying apparatus
It holds consistent or reaches unanimity.
The third aspect of the embodiment of the present application discloses a kind of device for vehicle control, includes memory, and
One perhaps more than one program one of them or more than one program be stored in memory, and be configured to by one
A or more than one processor executes control method for vehicle as described in relation to the first aspect.
The fourth aspect of the embodiment of the present application discloses a kind of machine readable media, is stored thereon with instruction, when by one
Or multiple processors are when executing, so that device executes control method for vehicle as described in relation to the first aspect.
5th aspect of the embodiment of the present application, discloses a kind of vehicle control system, the system comprises the first vehicle and
Power supplying apparatus, first vehicle include the first vehicular control unit OBU, and the power supplying apparatus includes the 2nd OBU,
First OBU and the 2nd OBU is communicated to connect, in which: the power supplying apparatus is used to provide power for the first vehicle；It is described
First vehicle is used to monitor the motion state of the first vehicle using the first OBU, when the motion state for determining first vehicle is full
When sufficient preset condition, first vehicle braking is controlled, to control the movement of first vehicle and the power supplying apparatus
State is consistent or reaches unanimity；Wherein, the motion state of first vehicle includes the tractive force of first vehicle
At least one of square value, acceleration value and velocity amplitude.
Control method for vehicle and device provided by the embodiments of the present application can be to break down by power supplying apparatus
One vehicle provides power, and the motion state of the first vehicle is monitored by the first OBU of the first vehicle, is determining the motion state
When meeting setting condition, first vehicle braking is controlled, so that the motion state of first vehicle and the power provide
Device is consistent or reaches unanimity, and avoids that accident occurs.Method and apparatus provided by the embodiments of the present application, can be by occurring
Failure, power shortage the first vehicle to oneself state realize control, the vehicle is controlled without additional driver, is subtracted
Lack human cost waste, improved safety, improves the convenience of trailer.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is vehicle control system schematic diagram provided by the embodiments of the present application；
Fig. 2 is the control method for vehicle flow chart that one embodiment of the application provides；
Fig. 3 is the control method for vehicle schematic diagram that another embodiment of the application provides；
Fig. 4 is the control method for vehicle schematic diagram that the application another embodiment provides；
Fig. 5 is the control method for vehicle schematic diagram that the application another embodiment provides；
Fig. 6 is the control method for vehicle schematic diagram that the application another embodiment provides；
Fig. 7 is the controller of vehicle schematic diagram that one embodiment of the application provides；
Fig. 8 is a kind of block diagram for controller of vehicle shown according to an exemplary embodiment.
Specific embodiment
The embodiment of the present application provides a kind of control method for vehicle, apparatus and system, may be implemented to automatically control, reduce
Human cost waste, improves safety, improves the convenience of trailer.
The term used in the embodiment of the present application is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The application.In the embodiment of the present application and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.It is also understood that term used herein
"and/or" refers to and includes that one or more associated any or all of project listed may combine.
It is vehicle control system schematic diagram provided by the embodiments of the present application referring to Fig. 1.The vehicle control system includes dynamic
Power provides device and the first vehicle.Wherein, the power supplying apparatus and the first vehicle can be used drag rope and realize physics
Connection, provides power by power supplying apparatus for the first vehicle.The power supplying apparatus, which can be, any can provide traction
The device of power, such as other normal vehicles.It may include that (English is complete for the second vehicular control unit on the power supplying apparatus
Referred to as On Board Unit, English abbreviation OBU).First vehicle be specifically as follows it is breaking down, can not be itself
The vehicle of power is provided, and unpowered vehicle can be referred to as.First OBU, the first OBU are installed on first vehicle
It may be implemented to communicate to connect with the 2nd OBU.Specifically, V2X communication connection may be implemented in the first OBU and the 2nd OBU.It is described
First OBU is also used to monitor the motion state of the first vehicle, when the motion state for determining first vehicle meets preset condition
When, control first vehicle braking.Further, the first OBU can also receive the angular signal of the 2nd OBU transmission
Value；When determining that the angular signal meets steering condition, the first OBU controls first Vehicular turn.By to
The control of one vehicle braking and steering realizes the first vehicle and follows advance automatically to power supplying apparatus, guarantees safety.
Specifically, vehicle control and status signal can be carried out by V2X between power supplying apparatus and the first vehicle
Interaction.Vehicle control and status signal are very high to requirement of real-time, and the communication means of V2X needs to meet wanting for real-time control
It asks.
To realize that the first vehicle follows power device to be moved automatically, the first vehicle needs to obtain the control of power device
And status signal, while these signals are analyzed and processed, to obtain the control instruction of itself, and be sent to actuator into
Row executes.
For example, the first vehicle during following power device to move, can carry out closed loop to speed and drag torque
Control.First vehicle needs to follow the speed of power device, as the speed V of the first vehicle1Greater than the velocity amplitude V of power device2
When, the first vehicle can active brake deceleration, until V1Less than or equal to V2.When the first vehicle is detected by drag torque sensor
It is less than T to torqueminWhen, the first vehicle can active brake deceleration, until V1Less than or equal to V2.First vehicle can also be supervised actively
The steering state signal of power device is controlled, if power device turns to, the first vehicle also should coefficient k control according to a certain percentage
System output turns to.
By above-mentioned vehicle control system, the first vehicle may be implemented and follow power supplying apparatus to be moved automatically, nothing
Driver is needed to control vehicle.Disabled vehicles such as the first vehicle can pass through the current control intention pair for obtaining power device of V2X
Itself is controlled, to achieve the purpose that follow advance.
Simple introduction has been carried out to the realization of the application to vehicle control system side above, it below will be from the angle of the first vehicle
Degree describes the control method for vehicle.
The control method for vehicle shown in the application exemplary embodiment is introduced below in conjunction with attached drawing 2 to attached drawing 6.
Referring to fig. 2, the control method for vehicle flow chart provided for one embodiment of the application.The method can be applied to
One vehicle, first vehicle include that the first vehicular control unit OBU, the first OBU and power supplying apparatus include
Two OBU communication connection, the power supplying apparatus are used to provide power for the first vehicle.As shown in Fig. 2, the method can wrap
It includes:
S201, the first OBU monitor the motion state of first vehicle.
Wherein, the motion state of first vehicle includes drag torque value, acceleration value and the speed of first vehicle
At least one of angle value.
In some embodiments, it includes: the first OBU prison that the first OBU, which monitors the motion state of the first vehicle,
The drag torque value of the first vehicle is surveyed, the drag torque value is collected by the drag torque sensor of first vehicle.
When implementing trailer, the first vehicle and power supplying apparatus can realize physical connection by drag rope, in order to dynamic
Power provides device and provides power for the first vehicle.Drag torque sensor can be installed in the first vehicle, for detecting first
Vehicle and the direct drag torque T of power supplying apparatus.First OBU can monitor the variation of drag torque T, if the first vehicle
When drag torque value T is less than the drag torque threshold value Tmin of setting, determination meets preset condition, at this moment executes S202.
In some embodiments, it includes: the first OBU prison that the first OBU, which monitors the motion state of the first vehicle,
Survey the acceleration value of the first vehicle.
In other embodiments, the first OBU monitoring state of motion of vehicle includes: the first OBU monitoring institute
State the velocity amplitude of the first vehicle.Further, the first OBU receives the speed for the power supplying apparatus that the 2nd OBU is sent
Angle value.
S202, when the motion state for determining first vehicle meets preset condition, the first OBU control described the
One vehicle braking is consistent or tends to one to control the motion state of first vehicle and the power supplying apparatus
It causes.
In some embodiments, the first OBU monitors the drag torque value of the first vehicle, if working as first vehicle
Drag torque value be less than setting drag torque threshold value when, determination meet preset condition, at this moment the first OBU control the first vehicle
Braking.Generally, under normal trailer traction operating condition, the first vehicle driving, drag torque value are drawn by power supplying apparatus
Generally larger than or equal to setting drag torque threshold value.If power supplying apparatus slows down suddenly, at this moment the first vehicle and power
There is provided the direct drag torque T of device can reduce suddenly.In order to guarantee traffic safety, at this moment the first vehicle should be implemented to brake.
Specifically, the first OBU of the first vehicle can be generated brake command, be sent to control for brake when determination meets preset condition
Unit applies corresponding brake force by brak control unit.The brak control unit can be stabilizing control system (SCS).
In some embodiments, the first OBU monitors the acceleration value of the first vehicle, when adding for first vehicle
When velocity amplitude is greater than or equal to the acceleration rate threshold of setting, determination meets preset condition, and at this moment the first OBU controls the first vehicle system
It is dynamic.Generally, under normal trailer traction operating condition, the first vehicle driving is drawn by power supplying apparatus, the first vehicle and dynamic
The acceleration that power provides device is identical.In some cases it may appear that the acceleration of the first vehicle is greater than the feelings of acceleration rate threshold
Condition.For example, when the vehicle goes downhill, if power supplying apparatus is applied with braking, the acceleration of the first vehicle be will increase.In order to ensure
Safety, needs the motion state of the first vehicle and power supplying apparatus to be consistent or reach unanimity, at this moment needs to the first vehicle
Apply brake force.
In some embodiments, the first OBU monitors the velocity amplitude of first vehicle.First OBU is also obtained
The velocity amplitude of power taking offer device.Specifically, the first OBU can receive the speed for the power supplying apparatus that the 2nd OBU is sent
Angle value.If it is determined that determination meets preset condition when the velocity amplitude of the first vehicle is greater than the velocity amplitude of the power supplying apparatus, this
When the first OBU control the first vehicle braking.Generally, under normal trailer traction operating condition, by power supplying apparatus traction the
One vehicle driving, the first vehicle are identical as the velocity amplitude of power supplying apparatus.In some cases it may appear that the speed of the first vehicle
Angle value is greater than the case where velocity amplitude of power supplying apparatus.For example, if just will appear when the unexpected braking deceleration of power supplying apparatus
The velocity amplitude of one vehicle is greater than the case where velocity amplitude of power supplying apparatus.In order to ensure safety, the first vehicle and power are needed
The motion state for providing device is consistent or reaches unanimity, and at this moment needs to apply brake force to the first vehicle.
In other embodiments, the first OBU can also receive the angular signal value of the 2nd OBU transmission, when true
When the fixed angular signal meets steering condition, the first OBU controls first Vehicular turn.For example, working as the corner
When the absolute value of signal is greater than or equal to set angle threshold value, then it can control the first Vehicular turn.First OBU controls institute
The first Vehicular turn first angle is stated, the first angle is the product of the angular signal value and predetermined coefficient.
Presently filed embodiment is more clearly understood that for the ease of those skilled in the art, below with two specific examples
The application embodiment is introduced.It should be noted that the specific example is only so that those skilled in the art become apparent from
Ground understands the application, but presently filed embodiment is not limited to the specific example.
Referring to Fig. 3, the control method for vehicle flow chart provided for one embodiment of the application.As shown in figure 3, being the first vehicle
The flow chart of connection is established with power supplying apparatus.
S301 establishes physical connection between power supplying apparatus and the first vehicle.
For example, drag rope can be connected between power supplying apparatus and the first vehicle.
S302 establishes communication connection between power supplying apparatus and the first vehicle.
For example, V2X communication connection can be established between power supplying apparatus and the first vehicle.First vehicle can be actively
V2X handshake is sent to power supplying apparatus, to establish communication connection.
S303, the first vehicle of setting enter trailer mode, and startup function self-test.
Wherein, the first vehicle of setting enters trailer mode and can be realized by hardware switch or software switch.
Wherein, self-test process may refer to Fig. 4.As shown in figure 4, being the first vehicle self-test flow diagram.
S303A, the first vehicle OBU start self-test.
Whether S303B, detection V2X communication connection succeed.If so, executing S303C；If it is not, executing S303A.
When specific implementation, if the first vehicle and power supplying apparatus complete V2X communication handshake certification after, the first OBU and
2nd OBU can be shaken hands pass signal by other side's return, after detecting and shaking hands pass signal, it can be determined that V2X communication
Successful connection.
S303C judges to receive whether power supplying apparatus signal succeeds.If so, executing S303D；If it is not, executing S303A.
When specific implementation, after the first vehicle and power supplying apparatus completion V2X communication handshake, the first OBU of the first vehicle
It can receive the coherent signal of the 2nd OBU from power supplying apparatus.If the signal received be it is effective, be judged as that reception is dynamic
Power provides the success of device signal.
S303D judges whether drag torque sensor is normal.If it is not, executing S303A.
Specifically, if the first OBU can successfully read the signal of drag torque sensor feedback, it is determined that drag torque passes
Sensor is normal.
S303E determines self-test success.
S304, judges whether self-test passes through.
S305, if self-test passes through, into the success of trailer mode.
It after the first vehicle enters trailer mode, needs to control travel condition of vehicle, main includes two aspects:
First is that the closed-loop control to speed and drag torque, first is that the control to Vehicular turn.Give respectively below with reference to Fig. 5 and Fig. 6
Explanation.
Referring to Fig. 5, the control method for vehicle flow chart provided for one embodiment of the application.As shown in figure 5, being the first vehicle
The schematic diagram of closed-loop control is executed to speed and drag torque.It should be noted that realizing the mesh of closed-loop control in the first vehicle
Be keep the first vehicle consistent with the motion state of power supplying apparatus or reach unanimity.The motion state includes vehicle
The states such as speed, acceleration.
S501, the first vehicle open double flashing lights under trailer mode, and control vehicle hangs neutral gear or N grades
First OBU of the first vehicle can send command request and open double flashing lights, while switch gear to N grades.
S502, the first vehicle judge whether acceleration value a is less than the acceleration rate threshold a of settingmax；If so, executing S503；
If it is not, executing S506.
First OBU monitors the variation of vehicle acceleration, if real time acceleration value a is greater than the acceleration rate threshold a of settingmax, the
One OBU generates brake command, is sent to brak control unit, applies corresponding brake force by brak control unit.
S503, the first vehicle judge the velocity amplitude V of itself1Whether the velocity amplitude V of power supplying apparatus is less than2；If so, holding
Row S504；If it is not, executing S506.
First OBU monitors the variation of car speed, if the velocity amplitude V of the first vehicle1Greater than the speed of power supplying apparatus
Value V2, the first OBU generate brake command, be sent to brak control unit, corresponding brake force applied by brak control unit, directly
To V1Less than or equal to V2。
S504, the first vehicle judge whether drag torque value T is greater than the drag torque threshold value T of settingmin；If so, executing
S505；If it is not, executing S506.
First OBU monitors the variation of drag torque, if the drag torque T of the drag torque sensor feedback of the first vehicle is small
In or equal to drag torque threshold value TminWhen, the first OBU generates brake command, brak control unit is sent to, by control for brake list
Member applies corresponding brake force.
S505, the first vehicle do not apply brake force.
S506, the first vehicle apply brake force.
Referring to Fig. 6, the control method for vehicle flow chart provided for one embodiment of the application.As shown in fig. 6, being the first vehicle
The schematic diagram that steering is controlled.
S601, the first vehicle judge that the direction angular signal value A's of received power supplying apparatus is exhausted under trailer mode
Whether angle threshold A is greater than to value0。
Under trailer mode, the first OBU can receive the direction angular signal value A of the 2nd OBU transmission, if A is more than or equal to
±A0When, the first OBU sends steering order, and requesting the angle value turned to is k*A.Wherein K is the proportionality coefficient that can be demarcated.
S602, if so, the first vehicle control exports steering angle value.
Wherein, steering angle value is the product of A and Proportional coefficient K.
The corresponding equipment of method provided by the embodiments of the present application is introduced below.
Referring to Fig. 7, the controller of vehicle schematic diagram provided for one embodiment of the application.
A kind of controller of vehicle 700, comprising:
Monitoring unit 701, for monitoring the motion state of the first vehicle；The motion state of first vehicle includes described
At least one of drag torque value, acceleration value and velocity amplitude of first vehicle.Wherein, the monitoring unit 701 is specific
It realizes the S201 for being referred to embodiment illustrated in fig. 2 and realizes.
Brak control unit 702, for controlling institute when the motion state for determining first vehicle meets preset condition
The first vehicle braking is stated, is consistent or tends to control the motion state of first vehicle and the power supplying apparatus
Unanimously.Wherein, the specific implementation of the brak control unit 702 is referred to the S202 of embodiment illustrated in fig. 2 and realizes.
In some embodiments, the monitoring unit includes:
First monitoring unit, for monitoring the drag torque value of the first vehicle, the drag torque value is by first vehicle
Drag torque sensor collect；
The brak control unit includes:
First brak control unit is less than the drag torque threshold value of setting for the drag torque value when first vehicle
When, it determines and meets preset condition, control first vehicle braking.
In some embodiments, the monitoring unit includes:
Second monitoring unit, for monitoring the acceleration value of the first vehicle；
The brak control unit includes:
Second brak control unit is greater than or equal to the acceleration threshold of setting for the acceleration value when first vehicle
It when value, determines and meets preset condition, control first vehicle braking.
In some embodiments, the monitoring unit includes:
Third monitoring unit, for monitoring the velocity amplitude of first vehicle；
Described device further include:
First receiving unit, for receiving the velocity amplitude for the power supplying apparatus that the 2nd OBU is sent；
The brak control unit includes:
Third brak control unit is greater than the speed of the power supplying apparatus for the velocity amplitude when first vehicle
It when value, determines and meets preset condition, control first vehicle braking.
In some embodiments, described device further include:
Second receiving unit, for receiving the angular signal value of the 2nd OBU transmission；
Turning control cell, described in when determining that the angular signal meets steering condition, the first OBU is controlled
First Vehicular turn.
The turning control cell is specifically used for: the first OBU controls the first Vehicular turn first angle, described
First angle is the product of the angular signal value and predetermined coefficient.
It is the block diagram of the device for the vehicle control that another embodiment of the application provides referring to Fig. 8.It include: at least one
It manages device 801 (such as CPU), memory 802 and at least one communication bus 803, it is logical for realizing the connection between these devices
Letter.Processor 801 is for executing the executable module stored in memory 802, such as computer program.Memory 802 may
Include high-speed random access memory (RAM:RandomAccess Memory), it is also possible to further include non-labile memory
(non-volatile memory), for example, at least a magnetic disk storage.One or more than one program are stored in memory
In, and be configured to by one or more than one processor 801 executes control method for vehicle as shown in Figures 2 to 6.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory of instruction, above-metioned instruction can be executed by the processor of device to complete the above method.For example, described non-provisional
Property computer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and light data and deposit
Store up equipment etc..
A kind of machine readable media, such as the machine readable media can be non-transitorycomputer readable storage medium,
When the instruction in the medium is executed by the processor of device (terminal or server), enable a device to execute such as Fig. 2
To control method for vehicle shown in fig. 6.
Wherein, the setting of the application device each unit or module is referred to Fig. 2 and realizes to method shown in fig. 6,
This is not repeated.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims
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.The application can be by calculating
The general described in the text, such as program module up and down for the computer executable instructions that machine executes.Generally, program module includes holding
The routine of row particular task or realization particular abstract data type, programs, objects, component, data structure etc..It can also divide
Cloth calculates in environment and practices the application, in these distributed computing environments, by connected long-range by communication network
Processing equipment executes task.In a distributed computing environment, program module can be located at the local including storage equipment
In remote computer storage medium.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method
Part explanation.The apparatus embodiments described above are merely exemplary, wherein described be used as separate part description
Unit may or may not be physically separated, component shown as a unit may or may not be
Physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying
In the case where creative work, it can understand and implement.The above is only the specific embodiment of the application, should be referred to
Out, for those skilled in the art, it under the premise of not departing from the application principle, can also make several
Improvements and modifications, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that be applied to the first vehicle, first vehicle includes the first vehicle-mounted control
The 2nd OBU that unit OBU, the first OBU and power supplying apparatus include is communicated to connect, and the power supplying apparatus is for being
First vehicle provides power, which comprises
First OBU monitors the motion state of first vehicle；The motion state of first vehicle includes described first
At least one of the drag torque value of vehicle, acceleration value, velocity amplitude；
When the motion state for determining first vehicle meets preset condition, the first OBU controls the first vehicle system
It is dynamic, it is consistent or reaches unanimity to control the motion state of first vehicle and the power supplying apparatus.
2. the method according to claim 1, wherein the first OBU monitors the motion state packet of the first vehicle
It includes:
First OBU monitors the drag torque value of the first vehicle, the drag torque value by first vehicle tractive force
Square sensor collects；
The motion state of first vehicle of determination meets preset condition and includes:
When the drag torque value of first vehicle is less than the drag torque threshold value of setting, determination meets preset condition.
3. the method according to claim 1, wherein the first OBU monitors the motion state packet of the first vehicle
It includes:
First OBU monitors the acceleration value of the first vehicle；
The motion state of first vehicle of determination meets preset condition and includes:
When the acceleration value of first vehicle is greater than or equal to the acceleration rate threshold of setting, determination meets preset condition.
4. the method according to claim 1, wherein the first OBU monitoring state of motion of vehicle includes:
First OBU monitors the velocity amplitude of first vehicle；
The method also includes:
First OBU receives the velocity amplitude for the power supplying apparatus that the 2nd OBU is sent.
5. method according to claim 1 or 4, which is characterized in that when the motion state of first vehicle includes first
When the velocity amplitude of vehicle, the motion state of first vehicle of determination meets preset condition and includes:
When the velocity amplitude of first vehicle is greater than the velocity amplitude of the power supplying apparatus, determination meets preset condition.
6. the method according to claim 1, wherein the method also includes:
First OBU receives the angular signal value that the 2nd OBU is sent；
When determining that the angular signal meets steering condition, the first OBU controls first Vehicular turn.
7. according to the method described in claim 6, it is characterized in that, the first OBU control first Vehicular turn includes:
First OBU controls the first Vehicular turn first angle, and the first angle is for the angular signal value and in advance
If the product of coefficient.
8. a kind of controller of vehicle characterized by comprising
Monitoring unit, for monitoring the motion state of the first vehicle；The motion state of first vehicle includes first vehicle
At least one of drag torque value, acceleration value and velocity amplitude；
Brak control unit, for controlling described first when the motion state for determining first vehicle meets preset condition
Vehicle braking is consistent or reaches unanimity to control the motion state of first vehicle and the power supplying apparatus.
9. a kind of vehicle control system, which is characterized in that the system comprises the first vehicle and power supplying apparatus, described first
Vehicle includes the first vehicular control unit OBU, and the power supplying apparatus includes the 2nd OBU, the first OBU and the 2nd OBU
Communication connection, in which:
The power supplying apparatus is used to provide power for the first vehicle；
First vehicle is used to monitor the motion state of the first vehicle using the first OBU, when the fortune for determining first vehicle
When dynamic state meets preset condition, first vehicle braking is controlled, provides dress to control first vehicle and the power
The motion state set is consistent or reaches unanimity；Wherein, the motion state of first vehicle includes first vehicle
At least one of drag torque value, acceleration value and velocity amplitude.
10. a kind of device for vehicle control, which is characterized in that include memory and one or more than one
Program, perhaps more than one program is stored in memory and is configured to by one or more than one processing for one of them
Device executes the control method for vehicle as described in one or more in claim 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810179487.2A CN110228469B (en) | 2018-03-05 | 2018-03-05 | Vehicle control method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810179487.2A CN110228469B (en) | 2018-03-05 | 2018-03-05 | Vehicle control method, device and system |
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| CN110228469B CN110228469B (en) | 2021-06-15 |
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| US9315173B1 (en) * | 2012-11-30 | 2016-04-19 | Hopkins Manufacturing Corporation | Towed vehicle brake controls |
| JP2017077739A (en) * | 2015-10-19 | 2017-04-27 | 日信工業株式会社 | Brake device for vehicle |
| JP6179654B1 (en) * | 2016-11-09 | 2017-08-16 | トヨタ自動車株式会社 | Vehicle control device |
| CN107380147A (en) * | 2017-08-25 | 2017-11-24 | 石家庄铁道大学 | Semitrailer vehicles active safety control system and semitrailer vehicles |
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|---|---|---|---|---|
| US9315173B1 (en) * | 2012-11-30 | 2016-04-19 | Hopkins Manufacturing Corporation | Towed vehicle brake controls |
| JP2017077739A (en) * | 2015-10-19 | 2017-04-27 | 日信工業株式会社 | Brake device for vehicle |
| CN105374207A (en) * | 2015-12-09 | 2016-03-02 | 周跃平 | Control system of driving of vehicle and vehicle fleet chained with vehicle |
| JP6179654B1 (en) * | 2016-11-09 | 2017-08-16 | トヨタ自動車株式会社 | Vehicle control device |
| CN107380147A (en) * | 2017-08-25 | 2017-11-24 | 石家庄铁道大学 | Semitrailer vehicles active safety control system and semitrailer vehicles |
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| CN110228469B (en) | 2021-06-15 |
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