CN110370940B - Steep slope slow-falling constant-speed cruise system and method - Google Patents
Steep slope slow-falling constant-speed cruise system and method Download PDFInfo
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- CN110370940B CN110370940B CN201910533636.5A CN201910533636A CN110370940B CN 110370940 B CN110370940 B CN 110370940B CN 201910533636 A CN201910533636 A CN 201910533636A CN 110370940 B CN110370940 B CN 110370940B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
- B60L15/2027—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope whilst maintaining constant speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a steep-slope slow-descending constant-speed cruise system and a method, which relate to the technical field of new energy automobile control, wherein the system comprises a touch screen, a constant-speed cruise key, a slope sensor and a motor controller which are respectively connected with a vehicle control unit, and the motor controller is connected with a motor; the touch screen is used for sending a first instruction to the vehicle control unit; the constant-speed cruise key is used for sending a second instruction to the vehicle control unit; the gradient sensor is used for sending a current gradient value to the vehicle control unit; and the vehicle control unit is used for judging whether a second instruction is received after receiving the first instruction, judging whether the second instruction is received again after receiving the second instruction, and regulating the output torque of the motor through the motor controller to maintain the vehicle speed at the first target speed if the second instruction is received again and the current gradient value is greater than the first threshold value. The invention can continuously regulate the speed of the steep descent and improve the driving comfort and safety.
Description
Technical Field
The invention relates to the technical field of new energy automobile control, in particular to a steep-slope slow-descent constant-speed cruise system and a method.
Background
When going downhill, because the downhill slope receives acceleration of gravity's influence, even do not step on accelerator vehicle speed also can accelerate gradually, especially to driver that lacks the experience, can step on the brake suddenly when vehicle speed is very fast, cause the tire locking to lose the grip to lead to the vehicle out of control, abrupt slope slow descent system can be fine avoid this risk, except being applicable to comparatively precipitous slope, also be applicable to grit, muddy or ice and snow slope road surface, in order to guarantee vehicle safety downhill path.
The basic principle of the steep-slope slow-descending function of the traditional fuel vehicle is that the engine brake and the ABS system are combined to act together, so that the vehicle maintains a low vehicle speed when descending a steep slope, and the vehicle is matched with a gearbox to descend to a 1 st gear to achieve a low vehicle speed downhill state. The function of the traditional fuel vehicle model is complex to realize and the calibration cost is higher.
The patent with application number 201410670024.8 discloses a pure electric vehicles 'abrupt slope slow descending system and a control method thereof, which provides an electric vehicles' abrupt slope slow descending system, the upper limit speed can be determined by a table look-up method according to the gradient, but the patent needs to increase the control key of abrupt slope slow descending, and the speed of the downhill cannot be continuously controlled. The patent of application number 201611105397.6 discloses a steep slope slow descending method and device applied to an electric automobile, which determine output reverse torque by judging the acceleration of the whole automobile and the opening degree of an accelerator pedal, are difficult to set threshold value calibration, and are easy to confuse a downhill working condition and an acceleration working condition, and in addition, the downhill speed is not continuously controllable.
Disclosure of Invention
The invention aims to provide a steep slope slow-falling constant-speed cruise system, which starts the steep slope slow-falling through a soft switch, thereby saving a steep slope slow-falling hardware switch and realizing the continuous adjustment of the steep slope slow-falling speed.
The embodiment of the invention is realized by the following steps:
the system comprises a vehicle control unit, a touch screen, a constant-speed cruise key, a gradient sensor, a motor controller and a motor, wherein the touch screen, the constant-speed cruise key and the motor controller are respectively connected with the vehicle control unit;
the touch screen is used for sending a first instruction to the vehicle control unit;
the constant-speed cruise key is used for sending a second instruction to the whole vehicle controller;
the gradient sensor is used for sending a current gradient value to the vehicle controller;
the vehicle control unit is used for judging whether the second instruction is received or not after receiving the first instruction, judging whether the second instruction is received again or not after receiving the second instruction, and entering a steep descent mode and sending a third instruction to the motor controller when the vehicle control unit judges that the current gradient value is larger than the first threshold value if the second instruction is received again;
and the motor controller is used for adjusting the output torque of the motor after receiving the third instruction so as to maintain the vehicle speed at the first target speed.
Further, the first target speed is the vehicle speed when the vehicle control unit receives the second instruction again.
Further, the system further comprises a constant-speed cruise cancelling key, wherein the constant-speed cruise cancelling key is used for sending a fourth instruction to the vehicle controller, and the vehicle controller exits the steep-slope slow-descent mode after receiving the fourth instruction;
the touch screen is further used for sending a fifth instruction to the vehicle control unit, and the vehicle control unit exits the steep descent mode after receiving the fifth instruction.
Furthermore, the system also comprises a brake pedal and an accelerator pedal, wherein the brake pedal and the accelerator pedal are respectively connected with the whole vehicle controller;
the brake pedal is used for sending a switch signal of the brake pedal to the vehicle control unit;
the accelerator pedal is used for sending an accelerator pedal opening degree signal to the vehicle control unit;
adjusting the first target speed by controlling the brake pedal or the accelerator pedal.
Further, when the vehicle control unit receives the switch signal of the brake pedal and determines that the effective time of the switch signal of the brake pedal is less than a second threshold, the vehicle control unit sends a sixth instruction to the motor controller, so that the motor controller controls the output torque of the motor, and the vehicle speed is restored to the first target speed and the first target speed is maintained.
Specifically, the steep-slope slow-descending cruise control method comprises the following steps:
s1, judging whether a first instruction is received or not through a vehicle controller, if so, executing S2, otherwise, executing S1;
s2, judging whether a second instruction is received through the vehicle control unit, if so, executing S3, and otherwise, executing S2;
s3, judging whether the second instruction is received again through the vehicle control unit, if so, executing S4, otherwise, executing S3;
s4, the vehicle control unit obtains a current gradient value through a gradient sensor and judges whether the current gradient value is larger than a first threshold value or not, if so, S5 is executed, otherwise, S4 is executed;
and S5, entering a steep-slope slow descending mode, sending the third instruction to the motor controller through the vehicle controller, and adjusting the output torque of the motor after the motor controller receives the third instruction so as to maintain the vehicle speed at the first target speed.
Further, the first target speed is the vehicle speed when the vehicle controller receives the second instruction again.
Further, after step S5, the method further includes:
and the vehicle control unit judges whether a fourth instruction sent by a constant-speed cruise cancelling key or a fifth instruction sent by the touch screen is received, and if the fourth instruction or the fifth instruction is received, the vehicle control unit controls to exit the steep-slope slow-descent mode.
Further, step S3 includes adjusting the first target speed through a brake pedal or an accelerator pedal, which includes the following steps:
reducing the first target speed through the brake pedal, specifically, reducing the speed through the brake pedal, pressing the constant-speed cruise key when the first target speed is reduced to the target speed, and sending the second instruction to the vehicle control unit through the constant-speed cruise key;
and the first target speed is increased through the accelerator pedal, the specific process is that the accelerator pedal is used for accelerating, when the first target speed reaches the target speed, the constant-speed cruise key is pressed down, and the second instruction is sent to the whole vehicle controller through the constant-speed cruise key.
Further, after step S5, the method further includes:
and receiving a switch signal of the brake pedal through the vehicle control unit, judging whether the effective time of the switch signal of the brake pedal is less than a second threshold value, if so, sending a sixth instruction to the motor controller through the vehicle control unit, and controlling the output torque of the motor through the motor controller to recover the vehicle speed to the first target speed and maintain the first target speed.
The beneficial effects of the invention are:
a hardware switch for starting the steep descent is omitted, and the steep descent is started or stopped by matching a soft switch on the touch screen and a constant-speed cruise key, so that the hardware cost is saved; the speed of the abrupt slope slow descent is regulated through the brake pedal and the accelerator pedal, and the abrupt slope slow descent speed can be locked through the constant-speed cruise key, so that the continuous speed regulation of the abrupt slope slow descent speed is realized, meanwhile, the constant speed can be effectively kept in the abrupt slope slow descent process, and the driving comfort and the safety are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a steep-slope slow-descent cruise control system according to a preferred embodiment of the present invention;
fig. 2 is a flowchart of a steep-slope slow-descent cruise control method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
The terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, which is a schematic structural view of a steep-slope slow-descent cruise control system provided by a preferred embodiment of the present invention, the system is applied to an electric vehicle, and includes a vehicle control unit, a touch screen, a cruise control button, a cruise control cancel button, a slope sensor, a brake pedal, an accelerator pedal, an instrument, a motor controller, and a motor, wherein the cruise control button and the cruise control cancel button are both disposed on a steering wheel, so that a user can conveniently send a second instruction for determining a first target speed to the vehicle control unit through the cruise control button or send a fourth instruction for exiting the steep-slope slow-descent to the vehicle control unit through the cruise control cancel button in a driving process.
The touch screen, the constant-speed cruise key, the constant-speed cruise cancel key, the gradient sensor, the brake pedal, the accelerator pedal, the instrument and the motor controller are respectively electrically connected with the whole vehicle controller, the motor controller is connected with the motor, and the motor is used for driving the vehicle to run. The vehicle control system comprises a vehicle control unit, a vehicle speed sensor, a vehicle speed sensor, a vehicle speed, a vehicle data, a vehicle speed, a. The devices can be electrically connected through one or more communication buses or signal lines to realize data transmission or interaction.
The user can realize the deceleration or acceleration of the vehicle speed by controlling the brake pedal or the accelerator pedal, so that the first target speed is adjusted by matching with the constant-speed cruise key.
The touch screen provides an interactive interface (e.g., a user interface) between the vehicle control unit and the user or is used to display image data for reference by the user. In this embodiment, the touch screen may be a liquid crystal touch screen, and may be a capacitive touch screen or a resistive touch screen that supports single-point and multi-point touch operations. The support of single-point and multi-point touch operations means that the touch screen can sense touch operations simultaneously generated from one or more positions on the touch screen, and the sensed touch operations are delivered to the whole vehicle controller for calculation and processing. In this embodiment, a virtual key for starting/exiting the steep slope slow descent is arranged on the touch screen, and a user sends a first instruction for starting the steep slope slow descent or a fifth instruction for exiting the steep slope slow descent to the vehicle control unit by touching the virtual key.
The vehicle controller may be a general Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
And the vehicle control unit is used for judging whether a second instruction is received or not after receiving the first instruction, judging whether the second instruction is received again or not after receiving the second instruction, and if the second instruction is received again, entering a steep-slope slow-descent mode and sending a third instruction to the motor controller when the vehicle control unit judges that the current slope value is greater than the first threshold value.
And the motor controller is used for adjusting the output torque of the motor after receiving the third instruction so as to maintain the vehicle speed at the first target speed, wherein the first target speed is the vehicle speed when the vehicle controller receives the second instruction again.
And after the vehicle control unit receives the fourth instruction or the fifth instruction, the vehicle control unit exits the steep descent mode.
After the vehicle enters the steep descent, if the vehicle controller receives a switching signal of a brake pedal in the steep descent process, the vehicle controller records the effective time of the switching signal of the brake pedal through a timer, and judges that the effective time of the switching signal of the brake pedal is smaller than a second threshold value, if the effective time is smaller than the second threshold value, the vehicle controller sends a sixth instruction to a motor controller, the motor controller controls the output torque of a motor, so that the vehicle speed is recovered to a first target speed and the first target speed is maintained, the speed in the steep descent process is guaranteed to be constant, and the effective time is the time from the step-down of the brake pedal by a user to the complete release of the brake pedal.
As shown in fig. 2, a steep descent cruise control method applied to a steep descent cruise control system can also be implemented independently, and includes:
s1, the vehicle control unit judges whether a first instruction is received, if yes, the vehicle control unit judges that a user sends the first instruction to the vehicle control unit through a virtual key on a touch control touch screen, a steep slope slow descent mode is started, a steep slope slow descent waiting state is entered, S2 is executed, and if not, S1 is executed.
S2, the vehicle control unit judges whether a second instruction sent by the constant-speed cruise key is received, if yes, S3 is executed, the constant-speed cruise icon on the instrument is lightened and flickers, and if not, S2 is executed.
S3, judging whether a second instruction is received again through the vehicle controller, if so, executing S4, otherwise, executing S3;
the user may adjust the first target speed via a brake pedal or an accelerator pedal, including the following two conditions:
reducing the first target speed through the brake pedal, wherein the specific process is that when the speed reduction is needed, a user steps on the brake pedal to reduce the speed, when the first target speed is reduced to the target speed expected by the user, the user presses the constant-speed cruise key, and a second instruction is sent to the whole vehicle controller through the constant-speed cruise key;
the first target speed is increased through an accelerator pedal, the specific process is that when the vehicle needs to be accelerated, a user accelerates by stepping on the accelerator pedal, when the first target speed reaches the target speed expected by the user, the user presses a constant-speed cruise key, and a second instruction is sent to the vehicle control unit through the constant-speed cruise key.
S4, the vehicle control unit obtains a current gradient value through the gradient sensor and judges whether the current gradient value is larger than a first threshold value, wherein the first threshold value is set to be 8%, if yes, the vehicle control unit judges that the vehicle meets the condition of entering a steep slope slow descending state, S5 is executed, and if not, S4 is executed.
And S5, entering a steep-slope slow descent mode, sending a third instruction to the motor controller by the vehicle control unit, and adjusting the output torque of the motor after the motor controller receives the third instruction so as to maintain the vehicle speed at the first target speed, wherein at the moment, the constant-speed cruise icon on the instrument is normally bright to indicate that the vehicle enters the steep-slope slow descent mode. And the first target speed is the finished automobile speed when the finished automobile controller receives the second instruction again.
If the user needs to change the constant-speed cruising speed of the steep-slope slow descent, the vehicle speed is adjusted through the brake pedal or the accelerator pedal again, and meanwhile, the constant-speed cruising speed can be adjusted by matching with the constant-speed cruising key.
S6, in the steep descent process, if a user steps on a brake pedal, the vehicle control unit receives a switch signal of the brake pedal, records the effective time of the brake pedal, judges whether the effective time of the switch signal of the brake pedal is smaller than a second threshold value, the second threshold value can be set to be 5S, if the effective time of the switch signal of the brake pedal is smaller than the second threshold value, the vehicle control unit sends a sixth instruction to the motor controller, the motor controller controls the output torque of the motor, the vehicle speed is recovered to a first target speed, the first target speed is maintained, and the constant-speed cruise of the steep descent is maintained; if the effective time of the switching signal of the brake pedal is greater than a second threshold value, the vehicle control unit judges that the vehicle needs to be stopped or the vehicle needs to be braked under the emergency condition, and the vehicle control unit exits the steep descent mode at the moment.
In the steep descent mode, if a user steps on an accelerator pedal, the vehicle controller receives an opening degree signal of the accelerator pedal, controls the output torque of the motor through the motor controller to realize vehicle acceleration, and controls the output torque of the motor through the motor controller after the user releases the accelerator pedal to enable the vehicle speed to be recovered to a first target speed and maintain the first target speed, and the vehicle speed is kept in the steep descent mode for constant-speed cruise.
In the steep descent process, the vehicle control unit judges whether a fourth instruction sent by a constant-speed cruise cancel key or a fifth instruction sent by a touch screen is received, and if the fourth instruction or the fifth instruction is received, the vehicle control unit exits the steep descent mode.
For example, when a vehicle runs on a mountain road, a user starts a steep descent mode by touching a virtual key on a touch screen, presses a constant speed cruise key on a steering wheel to activate the steep descent mode, the vehicle enters a steep descent preparation state, a cruise icon on an instrument is lightened and flickers at the moment, when the vehicle speed is 20km/h and the gradient obtained by a gradient sensor is 10%, the vehicle controller judges that the current state of the vehicle meets the condition of entering the steep descent mode, at the moment, the user presses the constant speed cruise key to send a second instruction to the vehicle controller, the current vehicle speed is locked as a first target speed of constant speed cruise, the cruise icon on the instrument is changed from flickering to constant brightness, and the vehicle performs constant speed cruise descent on a slope at the speed of 20 km/h. If the user has an acceleration demand, the user increases the speed of the vehicle to 21.5km/h through the accelerator pedal, and presses the constant-speed cruise key again, so that the vehicle controller locks the constant-speed cruise speed at 21.5km/h through the motor controller, and after the vehicle enters a flat road, the user exits the steep-slope descent control mode by pressing the constant-speed cruise cancel key.
If the vehicle slowly descends on a steep slope of a mountain road at the speed of 20km/h, at the moment, the road condition in front is clear and no vehicle exists, a user steps on an accelerator pedal to accelerate, when the vehicle speed is accelerated to 33km/h, a vehicle exists in front for a certain distance, the user loosens the accelerator pedal, and the constant-speed cruising speed of the vehicle is still 20km/h because the user does not press a constant-speed cruising button, the vehicle gradually decelerates and is re-stabilized to the speed of 20km/h to perform steep-slope slow descending cruising; in the driving process, a sharp slope curve appears in front, a user steps on a brake pedal, turns the curve after 3S, the speed of the vehicle is reduced to 6km/h, the user releases the brake pedal, and the vehicle gradually accelerates and then slowly descends and cruises again to a 20km/h steep slope due to the fact that the effective time of a switch signal of the brake pedal is less than a set second threshold value of 5S.
In conclusion, the steep descent control mode is activated by matching the virtual key arranged on the touch screen with the constant-speed cruise key arranged on the steering wheel, so that misoperation of a user is avoided, a steep descent control hardware switch is omitted, and hardware cost is saved. The different steep slope slow descending states are displayed through the instrument, whether the steep slope slow descending mode is started by a user or not can be visually known, the speed of the steep slope slow descending is adjusted through the brake pedal and the accelerator pedal, the steep slope slow descending speed can be locked through the cruise control button, the continuous speed adjustment of the steep slope slow descending speed is achieved, meanwhile, if the user operates the brake pedal or the accelerator pedal in the steep slope slow descending process, the steep slope slow descending speed is not locked through the cruise control button, when the whole vehicle controller judges that the brake pedal or the accelerator pedal is completely released, the output torque of the motor can be controlled through the motor controller, the locked steep slope slow descending speed is recovered, the constant of the steep slope slow descending speed can be effectively kept, and the driving comfort and the safety are improved.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The method of the present embodiment, if implemented in the form of a software functional module and sold or used as a standalone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A steep descent constant-speed cruise system is characterized by comprising a vehicle control unit, a touch screen, a constant-speed cruise key, a gradient sensor, a motor controller and a motor, wherein the touch screen, the constant-speed cruise key and the motor controller are respectively connected with the vehicle control unit;
the touch screen is used for sending a first instruction to the vehicle control unit;
the constant-speed cruise key is used for sending a second instruction to the whole vehicle controller;
the gradient sensor is used for sending a current gradient value to the vehicle control unit;
the vehicle control unit is used for judging whether the second instruction is received or not after receiving the first instruction, judging whether the second instruction is received again or not after receiving the second instruction, and if the second instruction is received again, entering a steep-slope slow-descent mode and sending a third instruction to the motor controller when the vehicle control unit judges that the current slope value is larger than the first threshold value;
and the motor controller is used for adjusting the output torque of the motor after receiving the third instruction so as to maintain the vehicle speed at the first target speed.
2. The system as claimed in claim 1, wherein the first target speed is a vehicle speed when the vehicle controller receives the second command again.
3. The steep-slope slow-descent constant-speed-cruise system according to claim 1, further comprising a constant-speed-cruise cancel button, wherein the constant-speed-cruise cancel button is used for sending a fourth instruction to the vehicle controller, and the vehicle controller exits the steep-slope slow-descent mode after receiving the fourth instruction;
the touch screen is further used for sending a fifth instruction to the vehicle control unit, and the vehicle control unit exits the steep descent mode after receiving the fifth instruction.
4. The system as claimed in claim 1, further comprising a brake pedal and an accelerator pedal, wherein the brake pedal and the accelerator pedal are respectively connected to the vehicle controller;
the brake pedal is used for sending a switch signal of the brake pedal to the vehicle controller;
the accelerator pedal is used for sending an accelerator pedal opening degree signal to the vehicle control unit;
adjusting the first target speed by controlling the brake pedal or the accelerator pedal.
5. The system as claimed in claim 4, wherein when the vehicle control unit receives the switch signal of the brake pedal and determines that the effective time of the switch signal of the brake pedal is less than the second threshold, the vehicle control unit sends a sixth command to the motor controller, so that the motor controller controls the output torque of the motor, so that the vehicle speed is restored to the first target speed and the first target speed is maintained.
6. A steep-slope slow-descent constant-speed cruise method applied to a steep-slope slow-descent constant-speed cruise system as claimed in any one of claims 1-5, characterized by comprising the following steps:
s1, judging whether the first instruction is received or not through the vehicle control unit, if so, executing S2, otherwise, executing S1;
s2, judging whether the second instruction is received or not through the vehicle control unit, if so, executing S3, otherwise, executing S2;
s3, judging whether the second instruction is received again through the vehicle control unit, if so, executing S4, otherwise, executing S3;
s4, the vehicle controller obtains the current gradient value through the gradient sensor and judges whether the current gradient value is larger than the first threshold value, if yes, S5 is executed, and if not, S4 is executed;
and S5, entering a steep descent mode, sending the third instruction to the motor controller through the vehicle control unit, and adjusting the output torque of the motor after the motor controller receives the third instruction so as to maintain the vehicle speed at the first target speed.
7. The method as claimed in claim 6, wherein the first target speed is a vehicle speed when the vehicle controller receives the second command again.
8. The method as claimed in claim 6, further comprising, after step S5:
and the vehicle control unit judges whether a fourth instruction sent by the constant-speed cruise cancelling key or a fifth instruction sent by the touch screen is received, and if the fourth instruction or the fifth instruction is received, the vehicle control unit controls to exit the steep descent mode.
9. The method as claimed in claim 6, wherein the step S3 further includes adjusting the first target speed via a brake pedal or an accelerator pedal, the following steps:
reducing the first target speed through the brake pedal, specifically, reducing the speed through the brake pedal, pressing the constant-speed cruise key when the first target speed is reduced to the target speed, and sending the second instruction to the vehicle control unit through the constant-speed cruise key;
and the first target speed is increased through the accelerator pedal, the specific process is that the accelerator pedal is used for accelerating, when the first target speed reaches the target speed, the constant-speed cruise key is pressed down, and the second instruction is sent to the whole vehicle controller through the constant-speed cruise key.
10. The method for cruise control with steep descent and constant speed according to claim 6, further comprising after step S5:
and receiving a switch signal of a brake pedal through the vehicle control unit, judging whether the effective time of the switch signal of the brake pedal is less than a second threshold value, if so, sending a sixth instruction to the motor controller through the vehicle control unit, and controlling the output torque of the motor through the motor controller to recover the vehicle speed to the first target speed and maintain the first target speed.
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| CN110654358B (en) * | 2019-10-30 | 2021-08-10 | 徐州徐工汽车制造有限公司 | Heavy truck steep slope slow descending control system and control method |
| CN112874520B (en) * | 2021-02-03 | 2023-03-24 | 宜宾丰川动力科技有限公司 | Vehicle control method, device, equipment and storage medium |
| CN112895916A (en) * | 2021-03-22 | 2021-06-04 | 中电鹏程智能装备有限公司 | Throttle self-adaptive control system and method based on road condition perception |
| CN113829898B (en) * | 2021-11-15 | 2023-09-12 | 合众新能源汽车股份有限公司 | Vehicle control method and vehicle |
| CN114084149A (en) * | 2021-11-22 | 2022-02-25 | 奇瑞汽车股份有限公司 | Speed control method and device for automobile and computer storage medium |
| CN113911098B (en) * | 2021-11-25 | 2024-01-23 | 中国重汽集团济南动力有限公司 | HDC high-precision vehicle speed control method and system combined with cruise control |
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| CN206327352U (en) * | 2016-12-30 | 2017-07-14 | 北奔重型汽车集团有限公司 | A kind of intelligent vehicle constant speed cruising system |
| CN107215242B (en) * | 2017-04-07 | 2018-07-24 | 东风特汽（十堰）专用车有限公司 | A kind of descending control system and method |
| CN107117169B (en) * | 2017-04-28 | 2019-06-18 | 北京新能源汽车股份有限公司 | A kind of control method of constant speed cruising system, device, controller and automobile |
| CN109050532A (en) * | 2018-08-27 | 2018-12-21 | 上海精虹新能源科技有限公司 | A kind of constant-speed-cruise control system and control method applied to pure electric automobile |
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