CN110979348B - Vehicle speed control method, device and equipment for energy consumption test by working condition method - Google Patents

Vehicle speed control method, device and equipment for energy consumption test by working condition method Download PDF

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CN110979348B
CN110979348B CN201911384300.3A CN201911384300A CN110979348B CN 110979348 B CN110979348 B CN 110979348B CN 201911384300 A CN201911384300 A CN 201911384300A CN 110979348 B CN110979348 B CN 110979348B
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vehicle speed
target vehicle
current target
power
assistance
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CN110979348A (en
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杨智宇
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Chongqing Technology and Business University
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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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/002—Integrating means
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0021—Differentiating means
    • 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
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0605—Throttle position
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The invention discloses a vehicle speed control method for energy consumption testing by a working condition method, which can calculate a power assisting value and a power assisting adjustment amount, and can control a vehicle speed according to the sum of the power assisting value and the power assisting adjustment amount even if the actual vehicle speed deviates from a current target vehicle speed due to the deviation of the calculation of the power assisting value. The invention also discloses a vehicle speed control device and equipment for the energy consumption test by the working condition method, and the vehicle speed control device and equipment have the same beneficial effects as the vehicle speed control method for the energy consumption test by the working condition method.

Description

Vehicle speed control method, device and equipment for energy consumption test by working condition method
Technical Field
The invention relates to the field of automobiles, in particular to a vehicle speed control method for a working condition method energy consumption test, and also relates to a vehicle speed control device and equipment for the working condition method energy consumption test.
Background
Before the announcement management, energy consumption data of an automobile, such as oil consumption/power consumption of hundred kilometers and the like, needs to be tested, so that the energy consumption data needs to be accurately measured, a working condition method energy consumption test is usually adopted when the automobile is subjected to the energy consumption test, the automobile only needs to run on a rotary drum under a simulation of a preset working condition, then a worker can count the corresponding relation between mileage and energy consumption and obtain the data of the energy consumption of the hundred kilometers and the like, although the controller can be used for automatically controlling the automobile to be tested to run on the rotary drum according to the speed in a preset speed curve in the prior art, a mature speed control method is not available in the prior art, the deviation between the actual speed and the speed in the preset speed curve is large, and the accuracy of an energy consumption test result is poor.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a vehicle speed control method for energy consumption testing by a working condition method, which has the advantages of more accurate speed control and improved accuracy of energy consumption testing results; the invention also aims to provide a vehicle speed control device and equipment for energy consumption testing by a working condition method, which have the advantages of more accurate speed control and improved accuracy of energy consumption testing results.
In order to solve the technical problem, the invention provides a vehicle speed control method for energy consumption test by a working condition method, which comprises the following steps:
calculating a power assisting value according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the power assisting value, a currently received current target vehicle speed, a historical target vehicle speed received in a last sampling period, a sliding resistance acceleration and the sampling period;
calculating the power-assisted adjustment amount by adopting a preset closed-loop control algorithm according to the current target speed and the actual speed of the vehicle to be measured;
and controlling the vehicle speed according to the sum of the assistance value and the assistance adjustment value so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed.
Preferably, the calculating the power assisting value according to the preset current target vehicle speed, the corresponding relationship between the historical target vehicle speed and the power assisting value, the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period specifically comprises:
judging the type of assistance required by the vehicle to be tested according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period;
if the assistance type is driving force, calculating driving torque according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the driving torque, the current target vehicle speed and the historical target vehicle speed;
and if the power type is braking force, calculating the wheel end braking force according to a preset current target vehicle speed, a preset corresponding relation between the historical target vehicle speed and the wheel end braking force, the current target vehicle speed and the historical target vehicle speed.
Preferably, the step of judging the type of assistance required by the vehicle to be tested according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period is specifically as follows:
if V1-V2If > a t 3.6, the boosting type is driving force;
if V1-V2At most a, t, 3.6, the boosting type is braking force;
wherein, V1For the current target vehicle speed, V2And taking the historical target vehicle speed, a as the sliding resistance acceleration and t as the sampling period.
Preferably, the calculating the driving torque according to the preset corresponding relationship between the current target vehicle speed and the historical target vehicle speed and the driving torque, the current target vehicle speed and the historical target vehicle speed specifically includes:
Figure BDA0002343135690000021
the driving force of the wheel end is the mass of the whole vehicle, the target acceleration and the sliding resistance;
Figure BDA0002343135690000022
the step of calculating the wheel end braking force according to the preset corresponding relationship between the current target vehicle speed and the historical target vehicle speed and the wheel end braking force, the current target vehicle speed and the historical target vehicle speed is specifically as follows:
and the wheel end braking force is the total vehicle mass plus the target acceleration plus the sliding resistance.
Preferably, the controlling the vehicle speed according to the sum of the assist value and the assist adjustment amount specifically comprises:
if the assistance type is driving force, sending the sum of the assistance value and the assistance adjustment amount to a power system;
if the boosting type is braking force, judging whether the maximum braking torque of the power system is not less than the wheel end braking force;
if the maximum braking torque of the power system is not smaller than the wheel end braking force, the wheel end braking force is sent to the power system;
if the maximum braking torque of the power system is smaller than the wheel end braking force, controlling the power system to provide the maximum braking torque of the power system, and sending a difference value between the wheel end braking force and the maximum braking torque of the power system to an ESP (electronic stability program) system;
judging whether the power-assisted adjustment amount is a positive number;
if the power-assisted adjustment amount is a positive number, the power-assisted adjustment amount is sent to the power system;
and if the power-assisted adjustment amount is not a positive number, sending the power-assisted adjustment amount to an ESP system.
Preferably, the vehicle to be tested is an extended range electric vehicle or a series hybrid electric vehicle;
if the power-assisted type is a driving force, after a driving torque is calculated according to the current target vehicle speed, the historical target vehicle speed, a preset current target vehicle speed and a corresponding relation between the historical target vehicle speed and the driving torque, the vehicle speed is controlled according to the sum of the power-assisted value and the power-assisted adjustment value so as to control the vehicle speed of the vehicle to be tested to be before the current target vehicle speed, and the vehicle speed control method for the working condition method energy consumption test further comprises the following steps:
determining a theoretical accelerator pedal opening according to the vehicle speed of the vehicle to be tested in the economic mode, the corresponding relation between the accelerator pedal opening and the driving torque, the calculated driving torque and the actual vehicle speed of the vehicle to be tested;
and controlling the virtual accelerator pedal opening of the vehicle to be tested to be the theoretical accelerator pedal opening.
Preferably, the vehicle speed is controlled according to the sum of the assist value and the assist adjustment value, so as to control the vehicle speed of the vehicle to be tested to be before the current target vehicle speed, and the vehicle speed control method for the working condition method energy consumption test further includes:
and controlling the strategy gear of the vehicle to be tested to be a forward gear.
Preferably, the preset closed-loop control algorithm is a proportional-integral-derivative (PID) algorithm.
In order to solve the technical problem, the invention also provides a vehicle speed control device for the energy consumption test by the working condition method, which comprises the following steps:
the first calculation module is used for calculating a power assisting value according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the power assisting value, a currently received current target vehicle speed, a historical target vehicle speed received in a last sampling period, a sliding resistance acceleration and the sampling period;
the second calculation module is used for calculating the power-assisted adjustment amount by adopting a preset closed-loop control algorithm according to the current target speed and the actual speed of the vehicle to be measured;
and the control module is used for controlling the vehicle speed according to the sum of the assistance value and the assistance adjustment amount so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed.
In order to solve the technical problem, the invention also provides a vehicle speed control device for the energy consumption test by the working condition method, which comprises the following steps:
a memory for storing a computer program;
and the processor is used for realizing the steps of the vehicle speed control method for the working condition method energy consumption test when the computer program is executed.
The invention provides a vehicle speed control method for energy consumption testing by a working condition method, which can calculate a power assisting value and a power assisting adjustment amount, and can control a vehicle speed according to the sum of the power assisting value and the power assisting adjustment amount even if the actual vehicle speed deviates from a current target vehicle speed due to the deviation of the calculation of the power assisting value.
The invention also provides a vehicle speed control device and equipment for the energy consumption test by the working condition method, and the vehicle speed control device and equipment have the same beneficial effects as the vehicle speed control method for the energy consumption test by the working condition method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle speed control method for a condition-based energy consumption test according to the present invention;
FIG. 2 is a schematic structural diagram of a vehicle speed control device for a condition-based energy consumption test provided by the invention;
FIG. 3 is a schematic structural diagram of a vehicle speed control device for a condition-based energy consumption test provided by the invention.
Detailed Description
The core of the invention is to provide a vehicle speed control method for energy consumption test by a working condition method, which has more accurate speed control and improves the precision of the energy consumption test result; the other core of the invention is to provide the vehicle speed control device and equipment for the energy consumption test by the working condition method, the speed control is more accurate, and the precision of the energy consumption test result is improved.
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. 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.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle speed control method for a work condition method energy consumption test provided in the present invention, including:
step S1: calculating a power assisting value according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the power assisting value, a currently received current target vehicle speed, a historical target vehicle speed received in a last sampling period, a sliding resistance acceleration and a sampling period;
specifically, the assistance value may include a driving force as well as a braking force, both of which may assist the vehicle in moving and may therefore be referred to as an assistance value.
Specifically, because the current target vehicle speed and the historical target vehicle speed are both constant values, the assistance value calculated in the steps of the embodiment of the present invention is a constant value, but the constant value does not necessarily help the actual speed of the vehicle to be tested to match the current target vehicle speed accurately, so that the accuracy of the energy consumption test result is reduced in this case.
Step S2: calculating the power-assisted adjustment amount by adopting a preset closed-loop control algorithm according to the current target speed and the actual speed of the vehicle to be detected;
specifically, in order to prevent the situation that the actual vehicle speed is not matched with the current target vehicle speed, a preset closed-loop control algorithm can be adopted to calculate the power-assisted adjustment amount according to the current target vehicle speed and the actual vehicle speed of the vehicle to be tested, for example, the power-assisted adjustment amount is +50Nm or-50 Nm, and the power-assisted value can be finely adjusted in such a way, so that the actual vehicle speed approaches the current target vehicle speed, the error of speed control is reduced, and the precision of an energy consumption test result is improved.
The purpose of the boost adjustment amount is to adjust the boost value in a small range, the total amount of the boost is mainly provided by the boost value calculated in step S1, the boost adjustment amount may have a small preset range, for example, may be [ -50Nm, +50Nm ], and the like, and the embodiment of the present invention is not limited herein.
Step S3: and controlling the vehicle speed according to the sum of the power-assisted value and the power-assisted adjustment amount so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed.
Specifically, the assistance value is a main assistance providing part, and the assistance adjustment amount is a fine adjustment part, so that the speed of the vehicle to be tested can be controlled according to the sum of the assistance value and the main assistance providing part, an accurate control effect can be achieved, and the accuracy of an energy consumption test result can be improved.
The invention provides a vehicle speed control method for energy consumption testing by a working condition method, which can calculate a power assisting value and a power assisting adjustment amount, and can control a vehicle speed according to the sum of the power assisting value and the power assisting adjustment amount even if the actual vehicle speed deviates from a current target vehicle speed due to the deviation of the calculation of the power assisting value.
On the basis of the above-described embodiment:
as a preferred embodiment, the calculating the assist value according to the preset current target vehicle speed, the corresponding relationship between the historical target vehicle speed and the assist value, the currently received current target vehicle speed, the historical target vehicle speed received in the previous sampling period, the coasting resistance acceleration, and the sampling period specifically includes:
judging the type of assistance required by the vehicle to be tested according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period;
if the assistance type is driving force, calculating the driving torque according to a preset current target vehicle speed, a corresponding relation between the historical target vehicle speed and the driving torque, the current target vehicle speed and the historical target vehicle speed;
and if the assistance type is braking force, calculating the wheel end braking force according to a preset current target vehicle speed, a preset corresponding relation between the historical target vehicle speed and the wheel end braking force, the current target vehicle speed and the historical target vehicle speed.
Specifically, the type of assistance required by the vehicle to be tested needs to be determined first, and since the sliding resistance acceleration is an inherent speed reduction factor of the vehicle and is in proportion to time, the type of assistance required by the vehicle to be tested needs to be determined according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period.
Specifically, the current target vehicle speed and the historical target vehicle speed are related to the vehicle speed variation, and the current target vehicle speed and the historical target vehicle speed have a certain corresponding relationship with the driving torque, and a specific numerical value of the driving torque can be determined by using the corresponding relationship.
As a preferred embodiment, the step of judging the type of assistance required by the vehicle to be tested according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period is specifically as follows:
if V1-V2If a is greater than t is greater than 3.6, the boosting type is driving force;
if V1-V2At most a, t, 3.6, the power assisting type is braking force;
wherein, V1For the current target vehicle speed, V2The historical target vehicle speed is shown as a, the sliding resistance acceleration is shown as a, and the sampling period is shown as t.
Specifically, the sliding resistance acceleration is equal to the sliding resistance/the whole vehicle servicing mass, and the sliding resistance and the whole vehicle servicing mass are all intrinsic parameters of the vehicle and can be obtained through calculation or tests.
Specifically, the contents of the two inequalities are the same, the content on the left side means the expected variation of the vehicle speed in one sampling period, the content on the right side means the value of the vehicle speed reduction caused by the sliding resistance in one sampling period, and the variation on the right side is the inherent property of the vehicle without any external force, so that when the left side of the equation is larger, it proves that the extra driving force is needed to assist the vehicle in accelerating, and when the right side of the equation is larger, it shows that the sliding resistance of the vehicle alone is not enough to reduce the vehicle to the current target vehicle speed, and the extra braking force is needed to be provided.
Wherein the right side of the equation is multiplied by 3.6 to form m/s2The unit of (d) is converted to Km/h, and is consistent with the unit on the left side of the equation.
Specifically, the assistance type can be determined quickly and accurately through the calculation mode in the embodiment of the invention.
Of course, in addition to the calculation method provided in the embodiment of the present invention, the type of assistance required by the vehicle to be measured may be determined by other calculation methods.
As a preferred embodiment, the calculating the driving torque according to the preset current target vehicle speed and the corresponding relationship between the historical target vehicle speed and the driving torque, the current target vehicle speed and the historical target vehicle speed specifically includes:
Figure BDA0002343135690000081
the driving force of the wheel end is the mass of the whole vehicle, the target acceleration and the sliding resistance;
Figure BDA0002343135690000082
calculating wheel end braking force according to a preset current target vehicle speed, a preset corresponding relation between a historical target vehicle speed and wheel end braking force, the current target vehicle speed and the historical target vehicle speed, wherein the wheel end braking force is specifically calculated as follows:
and the wheel end braking force is the total vehicle mass plus the target acceleration plus the sliding resistance.
Specifically, the wheel radius, the transmission system efficiency and the transmission ratio can be all intrinsic parameters of the vehicle, and the driving torque and the wheel end braking force can be quickly and accurately calculated through the formula, but the obtained result is a fixed value, so that a small deviation can be avoided.
Of course, there may be other various ways to calculate the driving torque and the wheel end braking force besides the calculation way provided by the embodiment of the present invention, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the controlling the vehicle speed according to the sum of the assist value and the assist adjustment amount is specifically:
if the assistance type is driving force, the sum of the assistance value and the assistance adjustment amount is sent to a power system;
if the boosting type is the braking force, judging whether the maximum braking torque of the power system is not less than the wheel end braking force;
if the maximum braking torque of the power system is not smaller than the wheel end braking force, the wheel end braking force is sent to the power system;
if the maximum braking torque of the power system is smaller than the wheel end braking torque, controlling the power system to provide the maximum braking torque of the power system, and sending a difference value between the wheel end braking torque and the maximum braking torque of the power system to the ESP system;
judging whether the power-assisted adjustment amount is positive or not;
if the power-assisted adjustment amount is a positive number, transmitting the power-assisted adjustment amount to a power system;
and if the power-assisted adjustment amount is not a positive number, transmitting the power-assisted adjustment amount to an ESP system.
Specifically, the power system can supply the assist value in accordance with the sum of the assist value and the assist adjustment amount, and thus can directly send the sum of the assist value and the assist adjustment amount to the power system.
The power System may be an EMS (Engine Management System), an MCU (Motor Control Unit), or the like, and the embodiments of the present invention are not limited herein.
Specifically, since the provider of the braking force may be a power system or an ESP (Electronic Stability Program), and the power system is a main provider of the braking force, the embodiment of the present invention may first determine whether the power system can provide the wheel end braking force alone (by determining whether the maximum braking torque of the power system is not less than the wheel end braking force) when the type of the boost is the braking force, and if so, may directly send the wheel end braking force to the power system, and if the power system cannot provide the wheel end braking force alone, the power system needs to provide the maximum braking torque of the power system, and the rest of the wheel end braking force is provided by the ESP.
Specifically, since the boost adjustment amount is not transmitted yet, it is difficult to determine whether the power system provides the maximum braking torque in the embodiment of the present invention, and therefore, for simplicity and convenience of operation, the boost adjustment amount may be directly transmitted to the power system when the boost adjustment amount is positive (the braking force itself is negative, and the boost adjustment amount is positive, which corresponds to a reduction in the braking force), and transmitted to the ESP system when the boost adjustment amount is repeated, so that both the power system and the ESP system cooperate smoothly to provide the braking force.
Of course, the vehicle speed may be controlled according to the sum of the assist value and the assist adjustment amount according to other specific procedures in the embodiment of the present invention, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the vehicle to be tested is an extended range electric vehicle or a series hybrid vehicle;
if the power-assisted type is a driving force, calculating a driving torque according to the current target vehicle speed, the historical target vehicle speed, the preset current target vehicle speed, the corresponding relation between the historical target vehicle speed and the driving torque, and controlling the vehicle speed according to the sum of the power-assisted value and the power-assisted adjustment amount so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed, wherein the vehicle speed control method for the energy consumption test by the working condition method further comprises the following steps:
determining a theoretical accelerator pedal opening according to the vehicle speed of the vehicle to be tested in the economic mode, the corresponding relation between the accelerator pedal opening and the driving torque, the calculated driving torque and the actual vehicle speed of the vehicle to be tested;
and controlling the virtual accelerator pedal opening of the vehicle to be tested to be the theoretical accelerator pedal opening.
Specifically, when the vehicle needs to provide driving force, because the vehicle is not driven manually, the opening degree of the accelerator pedal is usually zero, under the condition, when the vehicle to be tested is an extended range electric vehicle or a series hybrid electric vehicle, only the electric quantity of the vehicle to be tested is consumed, and the actual energy consumption condition is not met, so that the theoretical opening degree of the accelerator pedal needs to be determined according to the vehicle speed of the vehicle to be tested in an economic mode and the corresponding relation between the opening degree of the accelerator pedal and the driving torque, then the virtual opening degree of the accelerator pedal of the vehicle to be tested is controlled to be the theoretical opening degree of the accelerator pedal, which is equivalent to simulating that the accelerator pedal is manually pressed down, so that the electric energy and the gasoline of the hybrid electric vehicle are consumed at the same time, and the accuracy of an energy consumption test result is further improved.
The correspondence relationship between the vehicle speed, the accelerator Pedal opening and the driving torque is known as the edal Map, and the edal Map in the economy mode is adopted because the edal Map is a universal requirement under various test conditions.
As a preferred embodiment, before controlling the vehicle speed according to the sum of the boost value and the boost adjustment value so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed, the vehicle speed control method for the operating condition method energy consumption test further includes:
and controlling the strategy gear of the vehicle to be tested to be a forward gear.
Specifically, because the vehicle is not driven manually, the actual gear of the vehicle to be tested cannot be controlled manually, and considering that some vehicles to be tested may not be able to normally perform power Control under the condition that the gear is not a forward gear, for example, Control of a TCU (Transmission Control Unit), an MCU, an EMS, and an ESP, the embodiment of the present invention may further adjust the strategic gear of the vehicle to be tested to the forward gear (only a Control signal, and an operating lever beside a driver seat may not be changed) before performing speed Control on the vehicle, so as to smoothly perform speed Control on the vehicle.
As a preferred embodiment, the predetermined closed-loop control algorithm is a PID (proportional Integral Differential) algorithm.
Specifically, the PID algorithm has the advantages of high precision, strong stability, high processing speed and the like.
Of course, besides the PID algorithm, the preset closed-loop control algorithm may be of other various types, and the embodiment of the present invention is not limited herein.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a vehicle speed control device for a condition-based energy consumption test, which includes:
the first calculation module 1 is used for calculating a power assisting value according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the power assisting value, a currently received current target vehicle speed, a historical target vehicle speed received in a last sampling period, a sliding resistance acceleration and a sampling period;
the second calculation module 2 is used for calculating the power-assisted adjustment amount by adopting a preset closed-loop control algorithm according to the current target vehicle speed and the actual vehicle speed of the vehicle to be measured;
and the control module 3 is used for controlling the vehicle speed according to the sum of the power-assisted value and the power-assisted adjustment amount so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed.
For the introduction of the vehicle speed control device for the working condition method energy consumption test provided in the embodiment of the present invention, please refer to the foregoing embodiment of the vehicle speed control method for the working condition method energy consumption test, which is not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a vehicle speed control device for a condition-based energy consumption test, including:
a memory 4 for storing a computer program;
and the processor 5 is used for implementing the steps of the vehicle speed control method for the energy consumption test by the working condition method when executing the computer program.
For the introduction of the vehicle speed control device for the working condition method energy consumption test provided in the embodiment of the present invention, please refer to the foregoing embodiment of the vehicle speed control method for the working condition method energy consumption test, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. A vehicle speed control method for a working condition method energy consumption test is characterized by comprising the following steps:
calculating a power assisting value according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the power assisting value, a currently received current target vehicle speed, a historical target vehicle speed received in a last sampling period, a sliding resistance acceleration and the sampling period, wherein the method specifically comprises the following steps:
judging the type of assistance required by the vehicle to be tested according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period:
if V1-V2If > a t 3.6, the boosting type is driving force;
if V1-V2At 3.6, the boosting type isBraking force;
wherein, V1For the current target vehicle speed, V2Obtaining the historical target vehicle speed, wherein a is the sliding resistance acceleration and t is the sampling period;
if the assistance type is a driving force, calculating the driving torque according to a preset current target vehicle speed, a preset corresponding relation between a historical target vehicle speed and the driving torque, the current target vehicle speed and the historical target vehicle speed:
Figure FDA0003141918220000011
the driving force of the wheel end is the mass of the whole vehicle, the target acceleration and the sliding resistance;
Figure FDA0003141918220000012
if the assistance type is braking force, calculating the wheel end braking force according to a preset current target vehicle speed, a preset corresponding relation between the historical target vehicle speed and the wheel end braking force, the current target vehicle speed and the historical target vehicle speed: the wheel end braking force is the whole vehicle mass plus the target acceleration plus the sliding resistance;
calculating the power-assisted adjustment amount by adopting a preset closed-loop control algorithm according to the current target speed and the actual speed of the vehicle to be measured;
and controlling the vehicle speed according to the sum of the assistance value and the assistance adjustment value so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed.
2. The vehicle speed control method for the condition-based energy consumption test according to claim 1, wherein the controlling of the vehicle speed according to the sum of the assistance value and the assistance adjustment amount specifically comprises:
if the assistance type is driving force, sending the sum of the assistance value and the assistance adjustment amount to a power system;
if the boosting type is braking force, judging whether the maximum braking torque of the power system is not less than the wheel end braking force;
if the maximum braking torque of the power system is not smaller than the wheel end braking force, the wheel end braking force is sent to the power system;
if the maximum braking torque of the power system is smaller than the wheel end braking force, controlling the power system to provide the maximum braking torque of the power system, and sending a difference value between the wheel end braking force and the maximum braking torque of the power system to an ESP (electronic stability program) system;
judging whether the power-assisted adjustment amount is a positive number;
if the power-assisted adjustment amount is a positive number, the power-assisted adjustment amount is sent to the power system;
and if the power-assisted adjustment amount is not a positive number, sending the power-assisted adjustment amount to an ESP system.
3. The vehicle speed control method for the working condition method energy consumption test according to claim 1, wherein the vehicle to be tested is an extended range electric vehicle or a series hybrid electric vehicle;
if the power-assisted type is a driving force, after a driving torque is calculated according to the current target vehicle speed, the historical target vehicle speed, a preset current target vehicle speed and a corresponding relation between the historical target vehicle speed and the driving torque, the vehicle speed is controlled according to the sum of the power-assisted value and the power-assisted adjustment value so as to control the vehicle speed of the vehicle to be tested to be before the current target vehicle speed, and the vehicle speed control method for the working condition method energy consumption test further comprises the following steps:
determining a theoretical accelerator pedal opening according to the vehicle speed of the vehicle to be tested in the economic mode, the corresponding relation between the accelerator pedal opening and the driving torque, the calculated driving torque and the actual vehicle speed of the vehicle to be tested;
and controlling the virtual accelerator pedal opening of the vehicle to be tested to be the theoretical accelerator pedal opening.
4. The vehicle speed control method for the work condition method energy consumption test according to claim 1, wherein the vehicle speed is controlled according to the sum of the assistance value and the assistance adjustment value so as to control the vehicle speed of the vehicle to be tested to be before the current target vehicle speed, and the vehicle speed control method for the work condition method energy consumption test further comprises the following steps:
and controlling the strategy gear of the vehicle to be tested to be a forward gear.
5. The vehicle speed control method for the condition-based energy consumption test according to any one of claims 1 to 4, wherein the preset closed-loop control algorithm is a Proportional Integral Derivative (PID) algorithm.
6. A vehicle speed control device for energy consumption test by a working condition method is characterized by comprising:
the first calculation module is used for calculating a power assisting value according to a preset current target vehicle speed, a corresponding relation between a historical target vehicle speed and the power assisting value, a currently received current target vehicle speed, a historical target vehicle speed received in a last sampling period, a sliding resistance acceleration and the sampling period, and specifically comprises the following steps:
judging the type of assistance required by the vehicle to be tested according to the currently received current target vehicle speed, the historical target vehicle speed received in the last sampling period, the sliding resistance acceleration and the sampling period:
if V1-V2If > a t 3.6, the boosting type is driving force;
if V1-V2At most a, t, 3.6, the boosting type is braking force;
wherein, V1For the current target vehicle speed, V2Obtaining the historical target vehicle speed, wherein a is the sliding resistance acceleration and t is the sampling period;
if the assistance type is a driving force, calculating the driving torque according to a preset current target vehicle speed, a preset corresponding relation between a historical target vehicle speed and the driving torque, the current target vehicle speed and the historical target vehicle speed:
Figure FDA0003141918220000031
the driving force of the wheel end is the mass of the whole vehicle, the target acceleration and the sliding resistance;
Figure FDA0003141918220000032
if the assistance type is braking force, calculating the wheel end braking force according to a preset current target vehicle speed, a preset corresponding relation between the historical target vehicle speed and the wheel end braking force, the current target vehicle speed and the historical target vehicle speed: the wheel end braking force is the whole vehicle mass plus the target acceleration plus the sliding resistance;
the second calculation module is used for calculating the power-assisted adjustment amount by adopting a preset closed-loop control algorithm according to the current target speed and the actual speed of the vehicle to be measured;
and the control module is used for controlling the vehicle speed according to the sum of the assistance value and the assistance adjustment amount so as to control the vehicle speed of the vehicle to be tested to be the current target vehicle speed.
7. A vehicle speed control device for a working condition method energy consumption test is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the vehicle speed control method of the condition-based energy consumption test according to any one of claims 1 to 5 when the computer program is executed.
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