CN111731298B - Speed limit control method and device for new energy automobile and new energy automobile - Google Patents

Speed limit control method and device for new energy automobile and new energy automobile Download PDF

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Publication number
CN111731298B
CN111731298B CN202010612483.6A CN202010612483A CN111731298B CN 111731298 B CN111731298 B CN 111731298B CN 202010612483 A CN202010612483 A CN 202010612483A CN 111731298 B CN111731298 B CN 111731298B
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value
vehicle
speed limit
vehicle speed
limspdstatus
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CN111731298A (en
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冯杰
蔡健伟
董团结
杨柏林
侯聪
张才干
王琴林
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • 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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

The scheme relates to a speed limit control method and device of a new energy automobile and the new energy automobile, and aims to improve the speed limit control precision of the automobile. The method comprises the following steps: a plurality of vehicle speed limits collected from a plurality of vehicle speed limit sources; selecting one of the collected plurality of vehicle speed limits with the smallest value as a target vehicle speed limit Vlim(ii) a Based on the actual speed V of the vehicleactWith a target vehicle speed limit VlimThe vehicle speed difference value Δ V is used for determining the value of the speed limit execution state LimSpdStatus; according to the numerical value of the speed limit execution state LimSpdStatus, determining the corresponding wheel end target driving force original value Flimraw(ii) a According to the wheel end target driving force original value FlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil(ii) a Controlling a driving force generating device of a vehicle to generate the target driving force FlimfilAnd the same magnitude of driving force is output.

Description

Speed limit control method and device for new energy automobile and new energy automobile
Technical Field
The invention belongs to the field of new energy automobile speed control, and particularly relates to a speed limit control method and device for a new energy automobile and the new energy automobile.
Background
In developing the functions of the entire vehicle, there are many sources of demand for vehicle Speed limitation, such as vehicle Speed limitation of the maximum vehicle Speed, vehicle Speed limitation of the EV mode (for a vehicle model having an EV mode and a limited Speed demand), vehicle Speed limitation of a fault diagnosis request, vehicle Speed limitation request from the ASL (Adjustable Speed Limiter) function, and the like. In order to meet the speed limit requirement, a control method of vehicle speed limit needs to be developed. The vehicle speed limit control mainly comprises two major conditions, namely, the actual vehicle speed of the vehicle is smaller than the vehicle speed limit, the vehicle speed limit control mainly ensures that the driving requirement of a driver is small, the vehicle runs according to the driving requirement of the driver, and when the driving requirement of the driver is large, the vehicle speed limit control ensures that the vehicle cannot exceed the vehicle speed limit no matter how much the driving requirement of the driver is; and secondly, under the condition that the actual vehicle speed of the vehicle is greater than the limited vehicle speed, the vehicle speed limit control ensures that the vehicle is decelerated to the limited vehicle speed, and simultaneously ensures that the vehicle does not exceed the limited vehicle speed no matter how much the driver drive demand is, but if the vehicle speed controlled by the driver drive demand is less than the limited vehicle speed, the vehicle runs according to the driver drive demand.
In the publication No. CN106004856B, there is disclosed a vehicle speed limiting method in which a difference between a limited vehicle speed and an actual vehicle speed is calculated to calculate a value of a limited acceleration, the larger the difference is, the larger the limited acceleration is, and then a limited driving force F is calculated from the limited accelerationFFThen, the limit driving force F is calculated according to the first calculation method in the patentFBThat is, the deviation between the limited acceleration and the actual acceleration is multiplied by a preset gain, then the gain is accumulated with the acceleration at the previous moment, and the accumulated acceleration is multiplied by the mass of the whole vehicle to obtain FFBThen upper limit driving force FLIMTThen F is addedLIMTTaking the driving force required by the driver to be small as the final driving force; when the final driving force is FLIMTThe limit flag is set to 1, and when the final driving force is the driver required driving force, the limit flag is set to 0. When the limit flag is set to 1, the first calculation method in the next cycle selection patent yields FFBWhen the limit flag is set to 0, the second calculation method in the next cycle selection patent yields FFB. For theThe second calculation method yields FFBThe formula of (1) is: fFB= drive force currently generated { (vehicle weight) × (actual acceleration) + (running resistance) }.
There are several problems with the solution of the patent, first, the weight of the vehicle in the patent is a fixed value, but the weight of the vehicle in actual use varies with the weight and number of the occupants and the load, the mass of which varies, and therefore the force calculation is not accurate at a fixed mass; secondly, the driving resistance in the patent is also a fitted resistance curve, and the real running environment is inconsistent with the fitted resistance curve due to different wind speeds and roughness of the road surface; thirdly, the calculation amount is large in the whole patent, and the calculation is always carried out in the whole speed limiting process, so that the calculation amount is large.
Disclosure of Invention
The invention aims to provide a speed limit control method and device of a new energy automobile and the new energy automobile, so as to improve the speed limit control precision of the automobile.
The technical scheme of the invention is as follows:
the embodiment of the invention provides a speed limit control method for a new energy automobile, which comprises the following steps:
a plurality of vehicle speed limits collected from a plurality of vehicle speed limit sources;
selecting one of the collected plurality of vehicle speed limits with the smallest value as a target vehicle speed limit Vlim；
Based on the actual speed V of the vehicleactWith a target vehicle speed limit VlimThe vehicle speed difference value Δ V is used for determining the value of the speed limit execution state LimSpdStatus;
according to the numerical value of the speed limit execution state LimSpdStatus, determining the corresponding wheel end target driving force original value Flimraw；
According to the wheel end target driving force original value FlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil；
Controlling a vehicleGenerating the target driving force FlimfilAnd the same magnitude of driving force is output.
Preferably, the plurality of sources of vehicle speed limit include at least:
the maximum limit vehicle speed of the vehicle;
for a vehicle with EV mode and speed limit requirement, the highest speed limit when operating in EV mode;
when the vehicle is in fault, the highest vehicle speed limit output based on fault diagnosis is output;
for vehicles equipped with an adjustable speed limiter, the maximum speed limit output by the adjustable speed limiter.
Preferably based on the actual vehicle speed V of the vehicleactWith a target vehicle speed limit VlimThe step of judging the speed limit execution state LimSpdStatus by the vehicle speed difference value Δ V comprises the following steps:
when the vehicle speed difference value Δ V meets the value V < -A, the numerical value of the speed limit execution state LimSpdStatus is determined to be 0;
if the speed difference V is less than-A, when the speed difference V is less than-A and less than A, determining the numerical value of the speed limit execution state LimSpdStatus to be 1;
if the value of the position V is less than A but not more than-A, determining the value of the LimSpdStatus in the speed limit execution state to be 2;
after the numerical value of the speed limit execution state LimSpdStatus is determined to be 1, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of the changed position does not satisfy the position V less than-B and the position B is less than or equal to V less than B, determining that the numerical value of the speed limit execution state LimSpdStatus is changed to be 2; if the vehicle speed difference value of the changed position V does not satisfy the position V less than-B but satisfies the position B less than or equal to V, the numerical value of the speed limit execution state LimSpdStatus is still kept to be 1;
after the numerical value of the speed limit execution state LimSpdStatus is determined to be 2, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactChanging when the speed is changed, if the vehicle speed difference V after the change meets the Δ V < -B, determining the numerical value of the speed limit execution state LimSpdStatusThe change is 0; if the vehicle speed difference value of the changed LimSpdStatus does not satisfy the Δ V but satisfies the condition that the Δ V is less than or equal to the B and less than A, determining that the numerical value of the speed limit execution state LimSpdStatus is 0; if the vehicle speed difference value of the changed range V does not satisfy the range V less than-B and the range V less than-B, the numerical value of the speed limit execution state LimSpdStatus is still kept to be 2;
wherein A and B are calibration values, A and B are positive values, and the value of A is less than that of B.
Preferably, the corresponding wheel-end target driving force original value F is determined according to the value of the speed limit execution state limpdstatuslimrawComprises the following steps:
when the value of the speed limit execution state LimSpdStatus is 0, determining the wheel end target driving force original value FlimrawThe value of (d) is null;
when the numerical value of the speed limit execution state LimSpdStatus is 1, the actual speed V of the vehicle is prestoredactWith a target limit acceleration atarLooking up the corresponding relation table of the actual speed V of the vehicleactCorresponding target limit acceleration atar(ii) a And according to the actual speed V of the vehicleactCalculating the actual acceleration a of the vehicleact(ii) a Then limiting the acceleration a with the targettarTargeting the actual acceleration aactWith a target limit acceleration atarCarrying out PI closed loop control calculation on the difference value to obtain an original value F of the wheel end target driving forcelimrawThe desired result of the PI closed-loop control calculation is that the vehicle limits the acceleration a according to the targettarDriving;
when the value of the speed limit execution state LimSpdStatus is 2, determining the wheel end target driving force original value FlimrawIs a determined negative torque value or zero;
wherein, when the actual speed V of the vehicleactGreater than target vehicle speed limit VlimTime, target limit acceleration atarIs a negative value;
when the actual speed V of the vehicleactLess than target vehicle speed limit VlimTime, target limit acceleration atarIs a positive value;
when the actual speed V of the vehicleactEqual to the targetLimiting vehicle speed VlimTime, target limit acceleration atarIs 0.
Preferably, according to the wheel-end target driving force original value FlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force FlimfilThe steps of (1):
when the value of the speed limit execution state LimSpdStatus is 0, the wheel end driving force F determined according to the requirement of the driveraccpedlIs determined as the target driving force Flimfil；
When the value of the speed limit execution state LimSpdStatus is 1 or 2, the wheel end target driving force original value F is setlimrawAnd a wheel end driving force F determined according to the driver demandaccpedlOne of the values smaller in the median value is determined as the target driving force Flimfil。
The embodiment of the invention also provides a vehicle speed limiting device of the new energy automobile, which comprises:
a collection module for collecting a plurality of vehicle speed limits from a plurality of vehicle speed limit sources;
a selection module for selecting one of the collected limited vehicle speeds with the smallest value as a target limited vehicle speed Vlim；
A first determination module for determining an actual vehicle speed V based on a vehicleactWith a target vehicle speed limit VlimThe vehicle speed difference value Δ V is used for determining the value of the speed limit execution state LimSpdStatus;
a second determining module, configured to determine, according to a value of the speed limit execution state limpdstatus, a corresponding wheel end target driving force original value Flimraw；
A third determination module for determining a target driving force original value F according to the wheel end target driving forcelimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil；
A control module for controlling a driving force generating device of a vehicle to generate the target driving force FlimfilAnd the same magnitude of driving force is output.
The embodiment of the invention also provides a new energy automobile, which comprises the speed limiting device of the new energy automobile.
The invention has the beneficial effects that:
firstly, variables which cannot be measured, such as the mass of the whole vehicle, the running resistance and the like, do not need to be introduced to be used as control input of vehicle speed limit, so that the control precision is ensured; secondly, since the acceleration is more sensitive to the variation of the wheel end driving force of the vehicle, the adjustment targeting the acceleration will respond faster if an unpredictable additional force (such as the superposition of gravity on the wheel end force caused by an uphill or a downhill) occurs from the outside, and finally, the invention only needs to calculate the target driving force wheel end target driving force original value F in part of the caseslimrawTherefore, the amount of calculation is small.
Drawings
FIG. 1 is a general schematic diagram of a vehicle speed limit control method in the embodiment of the invention;
FIG. 2-1 is a flowchart illustrating a vehicle speed limit control method according to an embodiment of the present invention 1;
FIG. 2-2 is a flowchart illustrating a vehicle speed limit control method according to an embodiment of the present invention 2;
FIG. 3 is a vehicle speed limit target acceleration curve;
FIG. 4-1 is a graph schematically illustrating a graph 1 in which the actual vehicle speed is higher than the target vehicle speed limit and the wheel-end driving force is always larger than the wheel-end target driving force original value of the target driving force in the embodiment of the present invention;
FIG. 4-2 is a graph schematically illustrating a graph 2 in which the actual vehicle speed is higher than the target vehicle speed limit and the wheel-end driving force is smaller than the wheel-end target driving force original value of the target driving force in the embodiment of the invention;
FIG. 5-1 is a graph illustrating an example of the present invention in which the actual vehicle speed is lower than the target vehicle speed limit and the wheel-end driving force is always greater than the wheel-end target driving force original value of the target driving force;
fig. 5-2 is a graph schematically showing a graph 2 in which the actual vehicle speed is lower than the target vehicle speed limit and the wheel-end driving force is smaller than the wheel-end target driving force original value of the target driving force in the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In this embodiment, the method for controlling the vehicle speed limit of the new energy vehicle is implemented according to the flow shown in fig. 1, fig. 2-1 and fig. 2-2, and specifically as follows:
s101: vehicle speed limit sources (vehicle speed limits from a plurality of vehicle speed limit sources) are collected, wherein each vehicle speed limit source corresponds to a vehicle speed limit, and the vehicle speed limit sources include but are not limited to the following sources: the maximum limit vehicle Speed in the EV mode, the maximum limit vehicle Speed in the EV mode when the vehicle has a fault, and the maximum limit vehicle Speed output by an Adjustable Speed Limiter (ASL) for a vehicle model in which the Adjustable Speed Limiter is disposed are set.
S102: comparing the maximum vehicle speed limits from different sources, and taking one minimum value as the target vehicle speed limit V to be executed by the red vehicle in the embodiment of the inventionlim。
S103: reading the actual speed V of the current vehicleactThe actual vehicle speed VactMinus the target vehicle speed limit VlimThe difference of the vehicle speed is obtained.
S104: the step is to determine the value of the speed limit execution state LimSpdStatus according to the vehicle speed difference value V, specifically:
(1) and when the vehicle speed difference value meets the following conditions: when the Δ V is less than-A (A is a positive value and can be calibrated, and the initial calibration value can be set to 5), the value of the speed limit execution state LimSpdStatus is 0.
(2) And when the vehicle speed difference value meets the following conditions: when the value of the speed limit execution state LimSpdStatus is less than or equal to A and less than A, the value of the speed limit execution state LimSpdStatus is 1, otherwise, the value of the speed limit execution state LimSpdStatus is 2.
(3) When the value of the speed limit execution state LimSpdStatus is 0, the vehicle speed difference value Δ V can continuously change, if Δ V is less than-A, the value of the speed limit execution state LimSpdStatus is still 0, if-A is less than or equal to Δ V and less than A, the value of the speed limit execution state LimSpdStatus is changed to 1, otherwise, the value of the speed limit execution state LimSpdStatus is changed to 2.
(4) If V is less than-B (B is positive and B is greater than A, the vehicle speed difference value can be calibrated, the initial calibration value can be set to 10), the value of the speed limit execution state LimSPDStatus is 0, if-B is less than or equal to V and less than B, the value of the speed limit execution state LimSPDStatus is still 1, otherwise the value of the speed limit execution state LimSPDStatus is 2. (that is, after the speed limit execution state LimSpdStatus is determined to be 1, the vehicle speed difference value V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of the changed position does not satisfy the position V less than-B and the position B is less than or equal to V less than A, determining that the numerical value of the speed limit execution state LimSpdStatus is changed to be 2; if the vehicle speed difference value Δ V after the change does not satisfy Δ V but satisfies-B ≦ V ≦ A, the numerical value of the speed limit execution state LimSpdStatus is still determined to be 1. )
(5) When the value of the speed limit execution state LimSpdStatus is 2, the vehicle speed difference value Δ V can continuously change, if Δ V is less than-B, the value of the speed limit execution state LimSpdStatus becomes 0, if-B is less than or equal to V and less than A, the value of the speed limit execution state LimSpdStatus becomes 1, otherwise, the value of the speed limit execution state LimSpdStatus is still 2. (that is, after the value of the speed limit execution state LimSpdStatus is determined to be 2, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of the changed LimSpdStatus does not satisfy the Δ V but satisfies the condition that the Δ V is less than or equal to the B and less than A, determining that the numerical value of the speed limit execution state LimSpdStatus is 0; if changedWhen the vehicle speed difference value is not equal to Δ V less than-B and is equal to or less than-B and less than A, the numerical value of the speed limit execution state LimSpdStatus is still kept to be 2. )
In the above step, a and B are calibration values, a and B are positive values, and a value is smaller than B.
S105: making different target driving force wheel end target driving force original values F through the numerical value of the speed limit execution state LimSpdStatuslimrawThat is, the corresponding wheel-end target driving force original value F is determined according to the value of the speed limit execution state limpdstatuslimraw) Specifically, the following S1051, S1052 and S1053 are included.
S1051: when the value of the speed limit execution state LimPstatus is 0, the target driving force wheel end target driving force original value F is setlimrawThe null value is set or determined, that is, no intervention is made on the vehicle in the speed limit execution state.
S1052: when the numerical value of the speed limit execution state LimSpdStatus is 1, the actual vehicle speed V of the vehicle is prestoredactAnd target limit acceleration atarThe target limit acceleration a is obtained by searching or calculating the corresponding relation tabletarFIG. 3 shows one of the actual vehicle speeds VactWith a target limit acceleration atarThe corresponding relationship of (1). But no matter whether the target limit acceleration a is calculated or searched fortarIt is necessary to follow a rule when the actual vehicle speed V isactVehicle speed greater than target limit VlimTime, target limit acceleration atarIs a negative value when the actual vehicle speed V isact< target vehicle speed limit VlimTime, target limit acceleration atarAt a positive value when the actual vehicle speed V isact= target vehicle speed limit VlimTime, target limit acceleration atar Is 0. Then the actual acceleration a is calculatedactThe actual acceleration aactBased on the actual vehicle speed VactIs obtained by differentiating for a time which must be greater than the actual vehicle speed VactThe period of detection. Then limiting the acceleration a with the targettarTargeting the actual acceleration aactWith a target limit acceleration atarIs carried out by the difference ofObtaining a target driving force original value F of a target driving force wheel end by PI closed-loop controllimrawThe desired result is that the vehicle limits the acceleration a according to the targettarAnd (5) running.
S1053: when the value of the speed limit execution state limspdpstatus is 2, the wheel end target driving force original value F of the output target driving forcelimrawIs a constant value, which may be a negative value (negative torque) or 0. The desired result is that the vehicle decelerates at a relatively constant deceleration.
S106: when the value of the speed limit execution state LimSpdStatus is 1 or 2, the target driving force wheel end target driving force original value F is setlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedl(specifically, the calculation and analysis are performed based on the opening degree of the driving pedal, which is a conventional means). Wherein, when Flimraw＜FaccpedlThen, the target driving force F is determinedlimfil=FlimrawThat is, F calculated by the driving force generating device (motor) of the vehicle in accordance with the step S105 (S1052, S1053)limrawDriving is performed. When F is shown in FIG. 4-1 and FIG. 5-1limraw≥FaccpedlWhen so, the target driving force F is determinedlimfil=FaccpedlThat is, wheel-end driving force F analyzed by a driving force generating device (motor) of the vehicle according to the opening degree of an accelerator pedalaccpedlDriving is performed as shown in fig. 4-2 and 5-2. The method aims to transmit the requirement of the vehicle speed by the opening degree of an accelerator pedal by a driver, and when a speed limit requirement exists, if the requirement of the driver on the vehicle speed does not exceed a target vehicle speed limit VlimThe vehicle is driven according to the driver's demand, if the driver's demand for vehicle speed exceeds the target vehicle speed limit VlimThen the vehicle calculates F according to step S105 (including S1052 and S1053)limrawDriving to ensure that the running speed of the vehicle does not exceed the target limit vehicle speed Vlim。
S107: when the value of the speed limit execution state limspday is 0, the original value F is obtained due to the wheel-end target driving force at that timelimrawIs null value, the target driving force F is determinedlimfil=FaccpedlThat is, wheel-end driving force F analyzed by a driving force generating device (motor) of the vehicle according to the opening degree of an accelerator pedalaccpedlIn this state, since the actual vehicle speed itself of the vehicle does not exceed the limit vehicle speed, the vehicle is not required to be driven.
To summarize, the steps S106 and S107 are for: according to the wheel end target driving force original value FlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil。
In determining the target driving force FlimfilThen, a driving force generating device (motor) of the vehicle is controlled to generate the target driving force FlimfilThe same magnitude of driving force is output, eventually causing the vehicle speed of the vehicle to be limited to the target vehicle speed limit V in the embodimentlimThe following.
According to the method, firstly, variables which cannot be measured, such as the mass of the whole vehicle, the driving resistance and the like, do not need to be introduced to serve as control input of the vehicle speed limit, so that the control precision is ensured; secondly, since the acceleration is more sensitive to the change of the wheel-end driving force of the vehicle, the adjustment targeting the acceleration will respond faster if an unpredictable additional force (such as the superposition of gravity on the wheel-end force caused by an uphill slope and a downhill slope) occurs from the outside, and finally, the present invention only needs to calculate the original value F of the target driving force at the wheel-end of the target driving force in some caseslimrawTherefore, the amount of calculation is small.
The embodiment of the invention also provides a vehicle speed limiting device of the new energy automobile, which comprises:
a collection module for collecting a plurality of vehicle speed limits from a plurality of vehicle speed limit sources;
a selection module for selecting one of the collected limited vehicle speeds with the smallest value as a target limited vehicle speed Vlim；
A first determination module for determining an actual vehicle speed V based on a vehicleactWith a target vehicle speed limit VlimThe vehicle speed difference value Δ V is used for determining the value of the speed limit execution state LimSpdStatus;
a second determining module, configured to determine, according to a value of the speed limit execution state limpdstatus, a corresponding wheel end target driving force original value Flimraw；
A third determination module for determining a target driving force original value F according to the wheel end target driving forcelimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil；
A control module for controlling a driving force generating device of a vehicle to generate the target driving force FlimfilAnd the same magnitude of driving force is output.
The apparatus of the present invention is an apparatus corresponding to the above-mentioned method, and it should be understood that each module in the apparatus has a relevant unit capable of executing each detailed step in the above-mentioned method. The device has the same technical effect as the method, namely, variables which cannot be measured such as the mass of the whole vehicle, the running resistance and the like are not required to be introduced as the control input of the vehicle speed limit, so that the control precision is ensured; secondly, since the acceleration is more sensitive to the change of the wheel-end driving force of the vehicle, the adjustment targeting the acceleration will respond faster if an unpredictable additional force (such as the superposition of gravity on the wheel-end force caused by an uphill slope and a downhill slope) occurs from the outside, and finally, the present invention only needs to calculate the original value F of the target driving force at the wheel-end of the target driving force in some caseslimrawTherefore, the amount of calculation is small.
The embodiment of the invention also provides a new energy automobile, which comprises the speed limiting device of the new energy automobile.
The embodiments described above describe only some of the one or more embodiments of the present invention, but those skilled in the art will recognize that the invention can be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims (6)

1. A speed limit control method for a new energy automobile is characterized by comprising the following steps:
a plurality of vehicle speed limits collected from a plurality of vehicle speed limit sources;
selecting one of the collected plurality of vehicle speed limits with the smallest value as a target vehicle speed limit Vlim；
Based on the actual speed V of the vehicleactWith a target vehicle speed limit VlimThe vehicle speed difference of the LimSpdStatus is used for determining the value of the speed limit execution state LimSpdStatus;
according to the numerical value of the speed limit execution state LimSpdStatus, determining the corresponding wheel end target driving force original value Flimraw；
According to the wheel end target driving force original value FlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil；
Controlling a driving force generating device of a vehicle to generate the target driving force FlimfilDriving forces with the same magnitude are output;
based on the actual speed V of the vehicleactWith a target vehicle speed limit VlimThe step of judging the speed limit execution state LimSpdStatus by the vehicle speed difference value Δ V comprises the following steps:
when the vehicle speed difference value Δ V meets the value V < -A, the numerical value of the speed limit execution state LimSpdStatus is determined to be 0;
if the speed difference V is less than-A, when the speed difference V is less than-A and less than A, determining the numerical value of the speed limit execution state LimSpdStatus to be 1;
if the value of the position V is less than A but not more than-A, determining the value of the LimSpdStatus in the speed limit execution state to be 2;
after the numerical value of the speed limit execution state LimSpdStatus is determined to be 1, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of Δ V does not satisfy Δ V < B and-B is less than or equal to V < B after change, the numerical value of the speed limit execution state LimSpdStatus is determined to be changed into2; if the vehicle speed difference is not more than V but not more than B, the numerical value of the LimSpdStatus is still 1;
after the numerical value of the speed limit execution state LimSpdStatus is determined to be 2, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of the changed LimSpdStatus does not satisfy the Δ V but satisfies the condition that the Δ V is less than or equal to the B and less than A, determining that the numerical value of the speed limit execution state LimSpdStatus is 0; if the vehicle speed difference value of the changed range V does not satisfy the range V less than-B and the range V less than-B, the numerical value of the speed limit execution state LimSpdStatus is still kept to be 2;
wherein A and B are calibration values, A and B are positive values, and the value of A is less than that of B.
2. The method of claim 1, wherein the plurality of vehicle speed limit sources includes at least:
the maximum limit vehicle speed of the vehicle;
for a vehicle with EV mode and speed limit requirement, the highest speed limit when operating in EV mode;
when the vehicle is in fault, the highest vehicle speed limit output based on fault diagnosis is output;
for a vehicle equipped with an adjustable speed limiter, the maximum speed limit output by the adjustable speed limiter.
3. The method according to claim 1, characterized in that the corresponding wheel-end target driving force raw value F is determined according to the value of the speed limit execution state limpdstatuslimrawComprises the following steps:
when the value of the speed limit execution state LimSpdStatus is 0, determining the wheel end target driving force original value FlimrawThe value of (b) is null;
when the numerical value of the speed limit execution state LimSpdStatus is 1, the actual speed V of the vehicle is prestoredactAnd target limit acceleration atarTo find the real of the vehicleInter vehicle speed VactCorresponding target limit acceleration atar(ii) a And according to the actual speed V of the vehicleactCalculating the actual acceleration a of the vehicleact(ii) a Then limiting the acceleration a with the targettarTargeting the actual acceleration aactWith a target limit acceleration atarCarrying out PI closed loop control calculation on the difference value to obtain an original value F of the wheel end target driving forcelimrawThe desired result of the PI closed-loop control calculation is that the vehicle limits the acceleration a according to the targettarDriving;
when the value of the speed limit execution state LimSpdStatus is 2, determining the wheel end target driving force original value FlimrawIs a determined negative torque value or zero;
wherein, when the actual speed V of the vehicleactGreater than target vehicle speed limit VlimTime, target limit acceleration atarIs a negative value;
when the actual speed V of the vehicleactLess than target vehicle speed limit VlimTime, target limit acceleration atarIs a positive value;
when the actual speed V of the vehicleactEqual to the target vehicle speed limit VlimTime, target limit acceleration atarIs 0.
4. The method according to claim 3, characterized in that according to the wheel end target driving force original value FlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force FlimfilThe steps of (1):
when the value of the speed limit execution state LimSpdStatus is 0, the wheel end driving force F determined according to the requirement of the driveraccpedlIs determined as the target driving force Flimfil；
When the value of the speed limit execution state LimSpdStatus is 1 or 2, the wheel end target driving force original value F is setlimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlOne of the values smaller in the median value is determined as the target driving force Flimfil。
5. A vehicle speed limiting device of a new energy automobile is characterized by comprising:
a collection module for collecting a plurality of vehicle speed limits from a plurality of vehicle speed limit sources;
a selection module for selecting one of the collected limited vehicle speeds with the smallest value as a target limited vehicle speed Vlim；
A first determination module for determining an actual vehicle speed V based on a vehicleactWith a target vehicle speed limit VlimThe vehicle speed difference value Δ V is used for determining the value of the speed limit execution state LimSpdStatus;
a second determining module, configured to determine, according to a value of the speed limit execution state limpdstatus, a corresponding wheel end target driving force original value Flimraw；
A third determination module for determining a target driving force original value F according to the wheel end target driving forcelimrawAnd a wheel end driving force F determined according to the driver's demandaccpedlDetermination of target driving force Flimfil；
A control module for controlling a driving force generating device of a vehicle to generate the target driving force FlimfilDriving forces with the same magnitude are output;
the first determining module is specifically configured to:
when the vehicle speed difference value Δ V meets the value V < -A, the numerical value of the speed limit execution state LimSpdStatus is determined to be 0;
if the speed difference V is less than-A, when the speed difference V is less than-A and less than A, determining the numerical value of the speed limit execution state LimSpdStatus to be 1;
if the value of the position V is less than A but not more than-A, determining the value of the LimSpdStatus in the speed limit execution state to be 2;
after the numerical value of the speed limit execution state LimSpdStatus is determined to be 1, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of the changed Δ V does not satisfy Δ V < B and the-B is less than or equal to V < B, the speed limit execution state LimSpdStatus is determinedThe value of (d) changes to 2; if the vehicle speed difference value of the changed position V does not satisfy the position V less than-B but satisfies the position B less than or equal to V, the numerical value of the speed limit execution state LimSpdStatus is still kept to be 1;
after the numerical value of the speed limit execution state LimSpdStatus is determined to be 2, the vehicle speed difference value Δ V follows the actual vehicle speed V of the vehicleactIf the vehicle speed difference value V after the change meets the value V less than-B, the numerical value change of the speed limit execution state LimSpdStatus is determined to be 0; if the vehicle speed difference value of the changed LimSpdStatus does not satisfy the Δ V but satisfies the condition that the Δ V is less than or equal to the B and less than A, determining that the numerical value of the speed limit execution state LimSpdStatus is 0; if the vehicle speed difference value of the changed range V does not satisfy the range V less than-B and the range V less than-B, the numerical value of the speed limit execution state LimSpdStatus is still kept to be 2;
wherein A and B are calibration values, A and B are positive values, and the value of A is less than that of B.
6. A new energy automobile, characterized by comprising the vehicle speed limiting device of the new energy automobile of claim 5.
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