CN111746536B - Control method and device in self-adaptive cruise acceleration process and computer equipment - Google Patents
Control method and device in self-adaptive cruise acceleration process and computer equipment Download PDFInfo
- Publication number
- CN111746536B CN111746536B CN201910237343.2A CN201910237343A CN111746536B CN 111746536 B CN111746536 B CN 111746536B CN 201910237343 A CN201910237343 A CN 201910237343A CN 111746536 B CN111746536 B CN 111746536B
- Authority
- CN
- China
- Prior art keywords
- torque
- automobile
- torque change
- target
- change slope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2710/0666—Engine torque
- B60W2710/0672—Torque change rate
Abstract
The application relates to a control method and device in an adaptive cruise acceleration process and computer equipment. The method comprises the following steps: after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not; if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time; and adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope. By adopting the method, the output required torque of the automobile can be stably improved, and the running stability of the automobile in the self-adaptive cruise acceleration process is improved.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a control method and apparatus, a computer device, and a storage medium in an adaptive cruise acceleration process.
Background
With the recent rapid market growth of Advanced Driver Assistance Systems (ADAS), the Advanced Driver Assistance Systems (ADAS) are increasingly used in vehicles. The Adaptive Cruise Control (ACC) system may Control the vehicle to accelerate to a target vehicle speed after the driver sets the target vehicle speed; meanwhile, the sensor can monitor the running state of the front vehicle in real time, and if the speed of the front vehicle is reduced or a new target vehicle exists, the ACC system can send a control command to the engine or the brake system through calculation and judgment to reduce the speed of the vehicle so as to keep a safe running distance between the vehicle and the front vehicle. When the vehicle is not in front, the ACC system controls the vehicle to accelerate and recover to the speed set by the driver, and meanwhile, the road condition in front is continuously monitored. The ACC system can greatly reduce fatigue caused by long-distance driving, provides a driver with a more relaxed driving mode by replacing the driver to control the vehicle speed, and becomes one of the most popular driving auxiliary systems in the ADAS system along with the wide application of the adaptive cruise system.
In the prior art, an ACC System calculates a target acceleration according to a set vehicle speed of a driver, a Brake Control System (BCS) calculates a vehicle required torque in real time according to the target acceleration, and then sends a required torque request to an engine management System, the engine management System reversely converts the required torque request into a virtual throttle opening value, a transmission Control System performs automatic up-down shifting by combining the virtual throttle opening value and a current vehicle speed, and the engine outputs a corresponding torque according to the virtual throttle opening value, so as to realize normal driving of the vehicle in an adaptive cruise process.
In the process of controlling the acceleration of a vehicle by the current adaptive cruise system, a transmission control system can perform up-down shifting by combining the current vehicle speed and the virtual accelerator opening value, so that the acceleration running of the vehicle is realized. If the vehicle needs to downshift after gear shifting operation in the adaptive cruise acceleration process to reach the target acceleration set by the driver, the virtual accelerator opening value may suddenly change, which easily causes frequent gear shifting or weak acceleration, and easily affects the driving stability of the vehicle in the adaptive cruise acceleration process.
Disclosure of Invention
In view of the above, it is necessary to provide a control method, apparatus, computer device and storage medium in adaptive cruise acceleration process, which can improve the driving stability of an automobile.
A method of controlling during adaptive cruise acceleration, the method comprising:
after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not;
if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
and adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
In one embodiment, the method further comprises:
acquiring a target acceleration and a current acceleration of the automobile in a gear shifting state during self-adaptive cruise acceleration;
if the acceleration difference is larger than the difference threshold value, controlling the automobile to keep the target acceleration to run in an accelerating mode in the gear shifting process; the acceleration difference is an absolute value of a difference between the target acceleration and the current acceleration.
In one embodiment, the obtaining the first torque variation slope and the second torque variation slope includes:
calculating a first torque change rate which is increased from the current output required torque of the automobile to the minimum engine torque at a constant speed in a first time period, and determining the first torque change rate as a first torque change slope;
a second torque change rate from the minimum engine torque to the target required torque at a constant speed for a second period is calculated, and the second torque change rate is determined as a second torque change slope.
In one embodiment, the adjusting the demanded torque of the vehicle in the first period according to the first torque variation slope comprises:
taking the currently output required torque as an initial required torque in a first time period, and uniformly increasing the required torque to the minimum engine torque according to a first torque change slope;
and uniformly raising the required torque to the target required torque according to a second torque change slope by taking the minimum engine torque as the starting required torque in a second period.
In one embodiment, the minimum engine torque determination process comprises:
and calculating a minimum accelerator opening value required for realizing downshift according to the current gear and the current speed of the automobile, and acquiring the minimum engine torque corresponding to the minimum accelerator opening value.
In one embodiment, the determining whether the vehicle has a downshift tendency includes:
acquiring a target virtual accelerator opening corresponding to the target demand torque;
and judging whether the automobile has a downshift trend at present according to the target virtual accelerator opening, the current speed and a preset gear shifting rule.
As an embodiment, the obtaining of the target virtual accelerator opening corresponding to the target required torque includes:
and searching the accelerator opening required by the output target required torque in the prestored accelerator opening-required torque corresponding relation to obtain the target virtual accelerator opening.
In one embodiment, the method further comprises:
if the required torque output by the automobile at the ending moment of the adjusting time period does not reach the target required torque, adjusting the required torque of the automobile to the target required torque; the adjustment period is the sum of the first period, the second period, and the third period.
A control device during adaptive cruise acceleration, the device comprising:
the judging module is used for judging whether the automobile has a downshift trend or not after the gear shifting operation in the automobile self-adaptive cruise acceleration process is finished;
the first obtaining module is used for obtaining a first torque change slope and a second torque change slope if the automobile has a downshifting trend; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
the adjusting module is used for adjusting the required torque of the automobile in a first time period according to the first torque change slope and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not;
if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
and adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not;
if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
and adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
According to the control method, the control device, the computer equipment and the storage medium in the self-adaptive cruise acceleration process, whether the automobile has a downshift trend or not can be judged after the gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, if the automobile has the downshift trend, the first torque change slope and the second torque change slope are obtained, the required torque of the automobile in the first time period is adjusted according to the first torque change slope, the required torque of the automobile in the second time period is adjusted according to the second torque change slope, the required torque output by the automobile can be stably improved, the situations that the driving stability is affected by sudden change of the opening value of the virtual accelerator and the like can be avoided, and the driving stability of the automobile in the self-adaptive cruise acceleration process can be improved.
Drawings
FIG. 1 is a flow diagram illustrating a control method during adaptive cruise acceleration according to one embodiment;
FIG. 2 is a schematic illustration of a requested torque adjustment in one embodiment;
FIG. 3 is a shift schedule diagram in another embodiment;
FIG. 4 is a block diagram of a control device during adaptive cruise acceleration according to an embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The control method in the self-adaptive cruise acceleration process can be applied to automobile control systems such as a self-adaptive cruise system of an automobile. The automobile control system can judge whether the automobile has a downshift trend after the gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, if the automobile has the downshift trend, a first torque change slope and a second torque change slope are obtained, the required torque of the automobile in a first time period is adjusted according to the first torque change slope, the required torque of the automobile in a second time period is adjusted according to the second torque change slope, the required torque output by the automobile can be stably improved, the running stability of the automobile in the self-adaptive cruise acceleration process is improved, and the automobile using experience of users such as a driver in the self-adaptive cruise acceleration process is improved.
In one embodiment, as shown in fig. 1, there is provided a control method during adaptive cruise acceleration, comprising the steps of:
s210, after gear shifting operation in the automobile self-adaptive cruise acceleration process is finished, whether the automobile has a downshift trend or not is judged.
In the self-adaptive cruise acceleration process of an automobile, if gear shifting operation is executed, the target speed can be reached only by downshifting, at the moment, the problem of frequent gear shifting exists, the opening value of a virtual accelerator is likely to generate sudden change, the speed of the automobile is unstable, and the driving experience is easily influenced. The target required torque required by the automobile to reach the target speed can be calculated according to the target acceleration and the current gear speed ratio of the automobile so as to determine the corresponding target virtual accelerator opening, and whether the downshift trend of the automobile exists or not is judged by combining with the preset gear shifting rule of the automobile.
If the automobile does not have a downshift requirement at present, namely, a downshift trend does not exist, the automobile can be controlled to accelerate according to the target virtual accelerator opening corresponding to the target requirement torque, so that the automobile can achieve the corresponding target speed to perform self-adaptive cruise.
S230, if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time.
The first time period and the second time period may be set according to the relevant configuration characteristics of the automobile, for example, the first time period may be set to 500ms (milliseconds), and the second time period may be set to 500ms, etc.
Specifically, a torque change rate during a rise from a currently output required torque to a minimum engine torque over a first period may be calculated to determine a first torque change slope, and a torque change rate during a rise from the minimum engine torque to a target required torque over a second period may be calculated to determine a second torque change slope to ensure accuracy of the determined first and second torque change slopes.
And S250, adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
The steps can relatively smoothly raise the required torque output by the automobile engine to the minimum engine torque in the first time period, and relatively smoothly raise the required torque output by the automobile engine to the target required torque in the second time period so as to realize smooth acceleration of the automobile.
According to the control method in the self-adaptive cruise acceleration process, after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, whether the automobile has a downshift trend or not can be judged, if the automobile has the downshift trend, a first torque change slope and a second torque change slope are obtained, so that the required torque of the automobile in a first time period is adjusted according to the first torque change slope, the required torque of the automobile in a second time period is adjusted according to the second torque change slope, the required torque output by the automobile can be stably improved, situations that the driving stability is affected due to sudden change of a virtual throttle opening value and the like can be avoided, and the driving stability of the automobile in the self-adaptive cruise acceleration process can be improved.
Due to the hardware characteristic of an automobile transmission system, short-time power interruption exists in the gear shifting process of the automatic transmission, and in the power interruption process, the difference value between the target acceleration and the actual acceleration is possibly larger and larger due to closed-loop control, so that the required torque is continuously accumulated or reduced, and the control effect of the required torque is poor. In view of the above problem, in one embodiment, the method further includes:
acquiring a target acceleration and a current acceleration of the automobile in a gear shifting state during self-adaptive cruise acceleration;
if the acceleration difference is larger than the difference threshold value, controlling the automobile to keep the target acceleration to run in an accelerating mode in the gear shifting process; the acceleration difference is an absolute value of a difference between the target acceleration and the current acceleration.
When the driver inputs the activation signal of the adaptive cruise function by pressing a button corresponding to the adaptive cruise function, or the like, the adaptive cruise module may detect the activation signal. When the self-adaptive cruise function is activated, when the cruise speed set by a driver or the system following target speed is greater than the current speed, the automobile is judged to enter a self-adaptive cruise acceleration state, whether the automobile is in a gear shifting state or not can be identified, and when the gear shifting state signal in the automobile bus shows that the automobile is in the gear shifting state, current and other automobile running state data can be collected in real time so as to calculate the target acceleration according to the target speed and the current speed.
In one example, a data acquisition module in the vehicle control system may acquire vehicle driving state data such as a current vehicle speed, a current gear, a current vehicle longitudinal acceleration, a gear shifting state and the like in real time through a CAN bus protocol, and send the acquired vehicle driving state data to the adaptive cruise module and the matching analysis module, where the adaptive cruise module calculates a target acceleration required for the vehicle to reach a target vehicle speed according to a cruise vehicle speed (target vehicle speed) set by a driver and the current vehicle speed. The adaptive cruise module can also perform feedback closed-loop control according to the actual acceleration of the vehicle in real time so as to enable the vehicle to reach the acceleration state expected by the system.
The difference threshold may be set according to the relevant configuration characteristics of the vehicle, for example, to 0.2m/s2And (4) equivalence. If the acceleration difference is greater than the difference thresholdThe difference between the target acceleration and the actual acceleration of the automobile is larger and larger, so that the required torque is accumulated or reduced continuously, and the stability of the output required torque is poor. If the acceleration difference is less than or equal to the difference threshold, the vehicle may be controlled to shift in a conventional manner.
During a gear shift, if | a0-a1L > x, wherein a0Representing the target acceleration, a1Representing the current acceleration, x representing the acceleration difference, controlling the acceleration of the automobile to be the target acceleration a0And not changing until the gear shifting is finished. The acceleration of the automobile is unchanged, the driving force F of the automobile is also kept unchanged, and the required torque output by the automobile in the gear shifting process is also kept unchanged according to a calculation formula F-T i-mu/r of the driving force and the output torque of the engine, wherein T represents the required torque output by the engine, i represents the speed ratio of the whole automobile, mu represents the transmission efficiency, and r represents the rolling radius of wheels; therefore, the condition that the stability is formed due to the fact that the required torque is continuously accumulated or reduced and the like can not occur in the gear shifting process of the automobile.
According to the control method in the self-adaptive cruise acceleration process, the target acceleration and the current acceleration of the automobile in the gear shifting state in the self-adaptive cruise acceleration process can be obtained, and when the acceleration difference value between the target acceleration and the current acceleration is larger than the difference threshold value, the automobile is controlled to keep the target acceleration to run in the gear shifting process in an accelerated manner, so that the output required torque of the automobile in the gear shifting process is constant, the condition that the required torque is accumulated or reduced continuously is avoided, the running stability of the automobile in the self-adaptive cruise acceleration process can be further improved, and the vehicle using experience of users such as a driver in the self-adaptive cruise acceleration process is improved.
In one embodiment, the obtaining the first torque variation slope and the second torque variation slope includes:
calculating a first torque change rate which is increased from the current output required torque of the automobile to the minimum engine torque at a constant speed in a first time period, and determining the first torque change rate as a first torque change slope;
a second torque change rate from the minimum engine torque to the target required torque at a constant speed for a second period is calculated, and the second torque change rate is determined as a second torque change slope.
The calculation formulas corresponding to the first torque variation slope and the second torque variation slope may be as follows:
k0＝(T1-T0)/t0，
k1＝(T2-T1)/t1，
in the formula, k0Representing a first rate of change of torque, t0Denotes a first period of time, T0Indicating the currently output required torque, T1Representing minimum engine torque, k1Representing a second rate of change of torque, t1Denotes a second period of time, T2The target required torque is indicated.
In one embodiment, the adjusting the demanded torque of the vehicle in the first period according to the first torque variation slope comprises:
taking the currently output required torque as an initial required torque in a first time period, and uniformly increasing the required torque to the minimum engine torque according to a first torque change slope;
and raising the required torque to the target required torque at a constant speed according to a second torque change slope by taking the minimum engine torque as the initial required torque in a second period.
The above-described process of adjusting the required torque may be illustrated with reference to fig. 2, during a first period t0At the initial timing of engine output required torque T0Then with a first torque change slope k0The required torque output by the engine is lifted at a constant speed for a first period t0To make the engine output the minimum engine torque T1(ii) a In a second period t1At the initial time of engine output minimum engine torque T1Then with a second torque variation slope k1The required torque output by the engine is lifted at a constant speed, and the torque is lifted at a second time interval t1The end time of the engine is made to be an engine output targetTarget required torque T2(ii) a Thus, the required torque output from the engine can be smoothly raised to the target required torque T2And the stability of the corresponding acceleration process is ensured.
In one embodiment, the minimum engine torque determination process comprises:
and calculating a minimum accelerator opening value required for realizing downshift according to the current gear and the current speed of the automobile, and acquiring the minimum engine torque corresponding to the minimum accelerator opening value.
Specifically, according to the present embodiment, a minimum accelerator opening value required for currently implementing downshift may be calculated by combining a shift rule of the transmission control system according to the current vehicle speed and the current gear, and a minimum engine torque corresponding to the minimum accelerator opening value may be determined according to a correspondence between the accelerator opening value and the engine torque, so as to ensure accuracy of the determined minimum engine torque.
In one embodiment, the determining whether the vehicle has a downshift tendency includes:
acquiring a target virtual accelerator opening corresponding to the target demand torque;
and judging whether the automobile has a downshift trend at present according to the target virtual accelerator opening, the current speed and a preset gear shifting rule.
The target required torque may be calculated from the target acceleration and the current gear speed ratio. The shift schedule may be preset, for example, the shift schedule shown in fig. 3 may be preset in the transmission control system, in fig. 3, the abscissa represents the vehicle speed, the ordinate represents the accelerator opening, and each curve corresponds to one shift. Specifically, after the target virtual accelerator opening and the current vehicle speed are obtained, a shift curve corresponding to the target virtual accelerator opening and the current vehicle speed may be identified in the shift schedule shown in fig. 3, and if the shift curve is a downshift curve (e.g., a curve corresponding to 4 th gear to 3 rd gear, a curve corresponding to 3 rd gear to 2 th gear, or a curve corresponding to 2 nd gear to 1 st gear in fig. 3), it may be determined that the vehicle has a downshift tendency currently.
As an embodiment, the obtaining of the target virtual accelerator opening corresponding to the target required torque includes:
and searching the accelerator opening required by the output target required torque in the prestored accelerator opening-required torque corresponding relation to obtain the target virtual accelerator opening.
And recording and outputting the accelerator opening degree required by each required torque according to the accelerator opening degree-required torque corresponding relation.
In one example, after the gear shifting operation is finished, the brake control system calculates the current target required torque T according to the target acceleration and the current gear speed ratio2The matching processing module is used for matching the target required torque T2And calculating to obtain a target virtual accelerator opening by combining the accelerator opening-required torque corresponding relation of the engine, judging whether downshift is required at present according to the target virtual accelerator opening, the current vehicle speed and a gear shifting rule of a transmission control system, and if the downshift of the vehicle is caused by the current virtual accelerator opening and the current vehicle speed, adjusting the change rate of the required torque to avoid excessive downshift.
The method and the device can accurately determine the target virtual accelerator opening so as to accurately judge whether the automobile has a downshift trend at present.
In one embodiment, the method further comprises:
if the required torque output by the automobile at the ending moment of the adjusting time period does not reach the target required torque, adjusting the required torque of the automobile to the target required torque; the adjustment period is the sum of the first period, the second period, and the third period.
The third time period may be set according to the relevant configuration characteristics of the automobile, for example, to be equal to 200 ms.
In the embodiment, a third time period is set, the adjustment time period of the required torque of the automobile is determined according to the third time period, and the required torque adjustment strategy is forcibly quitted once the end time of the adjustment time period is reached, so that the required torque of the automobile is adjusted to the target required torque, the self-adaptive cruise acceleration of the automobile is realized, and the acceleration effect is ensured.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided a control apparatus during adaptive cruise acceleration, including: a determining module 210, a first obtaining module 230, and an adjusting module 250, wherein:
the judging module 210 is configured to judge whether the automobile has a downshift trend after a gear shifting operation in an automobile adaptive cruise acceleration process is finished;
the first obtaining module 230 is configured to obtain a first torque change slope and a second torque change slope if the vehicle has a downshift tendency; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
the adjusting module 250 is configured to adjust a required torque of the vehicle in a first time period according to the first torque change slope, and adjust the required torque of the vehicle in a second time period according to the second torque change slope.
In one embodiment, the control device for adaptive cruise acceleration further includes:
the second acquisition module is used for acquiring a target acceleration and a current acceleration of the automobile in a gear shifting state during self-adaptive cruise acceleration;
the control module is used for controlling the automobile to keep the target acceleration to run in an accelerating mode in the gear shifting process if the acceleration difference value is larger than the difference threshold value; the acceleration difference is an absolute value of a difference between the target acceleration and the current acceleration.
In an embodiment, the first obtaining module is further configured to:
calculating a first torque change rate which is increased from the current output required torque of the automobile to the minimum engine torque at a constant speed in a first time period, and determining the first torque change rate as a first torque change slope;
a second torque change rate from the minimum engine torque to the target required torque at a constant speed for a second period is calculated, and the second torque change rate is determined as a second torque change slope.
In one embodiment, the adjusting module is further configured to:
taking the currently output required torque as an initial required torque in a first time period, and uniformly increasing the required torque to the minimum engine torque according to a first torque change slope;
and raising the required torque to the target required torque at a constant speed according to a second torque change slope by taking the minimum engine torque as the initial required torque in a second period.
In one embodiment, the control device for adaptive cruise acceleration further includes:
and the calculation module is used for calculating the minimum accelerator opening value required by realizing the downshift according to the current gear and the current speed of the automobile and acquiring the minimum engine torque corresponding to the minimum accelerator opening value.
In one embodiment, the determining module is further configured to:
acquiring a target virtual accelerator opening corresponding to the target demand torque;
and judging whether the automobile has a downshift trend at present according to the target virtual accelerator opening, the current speed and a preset gear shifting rule.
As an embodiment, the determining module is further configured to:
searching the accelerator opening required by the output target demand torque in a prestored accelerator opening-demand torque corresponding relation to obtain a target virtual accelerator opening; and recording the accelerator opening degree required by outputting each required torque according to the accelerator opening degree-required torque corresponding relation.
In one embodiment, the control device for adaptive cruise acceleration further includes:
the adjusting module is used for adjusting the required torque of the automobile to the target required torque if the required torque output by the automobile at the ending moment of the adjusting time interval does not reach the target required torque; the adjustment period is the sum of the first period, the second period, and the third period.
For specific limitations of the control device during the adaptive cruise acceleration process, reference may be made to the above limitations of the control method during the adaptive cruise acceleration process, which are not described herein again. The modules in the control device in the adaptive cruise acceleration process can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a control method in an adaptive cruise acceleration process. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, and can also be a key, a track ball or a touch pad and the like arranged on the shell of the computer equipment.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not;
if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
and adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a target acceleration and a current acceleration of the automobile in a gear shifting state during self-adaptive cruise acceleration; if the acceleration difference is larger than the difference threshold value, controlling the automobile to keep the target acceleration to run in an accelerating mode in the gear shifting process; the acceleration difference is an absolute value of a difference between the target acceleration and the current acceleration.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
calculating a first torque change rate which is increased from the current output required torque of the automobile to the minimum engine torque at a constant speed in a first time period, and determining the first torque change rate as a first torque change slope; a second torque change rate from the minimum engine torque to the target required torque at a constant speed for a second period is calculated, and the second torque change rate is determined as a second torque change slope.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
taking the currently output required torque as an initial required torque in a first time period, and uniformly increasing the required torque to the minimum engine torque according to a first torque change slope; and raising the required torque to the target required torque at a constant speed according to a second torque change slope by taking the minimum engine torque as the initial required torque in a second period.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and calculating a minimum accelerator opening value required for realizing downshift according to the current gear and the current speed of the automobile, and acquiring the minimum engine torque corresponding to the minimum accelerator opening value.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a target virtual accelerator opening corresponding to the target demand torque; and judging whether the automobile has a downshift trend at present according to the target virtual accelerator opening, the current speed and a preset gear shifting rule.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
searching the accelerator opening required by the output target demand torque in a prestored accelerator opening-demand torque corresponding relation to obtain a target virtual accelerator opening; and recording the accelerator opening degree required by outputting each required torque according to the accelerator opening degree-required torque corresponding relation.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if the required torque output by the automobile at the ending moment of the adjusting time period does not reach the target required torque, adjusting the required torque of the automobile to the target required torque; the adjustment period is the sum of the first period, the second period, and the third period.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not;
if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate from a currently output required torque to a minimum engine torque over a first period; the second torque change slope characterizes a rate of torque change from the minimum engine torque to the target requested torque over a second period of time;
and adjusting the required torque of the automobile in a first time period according to the first torque change slope, and adjusting the required torque of the automobile in a second time period according to the second torque change slope.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a target acceleration and a current acceleration of the automobile in a gear shifting state during self-adaptive cruise acceleration; if the acceleration difference is larger than the difference threshold value, controlling the automobile to keep the target acceleration to run in an accelerating mode in the gear shifting process; the acceleration difference is an absolute value of a difference between the target acceleration and the current acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
calculating a first torque change rate which is increased from the current output required torque of the automobile to the minimum engine torque at a constant speed in a first time period, and determining the first torque change rate as a first torque change slope; a second torque change rate from the minimum engine torque to the target required torque at a constant speed for a second period is calculated, and the second torque change rate is determined as a second torque change slope.
In one embodiment, the computer program when executed by the processor further performs the steps of:
taking the currently output required torque as an initial required torque in a first time period, and uniformly increasing the required torque to the minimum engine torque according to a first torque change slope; and raising the required torque to the target required torque at a constant speed according to a second torque change slope by taking the minimum engine torque as the initial required torque in a second period.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and calculating a minimum accelerator opening value required for realizing downshift according to the current gear and the current speed of the automobile, and acquiring the minimum engine torque corresponding to the minimum accelerator opening value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a target virtual accelerator opening corresponding to the target demand torque; and judging whether the automobile has a downshift trend at present according to the target virtual accelerator opening, the current speed and a preset gear shifting rule.
In one embodiment, the computer program when executed by the processor further performs the steps of:
searching the accelerator opening required by the output target demand torque in a prestored accelerator opening-demand torque corresponding relation to obtain a target virtual accelerator opening; and recording the accelerator opening degree required by outputting each required torque according to the accelerator opening degree-required torque corresponding relation.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the required torque output by the automobile at the ending moment of the adjusting time period does not reach the target required torque, adjusting the required torque of the automobile to the target required torque; the adjustment period is the sum of the first period, the second period, and the third period.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application merely distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.
The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, product, or device.
Reference herein to "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling during adaptive cruise acceleration, the method comprising:
after gear shifting operation in the self-adaptive cruise acceleration process of the automobile is finished, judging whether the automobile has a downshift trend or not;
if the automobile has a downshifting trend, acquiring a first torque change slope and a second torque change slope; the first torque change slope is indicative of a torque change rate at which a minimum engine torque is reached from a currently output required torque over a first period of time; the second torque change slope characterizes a rate of torque change from the minimum engine torque to a target demand torque over a second period of time;
adjusting the required torque of the automobile in the first time period according to the first torque change slope, and adjusting the required torque of the automobile in the second time period according to the second torque change slope;
wherein the obtaining the first torque change slope and the second torque change slope comprises:
calculating a first torque change rate that is increased from a constant speed of a required torque currently output by the automobile to the minimum engine torque in the first period, and determining the first torque change rate as the first torque change slope;
calculating a second torque change rate that is increased from the minimum engine torque to the target required torque at a constant speed over the second period, and determining the second torque change rate as the second torque change slope.
2. The method of claim 1, further comprising:
acquiring a target acceleration and a current acceleration of the automobile in a gear shifting state during self-adaptive cruise acceleration;
if the acceleration difference is larger than the difference threshold value, controlling the automobile to keep the target acceleration to run in an accelerating mode in the gear shifting process; the acceleration difference is an absolute value of a difference between the target acceleration and the current acceleration.
3. The method of claim 1, wherein the adjusting the requested torque of the vehicle over the first time period according to the first torque change ramp rate and the adjusting the requested torque of the vehicle over the second time period according to the second torque change ramp rate comprises:
in the first time period, with the currently output required torque as the starting required torque, raising the required torque to the minimum engine torque at a constant speed according to the first torque change slope;
and in the second period, the minimum engine torque is used as the starting required torque, and the required torque is lifted to the target required torque at a constant speed according to the second torque change slope.
4. The method of claim 1, wherein the determining of the minimum engine torque comprises:
and calculating a minimum accelerator opening value required for realizing downshift according to the current gear and the current speed of the automobile, and acquiring a minimum engine torque corresponding to the minimum accelerator opening value.
5. The method of claim 1, wherein said determining whether the vehicle is trending downward comprises:
acquiring a target virtual accelerator opening corresponding to the target demand torque;
and judging whether the automobile has a downshift trend at present according to the target virtual accelerator opening, the current speed and a preset gear shifting rule.
6. The method according to claim 5, wherein the obtaining of the target virtual accelerator opening corresponding to the target demand torque comprises:
and searching the accelerator opening required by outputting the target required torque in a prestored accelerator opening-required torque corresponding relation to obtain the target virtual accelerator opening.
7. The method according to any one of claims 1 to 6, further comprising:
if the required torque output by the automobile at the end moment of the adjusting time period does not reach the target required torque, adjusting the required torque of the automobile to the target required torque; the adjustment period is the sum of the first period, the second period, and a third period.
8. A control device during adaptive cruise acceleration, the device comprising:
the judging module is used for judging whether the automobile has a downshift trend or not after the gear shifting operation in the automobile self-adaptive cruise acceleration process is finished;
the first obtaining module is used for obtaining a first torque change slope and a second torque change slope if the automobile has a downshifting trend; the first torque change slope is indicative of a torque change rate at which a minimum engine torque is reached from a currently output required torque over a first period of time; the second torque change slope characterizes a rate of torque change from the minimum engine torque to a target demand torque over a second period of time;
the adjusting module is used for adjusting the required torque of the automobile in the first time period according to the first torque change slope and adjusting the required torque of the automobile in the second time period according to the second torque change slope;
the first obtaining module is further used for calculating a first torque change rate which is increased from the current output required torque of the automobile to the minimum engine torque at a constant speed in the first period, and determining the first torque change rate as the first torque change slope; calculating a second torque change rate that is increased from the minimum engine torque to the target required torque at a constant speed over the second period, and determining the second torque change rate as the second torque change slope.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910237343.2A CN111746536B (en) | 2019-03-27 | 2019-03-27 | Control method and device in self-adaptive cruise acceleration process and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910237343.2A CN111746536B (en) | 2019-03-27 | 2019-03-27 | Control method and device in self-adaptive cruise acceleration process and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111746536A CN111746536A (en) | 2020-10-09 |
| CN111746536B true CN111746536B (en) | 2021-05-11 |
Family
ID=72672380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910237343.2A Active CN111746536B (en) | 2019-03-27 | 2019-03-27 | Control method and device in self-adaptive cruise acceleration process and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111746536B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113415277B (en) * | 2021-07-27 | 2022-10-11 | 重庆长安汽车股份有限公司 | Control method and system for accelerating control right transfer of electric automobile |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009214838A (en) * | 2008-03-12 | 2009-09-24 | Fuji Heavy Ind Ltd | Vehicle driving support apparatus |
| CN104742904A (en) * | 2015-03-26 | 2015-07-01 | 安徽江淮汽车股份有限公司 | Cruise control method and system |
| CN105365821A (en) * | 2015-11-23 | 2016-03-02 | 浙江吉利汽车研究院有限公司 | Adaptive cruise acceleration method, adaptive cruise acceleration device and adaptive cruise acceleration system |
| CN108068798A (en) * | 2016-11-16 | 2018-05-25 | 上海汽车集团股份有限公司 | The method and device of gear pre-selection |
| CN108099895A (en) * | 2017-12-15 | 2018-06-01 | 潍柴动力股份有限公司 | A kind of control method and device of the Shifting of AMT |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5180641B2 (en) * | 2008-03-25 | 2013-04-10 | 富士重工業株式会社 | Vehicle driving support device |
-
2019
- 2019-03-27 CN CN201910237343.2A patent/CN111746536B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009214838A (en) * | 2008-03-12 | 2009-09-24 | Fuji Heavy Ind Ltd | Vehicle driving support apparatus |
| CN104742904A (en) * | 2015-03-26 | 2015-07-01 | 安徽江淮汽车股份有限公司 | Cruise control method and system |
| CN105365821A (en) * | 2015-11-23 | 2016-03-02 | 浙江吉利汽车研究院有限公司 | Adaptive cruise acceleration method, adaptive cruise acceleration device and adaptive cruise acceleration system |
| CN108068798A (en) * | 2016-11-16 | 2018-05-25 | 上海汽车集团股份有限公司 | The method and device of gear pre-selection |
| CN108099895A (en) * | 2017-12-15 | 2018-06-01 | 潍柴动力股份有限公司 | A kind of control method and device of the Shifting of AMT |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111746536A (en) | 2020-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111619563B (en) | Control method and device in self-adaptive cruise acceleration process and computer equipment | |
| JP2646133B2 (en) | Correction method for clutch control data | |
| US8145398B2 (en) | Method for controlling gear ratio changes in an automatic transmission | |
| US9695747B2 (en) | Vehicle engine speed display device | |
| US6574543B2 (en) | Method and apparatus for maintaining a vehicle speed at a predetermined vehicle speed | |
| US20110035124A1 (en) | Method of operating an automatic transmission as well as controller | |
| EP3335951A1 (en) | System for controlling cornering of vehicle and method thereof | |
| CN112283339B (en) | Gear processing method, gear processing device, gear processing equipment and computer readable storage medium | |
| CN111746536B (en) | Control method and device in self-adaptive cruise acceleration process and computer equipment | |
| US20220097662A1 (en) | Driving force control device | |
| JP4915445B2 (en) | Vehicle driving force control device | |
| US11598278B2 (en) | Method to elevate idle speed to launch a vehicle with manual transmission | |
| US6915202B2 (en) | Method and arrangement for controlling the drive unit of a vehicle | |
| CN112009477B (en) | Automobile control method, device, equipment and storage medium | |
| CN109854732B (en) | Vehicle control device | |
| CN109094536B (en) | Vehicle control method and device and vehicle | |
| JP4701683B2 (en) | Vehicle torque control device | |
| CN114889584A (en) | Vehicle control method, device, equipment and storage medium | |
| US11485363B2 (en) | Braking force control device | |
| JP2009036163A (en) | Running speed-limiting device | |
| CN109318896B (en) | ACC (adaptive cruise control) walking-stopping torque monitoring control strategy | |
| CN112576743A (en) | Clutch starting control method and system of hybrid power system and vehicle | |
| EP2738428B1 (en) | Shift control device for continuously-variable transmission and shift control method for continuously-variable transmission | |
| CN112628396A (en) | Double-clutch transmission step-crossing control method, storage medium and electronic equipment | |
| KR20160067454A (en) | Method and system of contorlling shift for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |