CN112721654B - Electric motor coach constant-speed cruise control method and system - Google Patents

Electric motor coach constant-speed cruise control method and system Download PDF

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Publication number
CN112721654B
CN112721654B CN202110075230.4A CN202110075230A CN112721654B CN 112721654 B CN112721654 B CN 112721654B CN 202110075230 A CN202110075230 A CN 202110075230A CN 112721654 B CN112721654 B CN 112721654B
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speed
current
cruise
constant
vehicle
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CN112721654A (en
Inventor
陈振国
张刚
崔存松
曹广辉
黄玉鹏
朱岩朋
徐海柱
赵国朋
赵海霞
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Zhongtong Bus Holding Co Ltd
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Zhongtong Bus Holding Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The disclosed electric motor coach constant speed cruise control method and system includes: starting constant-speed cruising; determining the cruising speed of the vehicle and the opening degree of an accelerator when the constant-speed cruising is started; collecting the current actual speed of the vehicle; determining the current motor power according to the current actual speed and the cruising speed; calculating the current motor request torque according to the current motor power; determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started; and selecting the minimum value from the current motor request torque and the current motor demand torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruise. The control of constant-speed cruising of the electric motor coach is realized.

Description

Electric motor coach constant-speed cruise control method and system
Technical Field
The invention relates to the technical field of automatic cruising, in particular to a constant-speed cruising control method and system for an electric motor coach.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
Along with the rapid development of new energy, the driving range of the pure electric bus is remarkably improved, and more pure electric buses replace fuel vehicles to realize long-distance transportation. When the electric automobile is driven on a highway for a long time, the cruise button is pressed, the automobile can be kept at a fixed speed to drive, the frequent stepping of an accelerator pedal by a driver is reduced, and the fatigue strength of the driver is greatly reduced.
Disclosure of Invention
In order to solve the problems, the disclosure provides a method and a system for controlling constant-speed cruising of an electric motor coach, which realize dynamic control of a motor by acquiring the actual speed in the constant-speed cruising process in real time and ensure the accuracy of the constant-speed cruising.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
in a first aspect, a constant-speed cruise control method for an electric motor coach is provided, which includes:
starting constant-speed cruising;
determining the cruising speed of the vehicle and the opening degree of an accelerator when the constant-speed cruising is started;
collecting the current actual speed of the vehicle;
determining the current motor power according to the current actual vehicle speed and the cruising vehicle speed;
calculating the current motor request torque according to the current motor power;
determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started;
and selecting the minimum value from the current motor request torque and the current motor request torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruising.
In a second aspect, a cruise control system for an electric motor coach is provided, which includes:
the cruise starting module is used for starting constant-speed cruise;
the cruise parameter determining module is used for determining the cruise speed of the vehicle and the accelerator opening degree when the vehicle is started at a constant-speed cruise;
the vehicle running state acquisition module is used for acquiring the current actual speed of the vehicle;
the constant-speed cruise control module is used for determining the current motor power according to the current actual speed and the cruise speed; calculating the current motor request torque according to the current motor power; determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started; and selecting the minimum value from the current motor request torque and the current motor request torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruising.
In a third aspect, an electronic device is provided, comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the steps of a method for cruise control of an electric motor coach.
In a fourth aspect, a computer-readable storage medium is provided for storing computer instructions, and the computer instructions, when executed by a processor, perform the steps of a cruise control method for an electric motor coach.
Compared with the prior art, the beneficial effect of this disclosure is:
1. according to the method and the device, the current actual speed of the vehicle in the constant-speed cruising process is collected in real time, the current control torque of the motor is determined according to the current actual speed, the motor is controlled according to the current control torque, and the constant-speed cruising precision is guaranteed.
2. When the control torque of the motor is determined, the minimum value is selected from the current motor request torque determined according to the current actual speed and the cruising speed and the current motor demand torque determined according to the accelerator opening degree when the constant-speed cruising is started and the current motor rotating speed to serve as the current control torque of the motor, so that the accuracy of the current control torque is further improved, and the accuracy of the constant-speed cruising is further ensured.
3. According to the method and the device, when the current motor request torque is determined according to the current actual speed and the cruising speed, the intermediate parameter of speed regulation is determined according to the cruising speed, the motor power is determined in a grading mode according to the current actual speed, the cruising speed and the intermediate parameter of speed regulation, and then the current motor request torque is determined, so that the accuracy of the current control torque is further improved, and the accuracy of constant-speed cruising is further ensured.
4. When the pure electric bus runs on a highway, a driver presses the cruise control switch, the electric bus constant-speed cruise control method disclosed by the invention is used for controlling the vehicle to run at a fixed speed, the control precision is +/-1 km/h, the driver is prevented from frequently stepping on an accelerator pedal, and the fatigue strength of the driver is greatly reduced.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a flow chart of a method disclosed in embodiment 1 of the present disclosure.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example 1
In this embodiment, a cruise control method for an electric motor coach is disclosed, which includes:
starting constant-speed cruising;
determining the cruising speed of the vehicle and the opening degree of an accelerator when the constant-speed cruising is started;
collecting the current actual speed of the vehicle;
determining the current motor power according to the current actual speed and the cruising speed;
calculating the current motor request torque according to the current motor power;
determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started;
and selecting the minimum value from the current motor request torque and the current motor demand torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruise.
Further, determining intermediate parameters of speed regulation according to the cruising speed;
when the current actual speed of the vehicle is greater than the cruising speed, the current motor power is 0;
when the current actual speed of the vehicle is less than the cruising speed and greater than the intermediate parameter of speed regulation, the current motor power is determined by multiplying the ratio of the difference between the cruising speed and the current actual speed and the difference between the cruising speed and the intermediate parameter of speed regulation by the rated power of the motor;
and when the current actual speed of the vehicle is less than the intermediate parameter of speed regulation, the current motor power is the rated motor power.
Further, starting a constant-speed cruise button;
acquiring the actual vehicle speed, the opening degree of a brake pedal and the opening degree of an accelerator when a constant-speed cruise button is started;
judging whether the vehicle meets a constant-speed cruise condition or not according to the actual speed and the opening degree of a brake pedal when a constant-speed cruise button is started;
when the constant-speed cruise condition is met, the constant-speed cruise is started, the actual vehicle speed when the constant-speed cruise button is started is taken as the cruise vehicle speed, the brake pedal opening degree when the constant-speed cruise button is started is taken as the brake pedal opening degree when the cruise is started, and the accelerator opening degree when the constant-speed cruise button is started is taken as the accelerator opening degree when the cruise is started.
Further, when the actual vehicle speed when the constant-speed cruise button is started is larger than the set vehicle speed and the opening degree of the automatic pedal when the constant-speed cruise button is started is smaller than or equal to the set value, the constant-speed cruise condition is met, and the constant-speed cruise is started.
Further, the actual speed is obtained by calculating the rotating speed of the motor, the radius of the tire of the vehicle and the transmission ratio of the main speed reducer.
Further, according to the opening degree of an accelerator when the constant-speed cruise button is started and the current rotating speed of the motor, table lookup is carried out to determine the required torque of the motor.
Furthermore, after the cruise control is started, the current accelerator opening and the current brake pedal opening of the vehicle are collected in real time, and when the current accelerator opening is continuously larger than the accelerator opening setting time when the cruise control is started, or the current brake pedal opening is larger than the brake pedal opening when the cruise control is started, or a cruise control button is closed, the vehicle finishes automatic cruise.
The method for controlling constant-speed cruising of an electric motor coach disclosed in the embodiment will be described in detail.
As shown in fig. 1, when the cruise control button is activated, the vehicle control unit acquires the motor speed, the accelerator opening degree, and the brake pedal opening degree of the vehicle when the cruise control button is activated.
The vehicle control unit obtains an actual vehicle speed V by calculation according to the motor rotating speed n, the vehicle tire radius r and the main reducer transmission ratio i, and the calculation formula is as follows:
Figure BDA0002907239750000071
when the actual speed of the vehicle exceeds 40km/h when the constant-speed cruise button is started and the opening degree of a brake pedal is less than or equal to 3%, the condition that the vehicle starts constant-speed cruise is met, the vehicle starts constant-speed cruise, the vehicle enters a constant-speed cruise control mode, the actual speed when the constant-speed cruise button is started is used as the cruise speed Vx, the opening degree of the brake pedal when the constant-speed cruise button is started is used as the opening degree of the brake pedal when the cruise is started, and the opening degree of an accelerator when the constant-speed cruise button is started is used as the opening degree of an accelerator Ap when the cruise is started.
In the constant-speed cruising process of the vehicle, the vehicle control unit obtains the current motor rotating speed, the current brake pedal opening degree and the current accelerator opening degree A of the vehicle in real time i Calculating the current actual speed according to the current motor rotating speed, further obtaining the current control torque of the motor, controlling the motor to enable the vehicle to run at a fixed cruising speed, and controlling the motor according to the current brake pedal opening degree and the accelerator opening degree A i And judging whether the constant-speed cruising is ended or not.
The specific steps for acquiring the current control torque of the motor are as follows:
(1) And taking the accelerator opening Ap at the cruise starting as a virtual pedal opening Ax, and obtaining the current motor demand torque Tq by looking up a table through the virtual pedal opening Ax and the current motor rotating speed.
(2) Taking the speed Vm obtained by subtracting 10km/h from the cruising speed Vx as an intermediate parameter of speed regulation; when the current actual vehicle speed V i When the current motor power is larger than Vx, the current motor power is P i Equal to 0; when the current actual vehicle speed V i When Vx is less than Vx and Vm is greater than Vm, the current motor power
Figure BDA0002907239750000072
When the current actual vehicle speed V i Less than Vm, current motor power P i ＝P Forehead (forehead) (ii) a By the current motor power P i Calculating the current motor request torque Tp according to the following formula:
Figure BDA0002907239750000081
wherein n is i The current motor speed.
(3) Comparing the current motor demand torque Tq obtained by table lookup with the motor demand torque Tp obtained by current motor power calculation, and taking the minimum value as the current control torque T of the motor during cruise i The current control torque T is controlled by the vehicle control unit i And the control signal is sent to a motor controller to control the motor and drive the whole vehicle to run according to the cruising speed.
In the constant-speed cruise mode, the driver releases the accelerator pedal, and the vehicle stably runs at a fixed cruise speed all the time.
When the driver closes the constant speed cruise button or the current brake pedal opening degree is more than 3 percent or the current accelerator opening degree A i And when the duration of the accelerator opening Ap which is longer than the constant-speed cruise starting time exceeds the set time 1s, the whole vehicle exits the constant-speed cruise mode and enters a normal driving mode of the whole vehicle.
This embodiment is when guaranteeing that pure [ electric ] motor coach is gone at highway security, economy, can realize under the constant speed mode of cruising, through the real-time control moment of torsion that acquires the motor, controls the motor according to the real-time control moment of torsion to the realization is to the accurate control of the speed of a motor cruise, and the control strategy that provides avoids the driver to frequently step on accelerator pedal, greatly alleviates driver's fatigue strength.
Example 2
In this embodiment, a constant-speed cruise control system for an electric motor coach is disclosed, including:
the cruise starting module is used for starting constant-speed cruise;
the cruise parameter determination module is used for determining the cruise speed of the vehicle and the accelerator opening degree when the vehicle is started at constant-speed cruise;
the vehicle running state acquisition module is used for acquiring the current actual speed of the vehicle;
the constant-speed cruise control module is used for determining the current motor power according to the current actual speed and the cruise speed; calculating the current motor request torque according to the current motor power; determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started; and selecting the minimum value from the current motor request torque and the current motor request torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruising.
Example 3
In this embodiment, an electronic device is disclosed that includes a memory and a processor and computer instructions stored on the memory and executed on the processor that, when executed by the processor, perform the steps of a method disclosed in embodiment 1.
Example 4
In this embodiment, a computer-readable storage medium is disclosed for storing computer instructions that, when executed by a processor, perform the steps of a method disclosed in embodiment 1.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (9)

1. A constant-speed cruise control method for an electric motor coach is characterized by comprising the following steps:
starting constant-speed cruising;
determining the cruising speed of the vehicle and the opening degree of an accelerator when the constant-speed cruising is started;
collecting the current actual speed of the vehicle;
determining the current motor power according to the current actual speed and the cruising speed;
determining intermediate parameters of speed regulation according to the cruising speed;
when the current actual speed of the vehicle is greater than the cruising speed, the current motor power is 0;
when the current actual speed of the vehicle is smaller than the cruising speed and larger than the intermediate parameter of speed regulation, the current motor power is determined by multiplying the rated power of the motor by the ratio of the difference between the cruising speed and the current actual speed and the difference between the cruising speed and the intermediate parameter of speed regulation;
when the current actual speed of the vehicle is less than the intermediate parameter of speed regulation, the current motor power is the rated motor power;
calculating the current motor request torque according to the current motor power;
determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started;
and selecting the minimum value from the current motor request torque and the current motor demand torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruise.
2. The electric motor coach constant-speed cruise control method as claimed in claim 1, wherein a constant-speed cruise button is activated;
acquiring the actual vehicle speed, the opening degree of a brake pedal and the opening degree of an accelerator when a constant-speed cruise button is started;
judging whether the vehicle meets a constant-speed cruise condition or not according to the actual speed and the opening degree of a brake pedal when a constant-speed cruise button is started;
when the cruise control condition is met, the cruise control is started, the actual speed when the cruise control button is started is used as the cruise speed, the brake pedal opening degree when the cruise control button is started is used as the brake pedal opening degree when the cruise control is started, and the accelerator opening degree when the cruise control button is started is used as the accelerator opening degree when the cruise control is started.
3. The cruise control method according to claim 2, wherein when the actual vehicle speed when the cruise control button is activated is greater than the set vehicle speed and the opening degree of the automatic pedal when the cruise control button is activated is equal to or less than the set value, the cruise control condition is satisfied and the cruise control is activated.
4. A cruise control method for an electric motor coach as claimed in claim 2, characterized in that the actual speed is calculated from the motor speed, the radius of the vehicle tyre and the final drive gear ratio.
5. The cruise control method according to claim 4, wherein the required torque of the motor is determined by looking up a table according to the accelerator opening when the cruise control button is activated and the current motor speed.
6. The method as claimed in claim 2, wherein the current accelerator opening and the current brake pedal opening of the vehicle are collected in real time after the cruise control is started, and the automatic cruise is ended when the current accelerator opening is continuously larger than the set time of the accelerator opening when the cruise control is started, or the current brake pedal opening is larger than the brake pedal opening when the cruise control is started, or the cruise control button is closed.
7. The utility model provides an [ electric ] motor coach cruise control system which characterized in that includes:
the cruise starting module is used for starting constant-speed cruise;
the cruise parameter determining module is used for determining the cruise speed of the vehicle and the accelerator opening degree when the vehicle is started at a constant-speed cruise;
the vehicle running state acquisition module is used for acquiring the current actual speed of the vehicle;
the constant-speed cruise control module is used for determining the current motor power according to the current actual speed and the cruise speed; determining intermediate parameters of speed regulation according to the cruising speed; when the current actual speed of the vehicle is greater than the cruising speed, the current motor power is 0; when the current actual speed of the vehicle is less than the cruising speed and greater than the intermediate parameter of speed regulation, the current motor power is determined by multiplying the ratio of the difference between the cruising speed and the current actual speed and the difference between the cruising speed and the intermediate parameter of speed regulation by the rated power of the motor; when the current actual speed of the vehicle is less than the intermediate parameter of speed regulation, the current motor power is the rated motor power;
calculating the current motor request torque according to the current motor power; determining the current motor required torque according to the accelerator opening degree when the constant-speed cruise is started; and selecting the minimum value from the current motor request torque and the current motor request torque as the current control torque of the motor, controlling the motor and realizing constant-speed cruising.
8. An electronic device comprising a memory and a processor and computer instructions stored on the memory and executed on the processor, the computer instructions when executed by the processor performing the steps of a method according to any one of claims 1 to 6.
9. A computer-readable storage medium storing computer instructions which, when executed by a processor, perform the steps of a method according to any one of claims 1 to 6.
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