CN113511081A - Control method and device for self-adaptive energy recovery of electric automobile - Google Patents
Control method and device for self-adaptive energy recovery of electric automobile Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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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Abstract
The invention discloses a control method and a device for self-adaptive energy recovery of an electric automobile, which relate to the technical field of electric automobile driving, and can automatically adjust the required braking torque according to the actual road and traffic conditions when the electric automobile is driven in a free sliding state with an accelerator loosened and a brake not stepped on, wherein the main technical scheme of the invention is as follows: when a current vehicle is driven in a free-running state with a brake pedal released and an accelerator pedal not stepped, acquiring a target vehicle with the minimum relative distance from the current vehicle within a preset range from the current vehicle; calculating a target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle; calculating the corresponding actual deceleration of the current vehicle; determining a target braking torque corresponding to the current vehicle according to the target deceleration and the actual deceleration; the target braking torque is sent to the motor controller for controlling driving of the current vehicle according to the target braking torque.
Description
Technical Field
The invention relates to the technical field of electric automobile driving, in particular to a control method and a control device for self-adaptive energy recovery of an electric automobile.
Background
With the continuous innovative development of science and technology, electric vehicles are increasingly popular due to the superiority of driving performance. In the driving process of the electric automobile, energy recovery is an important part, and since the electric automobile is driven by a motor and can charge a power battery in the braking or sliding process, most of the current electric automobiles have the energy recovery function so as to increase the driving range of the electric automobile.
At present, under the condition that driving of an electric automobile is achieved based on energy recovery, driving safety distance still needs to be considered, however, a driver needs to frequently switch back and forth between stepping on an accelerator pedal and stepping on a brake pedal in the actual driving process so as to adjust required brake torque according to actual road and traffic conditions, and driving fatigue is aggravated due to frequent operation.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling adaptive energy recovery of an electric vehicle, and mainly aims to automatically adjust a required braking torque according to actual road and traffic conditions when the electric vehicle is in a free-running state with an accelerator released and a brake not stepped on, so as to reduce driving fatigue and balance driving safety and comfort of the electric vehicle.
In order to achieve the above purpose, the present invention mainly provides the following technical solutions:
the application provides a control method for self-adaptive energy recovery of an electric vehicle in a first aspect, and the method comprises the following steps:
the method comprises the steps that when a current vehicle is driven in a free-running state that a brake pedal is released and an accelerator pedal is not stepped, a target vehicle with the smallest relative distance to the current vehicle is obtained within a preset range from the current vehicle;
calculating a target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle;
calculating the corresponding actual deceleration of the current vehicle;
determining a target braking torque corresponding to the current vehicle according to the target deceleration and the actual deceleration;
sending the target braking torque to a motor controller for controlling driving of the current vehicle according to the target braking torque.
In some modified embodiments of the first aspect of the present application, the determining a target braking torque corresponding to the current vehicle based on the target deceleration and the actual deceleration includes:
acquiring a target preset braking torque corresponding to the target deceleration by inquiring a preset braking torque data table, wherein a mapping relation between the vehicle deceleration and the required preset braking torque is prestored in the preset braking torque data table;
calculating a correction torque corresponding to the difference between the actual deceleration and the target deceleration by using a proportional-integral-derivative closed-loop control algorithm;
and performing superposition processing according to the target preset braking torque and the correction torque to obtain the target braking torque required by the current vehicle.
In some modified embodiments of the first aspect of the present application, after the calculating the target deceleration corresponding to the current vehicle, the method further includes:
and correcting the target deceleration by using a preset deceleration upper and lower limit value and gradient change processing.
In some modified embodiments of the first aspect of the present application, the obtaining a target vehicle having a minimum relative distance to the current vehicle within a preset range from the current vehicle includes:
detecting vehicle distance information corresponding to at least one existing running vehicle within a preset range from the current vehicle, wherein the vehicle distance information at least comprises the transverse distance between the running vehicle and the center line of the current vehicle and the longitudinal distance between the running vehicle and the head of the current vehicle;
judging whether the transverse distance between the running vehicle and the current vehicle center line does not exceed a preset threshold value or not;
if so, taking the running vehicle corresponding to the transverse distance not exceeding the preset threshold value as the running vehicle to be screened;
and screening the running vehicles to be screened corresponding to the minimum longitudinal distance from the running vehicles to be screened corresponding to the longitudinal distance, and taking the running vehicles to be screened corresponding to the minimum longitudinal distance as the target vehicles with the minimum relative distance to the current vehicle.
In some modified embodiments of the first aspect of the present application, the calculating a target deceleration corresponding to the current vehicle according to the current vehicle being kept at a preset safe driving distance from the target vehicle includes:
selecting two adjacent moments;
measuring the relative distance between the current vehicle and the target vehicle at the two adjacent moments respectively;
calculating the relative speed between the target vehicle and the current vehicle by using the difference between the relative distances corresponding to two adjacent moments and the time difference between the two adjacent moments;
at the current moment, acquiring the current relative distance corresponding to the current vehicle and the target vehicle and the actual vehicle speed of the current vehicle;
and calculating the target deceleration corresponding to the current vehicle according to a preset first formula according to the current relative distance, the actual speed of the current vehicle, the relative speed and a preset driving safety distance.
In some modified embodiments of the first aspect of the present application, the calculating an actual deceleration corresponding to the current vehicle includes:
selecting two adjacent moments;
respectively measuring the actual speed of the current vehicle at the two adjacent moments;
and calculating the actual deceleration corresponding to the current vehicle according to a preset second formula according to the actual speed of the current vehicle corresponding to the two adjacent moments respectively.
In some modified embodiments of the first aspect of the present application, the sending the target braking torque to a motor controller includes:
and carrying out smooth filtering treatment on the target braking torque and then sending the target braking torque to a motor controller.
The second aspect of the present application provides a control device for self-adaptive energy recovery of an electric vehicle, the device comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a target vehicle with the minimum relative distance from the current vehicle within a preset range from the current vehicle in a free-sliding state that the current vehicle is driven and a brake pedal is released and an accelerator pedal is not stepped;
the first calculating unit is used for calculating the target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle acquired by the acquiring unit;
a second calculation unit configured to calculate an actual deceleration corresponding to the current vehicle;
the determining unit is used for determining the target braking torque corresponding to the current vehicle according to the target deceleration calculated by the first calculating unit and the actual deceleration calculated by the second calculating unit;
and the sending unit is used for sending the target braking torque determined by the determining unit to a motor controller so as to control the current vehicle to be driven according to the target braking torque.
In some modified embodiments of the second aspect of the present application, the determining unit includes:
the acquiring module is used for acquiring a target preset braking torque corresponding to the target deceleration by inquiring a preset braking torque data table, and a mapping relation between the vehicle deceleration and the required preset braking torque is prestored in the preset braking torque data table;
the calculating module is used for calculating a correction torque corresponding to the difference value between the actual deceleration and the target deceleration by using a proportional-integral-derivative closed-loop control algorithm;
and the processing module is used for performing superposition processing according to the target preset braking torque acquired by the acquisition module and the correction torque calculated by the calculation module to acquire the target braking torque required by the current vehicle.
In some variations of the second aspect of the present application, the apparatus further comprises:
and the processing unit is used for correcting the target deceleration by using a preset deceleration upper and lower limit value and gradient change processing after the target deceleration corresponding to the current vehicle is calculated.
In some modified embodiments of the second aspect of the present application, the acquisition unit includes:
the detection module is used for detecting vehicle distance information corresponding to at least one existing running vehicle within a preset range from the current vehicle, wherein the vehicle distance information at least comprises the transverse distance between the running vehicle and the center line of the current vehicle and the longitudinal distance between the running vehicle and the head of the current vehicle;
the judging module is used for judging whether the transverse distance between the running vehicle detected by the detecting module and the current vehicle center line does not exceed a preset threshold value or not;
the determining module is used for taking the running vehicle corresponding to the transverse distance not exceeding the preset threshold value as the running vehicle to be screened when the judging module judges that the transverse distance between the running vehicle and the current vehicle center line does not exceed the preset threshold value;
and the screening module is used for screening the running vehicles to be screened corresponding to the minimum longitudinal distance from the running vehicles to be screened corresponding to the longitudinal distance, and the running vehicles to be screened corresponding to the minimum longitudinal distance are used as the target vehicles with the minimum relative distance with the current vehicle.
In some modified embodiments of the second aspect of the present application, the first calculation unit includes:
the selection module is used for selecting two adjacent moments;
the measuring module is used for respectively measuring the relative distance between the current vehicle and the target vehicle at two adjacent moments selected by the selecting module;
the calculation module is used for calculating the relative speed between the target vehicle and the current vehicle by using the difference between the relative distances corresponding to two adjacent moments and the time difference between the two adjacent moments;
the acquisition module is used for acquiring the current relative distance corresponding to the current vehicle and the target vehicle and the actual vehicle speed of the current vehicle at the current moment;
the calculating module is further configured to calculate a target deceleration corresponding to the current vehicle according to a preset first formula according to the current relative distance, the actual speed of the current vehicle, the relative speed, and a preset safe driving distance.
In some modified embodiments of the second aspect of the present application, the second calculation unit further includes:
the selection module is used for selecting two adjacent moments;
the measuring module is used for respectively measuring the actual speed of the current vehicle at the two adjacent moments;
and the calculating module is used for calculating the actual deceleration corresponding to the current vehicle according to the two adjacent moments and the actual speed of the current vehicle corresponding to the two adjacent moments respectively and according to a preset second formula.
In some modified embodiments of the second aspect of the present application, the sending unit is further specifically configured to send the target braking torque to a motor controller after performing smoothing filtering processing on the target braking torque.
The third aspect of the application provides a storage medium, the storage medium comprises a stored program, wherein when the program runs, a device where the storage medium is located is controlled to execute the control method for the self-adaptive energy recovery of the electric vehicle.
A fourth aspect of the present application provides an electronic device comprising at least one processor, and at least one memory, a bus, connected to the processor;
the processor and the memory complete mutual communication through the bus;
the processor is used for calling the program instructions in the memory so as to execute the control method of the self-adaptive energy recovery of the electric automobile.
By the technical scheme, the technical scheme provided by the invention at least has the following advantages:
the invention provides a control method and a device for self-adaptive energy recovery of an electric vehicle, which are limited in that a target vehicle with the minimum relative distance to the current vehicle is obtained when the current vehicle is driven in a free-running state with a brake pedal released and an accelerator pedal not stepped, the current vehicle is taken as the vehicle, and the target vehicle is the vehicle which focuses most on the vehicle needing to keep a safe vehicle distance in the driving process of the vehicle, then a target deceleration required by the current vehicle is calculated according to a preset running safe distance, and an actual deceleration corresponding to the current vehicle is calculated at the same time, finally the required target braking torque corresponding to the current vehicle is determined according to the required target deceleration and the actual deceleration of the current vehicle, and the finally determined target braking torque is changed along with the change of the two speeds, and then when the motor controller receives the target braking torque, controlling the current vehicle to automatically adjust the braking torque required by running. Compared with the prior art, the invention solves the technical problem of aggravating driving fatigue caused by frequent switching between the step of stepping on the accelerator pedal and the step of stepping on the brake pedal by a driver in the actual driving process, can automatically adjust the required brake torque according to the actual road and traffic conditions, reduces the driving fatigue, and simultaneously balances the driving safety and comfort of the electric automobile.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a method for controlling adaptive energy recovery of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for controlling adaptive energy recovery of an electric vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of the lateral distance from the centerline of a current vehicle and the longitudinal distance from the head of the current vehicle, as exemplified by an embodiment of the present invention;
fig. 4 is a block diagram illustrating a control apparatus for adaptive energy recovery of an electric vehicle according to an embodiment of the present invention;
FIG. 5 is a block diagram of another adaptive energy recovery control apparatus for an electric vehicle according to an embodiment of the present invention;
fig. 6 is an electronic device for controlling adaptive energy recovery of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention provides a control method for self-adaptive energy recovery of an electric automobile, which can automatically adjust required braking torque and drive the electric automobile to ensure that the electric automobile keeps a safe driving distance with a front automobile in the driving process under the free sliding state that a current vehicle is driven without releasing a brake pedal and stepping on an accelerator pedal, and comprises the following specific steps:
101. and under the free-sliding state that the current vehicle is driven under the condition that the brake pedal is released and the accelerator pedal is not stepped on, acquiring the target vehicle with the minimum relative distance from the current vehicle within a preset range from the current vehicle.
In the embodiment of the invention, an application scene that a current vehicle is driven in a free-running state with a brake pedal released and an accelerator pedal not depressed is limited, and in the case of an electric vehicle, although the electric vehicle is driven to continue running based on energy recovery even if the vehicle is driven in an operation with the brake pedal released and the accelerator pedal not depressed, a safe vehicle distance with other vehicles around needs to be kept in a running road to ensure running safety.
For the embodiment of the invention, regarding the current electric vehicle, attention is paid mainly to other vehicles on the periphery in the preset range, and a target vehicle with the minimum relative distance with the current vehicle is further screened out from the other vehicles, wherein the relative distance refers to the longitudinal distance between the current vehicle and the target vehicle.
102. And calculating the target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle.
The preset driving safety distance is a preset minimum safety distance between the front vehicle and the rear vehicle for the consideration of driving safety, and if the preset driving safety distance is smaller than the safety distance, a driver can not react to control and operate the vehicles to avoid danger urgently when driving on different actual road surfaces or in traffic environments.
In the embodiment of the present invention, the current vehicle is the current vehicle, and the target vehicle is a driving target obstacle located closest to the vehicle in front of and behind the current vehicle, relatively, the embodiment of the present invention integrates the driving current vehicle, the driving target vehicle, and the preset driving safety distance between the front vehicle and the rear vehicle, and these three factors are used to calculate the target deceleration required by the current vehicle.
It should be noted that, the current vehicle and the target vehicle are both in the vehicle speed change state, and the embodiment of the present invention integrates two state change factors and a constant factor with a fixed value of the preset safe driving distance to calculate the target deceleration required by the current vehicle in real time.
103. And calculating the corresponding actual deceleration of the current vehicle.
In the embodiment of the invention, the step is to calculate the corresponding actual deceleration of the current vehicle in real time by integrating the two factors that the current vehicle and the target vehicle are in the vehicle speed change state.
104. And determining the target braking torque corresponding to the current vehicle according to the target deceleration and the actual deceleration.
In the embodiment of the present invention, step 102 and step 103 are combined, and as for a current time, the embodiment of the present invention can obtain the target deceleration and the current actual deceleration correspondingly required by the current vehicle, since the target deceleration is calculated according to the empirical value, then step 104 is equivalent to combining the required target deceleration and the current actual deceleration to measure the final actual required deceleration of the current vehicle, and further obtain the required target braking torque, so as to maintain the safe driving distance between the current vehicle and the target vehicle (i.e. the front and rear vehicles) at the time during the driving of the current vehicle.
105. The target braking torque is sent to the motor controller for controlling driving of the current vehicle according to the target braking torque.
In the embodiment of the invention, after the target braking torque corresponding to the current vehicle is obtained in real time, the target braking torque is timely transmitted to the motor controller, and the motor controller mainly realizes the deceleration and acceleration of the driving electric vehicle according to different braking torques. For the embodiment of the present invention, the electric vehicle is driven according to the target braking torque to keep the front and rear vehicles running at a safe distance, since the target braking torque is determined in real time according to the "target deceleration and the actual deceleration" in step 104, and then the target braking torque determined in real time changes along with the change of the "target deceleration and the actual deceleration", the embodiment of the present invention realizes that the required braking torque is automatically adjusted to drive the electric vehicle along with the change of the actual road and traffic conditions.
The embodiment of the invention provides a control method for self-adaptive energy recovery of an electric vehicle, which is defined by acquiring a target vehicle with the minimum relative distance with the current vehicle under the free-running state that the current vehicle is driven under the condition that a brake pedal is released and an accelerator pedal is not stepped on, wherein the current vehicle is taken as the vehicle, and the target vehicle is the vehicle which focuses most on the vehicle needing to keep a safe distance during the driving process of the vehicle, then calculating the required target deceleration of the current vehicle according to the preset running safe distance, and simultaneously calculating the corresponding actual deceleration of the current vehicle, finally determining the required target braking torque corresponding to the current vehicle according to the required target deceleration and the actual deceleration of the current vehicle, and changing the finally determined target braking torque along with the change of the two speeds, and then when the motor controller receives the target braking torque, controlling the current vehicle to automatically adjust the braking torque required by running. Compared with the prior art, the technical problem that driving fatigue is aggravated due to the fact that a driver needs to frequently switch back and forth between stepping on an accelerator pedal and stepping on a brake pedal in the actual driving process is solved, the required brake torque can be automatically adjusted according to actual road and traffic conditions, driving fatigue is relieved, and meanwhile driving safety and comfort of the electric automobile are balanced.
In order to describe the above embodiment in more detail, the embodiment of the present invention further provides another control method for adaptive energy recovery of an electric vehicle, as shown in fig. 2, which is a further detailed statement and supplementary statement of the above embodiment, and the following specific steps are provided for the embodiment of the present invention:
201. and under the free-sliding state that the current vehicle is driven under the condition that the brake pedal is released and the accelerator pedal is not stepped on, acquiring the target vehicle with the minimum relative distance from the current vehicle within a preset range from the current vehicle.
The main purpose of this step in the embodiment of the present invention is to acquire a target obstacle closest to the current vehicle, and the specific implementation steps for acquiring the target obstacle may include the following steps:
the method comprises the following steps of firstly, detecting vehicle distance information corresponding to at least one existing running vehicle within a preset range from the current vehicle, wherein the vehicle distance information at least comprises the transverse distance between the running vehicle and the center line of the current vehicle and the longitudinal distance between the running vehicle and the head of the current vehicle.
In the embodiment of the present invention, an Advanced Driver Assistance System (ADAS) may be used to implement, for example, the millimeter wave radar that receives the ADAS System in real time detects all obstacles around the current vehicle, specifically, the obstacles are other running vehicles around the current vehicle, and the ADAS System mainly detects the transverse distance between the other running vehicles and the center line of the current vehicle and the longitudinal distance between the other running vehicles and the head of the current vehicle.
For example, the other traveling vehicles shown in fig. 3 are at a lateral distance from the center line of the current vehicle and at a longitudinal distance from the head of the current vehicle, and in fig. 3, a rectangle is shown as the current vehicle and a circle is shown as the other traveling vehicles.
In order to efficiently screen out the target vehicle which is closest to the current vehicle from other running vehicles, the embodiment of the invention mainly screens the target vehicles by preferentially comparing the transverse distances and then comparing the longitudinal distances, for example, if the transverse distances of the other vehicles and the center line of the current vehicle are far, the longitudinal distances of the other vehicles and the center line of the current vehicle do not need to be compared, so that the number of vehicles to be compared and the comparison times are reduced.
Therefore, in the embodiment of the invention, whether the transverse distance between other running vehicles and the central line of the current vehicle does not exceed the preset threshold value or not is preferentially judged, and then the screening operation of transverse distance comparison is realized by utilizing the preset threshold value.
And if the transverse distance between the other running vehicles and the central line of the current vehicle does not exceed the preset threshold value, taking the corresponding other running vehicles as running vehicles to be screened.
And a third step of screening the minimum longitudinal distance from the longitudinal distances corresponding to the running vehicles to be screened, and taking the running vehicle to be screened corresponding to the minimum longitudinal distance as a target vehicle with the minimum relative distance to the current vehicle.
202. And calculating the target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle.
In the embodiment of the present invention, the target deceleration is: in the current vehicle running process, if it is ensured that the relative distance is always greater than the preset running safety distance, the required deceleration needs to be satisfied. The step elaboration statement may include the following:
the first step is to select two adjacent moments. And respectively measuring the relative distance between the current vehicle and the target vehicle at two adjacent moments, wherein the relative distance refers to the longitudinal distance between the target vehicle and the head of the current vehicle.
In the second step, the relative speed between the target vehicle and the current vehicle is calculated by using the difference between the relative distances corresponding to two adjacent moments and the time difference between two adjacent moments, specifically, the following formula (1) may be adopted:
the relative distance at the time t1 is s1, the relative distance at the time t2 is s2, and Δ v is the relative speed, and then the relative distance change Δ s between the front vehicle and the rear vehicle (i.e., between the target vehicle and the current vehicle) at the current time is detected in real time as s2-s 1.
And thirdly, acquiring the current relative distance between the current vehicle and the target vehicle and the actual speed of the current vehicle at the current moment. And calculating the target deceleration corresponding to the current vehicle according to a preset first formula according to the current relative distance, the actual speed and the relative speed of the current vehicle and the preset running safety distance. Wherein, the preset first formula may be the following formula (2):
the target deceleration a, the current relative distance st, the current actual vehicle speed v of the vehicle, the relative speed Δ v, and the preset running safety distance s0, among others.
It should be noted that, in the embodiment of the present invention, a real-time calculated target deceleration may be set, or a time period may be preset, and then the target deceleration may be further calculated periodically, and then, as time goes by, a plurality of target decelerations are obtained in time sequence, and accordingly, for each target deceleration, what is the corresponding current vehicle actual deceleration at the same unit time point may also exist.
203. The target deceleration is corrected by using the preset deceleration upper and lower limit values and the gradient change process.
In the current running process of the vehicle, a plurality of target decelerations are calculated according to the time sequence, and the embodiment of the invention mainly utilizes the preset deceleration upper and lower limit values and the gradient change processing to correct the target decelerations.
The processing of these target decelerations by using the preset upper and lower deceleration limits is: and if the target deceleration exceeds the preset upper limit value, replacing the corresponding target deceleration value by using the preset upper limit value, and if the target deceleration is smaller than the preset lower limit value, replacing the corresponding target deceleration value by using the preset lower limit value, so that the target deceleration which is not in the interval corresponding to the upper limit value is corrected by using the preset upper limit value or the preset lower limit value, which is referred to as the first correction operation for short.
The gradient change processing (i.e., RAMP change gradient processing) refers to: after the above processing step using the preset deceleration upper and lower limit values, that is, after the first correction operation, it is determined whether the second correction operation needs to be performed for these target decelerations that fall within the preset deceleration upper and lower limit values, specifically as follows:
the target decelerations are obtained one by one according to the time sequence, the corresponding values of the target decelerations can form a value change curve, then the embodiment of the invention needs to detect whether the slope of the curve (namely, the value change gradient) is too large, if so, the slope of the curve needs to be slightly adjusted, so that the value of other adjacent target decelerations is adjusted by taking a certain specified value of the target deceleration as a reference, and the second correction operation on the target deceleration is realized.
It should be noted that if the target deceleration with excessive gradient change is applied to the subsequent step of calculating the braking torque, even if the corresponding braking torque is obtained, it is not favorable for smooth, comfortable and safe driving of the vehicle if the target deceleration is actually applied to the driving process of the vehicle, therefore, the embodiment of the invention needs a second correction operation to avoid the unfavorable conditions like the above. In the above, the target deceleration obtained after the correction by combining the two correction operations is used for obtaining a better braking torque through subsequent calculation, so that the smooth, comfortable and safe experience of vehicle running is ensured while different actual roads and traffic conditions are met.
204. And calculating the corresponding actual deceleration of the current vehicle.
In the embodiment of the present invention, during the free-wheeling state of the current vehicle, the actual deceleration corresponding to the current vehicle may be calculated by arbitrarily selecting two adjacent time instants, and the specific steps may include the following steps:
firstly, two adjacent moments are selected, and the actual speed of the current vehicle is measured at the two adjacent moments respectively.
Secondly, calculating the actual deceleration corresponding to the current vehicle according to a preset second formula according to the actual speed of the current vehicle corresponding to two adjacent moments, wherein the two adjacent moments are respectively corresponding to the actual speed, and specifically, the second preset formula can be the following formula (3):
the current vehicle actual deceleration a0, the current vehicle actual speed v1 at time t1, and the current vehicle actual speed v2 at time t 2.
205. And determining the target braking torque corresponding to the current vehicle according to the target deceleration and the actual deceleration.
In the embodiment of the invention, the required target braking torque corresponding to the current vehicle is determined according to the required target deceleration and the current actual deceleration of the vehicle, the finally determined target braking torque is changed along with the change of the two speeds, and then the current vehicle is controlled to automatically adjust the braking torque required by running when the motor controller receives the target braking torque.
Specifically, this step 205 can be elaborated as follows:
firstly, a preset brake torque data table is inquired to obtain a target preset brake torque corresponding to the target deceleration, and a mapping relation between the vehicle deceleration and the required preset brake torque is stored in the preset brake torque data table in advance.
It should be noted that, the preset braking torque data table is a data information summarized according to a preliminary test, and mainly stores a mapping relationship between the vehicle deceleration and the required preset braking torque.
Next, a correction torque corresponding to a difference between the actual deceleration and the target deceleration is calculated using a Proportional Integral Derivative (PID) closed-loop control algorithm. And performing superposition processing according to the target preset braking torque and the correction torque to obtain the target braking torque required by the current vehicle.
It should be noted that, the method of querying the preset brake torque data table is equivalent to obtaining the required target preset brake torque according to the test data summary, but the brake torque obtained based on the historical data is not necessarily completely adapted to the current real-time required brake torque, and then the embodiment of the present invention calculates a correction torque by using the PID closed-loop control algorithm, and finally obtains the current real-time required brake torque by overlapping two brake torques.
206. And carrying out smooth filtering processing on the target braking torque and then sending the target braking torque to a motor controller so as to control the current vehicle to be driven according to the target braking torque.
According to the embodiment of the invention, the target braking torque is subjected to smooth filtering treatment to obtain more high-definition and accurate braking torque data, redundant and noise data are deleted and then sent to the motor controller, so that the motor controller is used for driving and controlling the current vehicle in time by utilizing the target braking torque.
Further, as an implementation of the method shown in fig. 1 and fig. 2, an embodiment of the present invention provides a control device for adaptive energy recovery of an electric vehicle. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. The device is applied to automatically adjust the required braking torque according to the actual road and traffic conditions, and specifically as shown in fig. 4, the device comprises:
the acquiring unit 31 is configured to acquire a target vehicle having a minimum relative distance with a current vehicle within a preset range from the current vehicle when the current vehicle is driven in a free-running state where a brake pedal is released and an accelerator pedal is not stepped;
a first calculating unit 32, configured to calculate a target deceleration corresponding to the current vehicle according to a preset safe driving distance between the current vehicle and the target vehicle acquired by the acquiring unit 31;
a second calculation unit 33 for calculating an actual deceleration corresponding to the current vehicle;
a determining unit 34, configured to determine a target braking torque corresponding to the current vehicle according to the target deceleration calculated by the first calculating unit 32 and the actual deceleration calculated by the second calculating unit 33;
a sending unit 35, configured to send the target braking torque determined by the determining unit 34 to a motor controller, so as to control driving of the current vehicle according to the target braking torque.
Further, as shown in fig. 5, the determining unit 34 includes:
an obtaining module 341, configured to obtain a target preset braking torque corresponding to the target deceleration by querying a preset braking torque data table, where a mapping relationship between the vehicle deceleration and the required preset braking torque is stored in the preset braking torque data table in advance;
a calculating module 342, configured to calculate a correction torque corresponding to a difference between the actual deceleration and the target deceleration by using a proportional-integral-derivative closed-loop control algorithm;
the processing module 343 is configured to perform superposition processing on the target preset braking torque acquired by the acquisition module 341 and the correction torque calculated by the calculation module 342, so as to obtain the target braking torque required by the current vehicle.
Further, as shown in fig. 5, the apparatus further includes:
and the processing unit 36 is used for correcting the target deceleration by using a preset deceleration upper and lower limit value and gradient change processing after the target deceleration corresponding to the current vehicle is calculated.
Further, as shown in fig. 5, the acquisition unit 31 includes:
the detection module 311 is configured to detect, within a preset range from the current vehicle, vehicle distance information corresponding to at least one existing running vehicle, where the vehicle distance information at least includes a transverse distance between the running vehicle and a center line of the current vehicle and a longitudinal distance between the running vehicle and a head of the current vehicle;
a judging module 312, configured to judge whether a lateral distance between the running vehicle detected by the detecting module 311 and the current vehicle center line does not exceed a preset threshold;
a determining module 313, configured to, when the determining module 312 determines that the lateral distance between the traveling vehicle and the current vehicle center line does not exceed a preset threshold, take the traveling vehicle corresponding to the lateral distance that does not exceed the preset threshold as a traveling vehicle to be screened;
and the screening module 314 is configured to screen a driving vehicle to be screened corresponding to the smallest longitudinal distance from the driving vehicles to be screened corresponding to the longitudinal distance, as a target vehicle having the smallest relative distance with the current vehicle.
Further, as shown in fig. 5, the first calculation unit 32 includes:
a selecting module 321, configured to select two adjacent moments;
a measuring module 322, configured to measure the relative distance between the current vehicle and the target vehicle at two adjacent moments selected by the selecting module respectively;
a calculating module 323, configured to calculate a relative speed between the target vehicle and the current vehicle by using a difference between relative distances corresponding to two adjacent moments and a time difference between the two adjacent moments;
an obtaining module 324, configured to obtain, at a current time, a current relative distance between the current vehicle and the target vehicle and an actual vehicle speed of the current vehicle;
the calculating module 323 is further configured to calculate a target deceleration corresponding to the current vehicle according to a preset first formula according to the current relative distance, the actual vehicle speed of the current vehicle, the relative speed, and a preset safe driving distance.
Further, as shown in fig. 5, the second calculating unit 33 further includes:
a selecting module 331, configured to select two adjacent moments;
the measuring module 332 is configured to measure the actual vehicle speed of the current vehicle at the two adjacent moments respectively;
the calculating module 333 is configured to calculate, according to the two adjacent moments and the actual speed of the current vehicle corresponding to the two adjacent moments, an actual deceleration corresponding to the current vehicle according to a preset second formula.
Further, as shown in fig. 5, the sending unit 35 is further specifically configured to send the target braking torque to the motor controller after performing smoothing filtering processing.
In summary, the embodiments of the present invention provide a method and an apparatus for controlling adaptive energy recovery of an electric vehicle, where a target vehicle with a minimum relative distance to a current vehicle is obtained when the current vehicle is driven in a free-running state with a brake pedal released and an accelerator pedal not depressed, the current vehicle is regarded as the current vehicle, and the target vehicle is the vehicle that the current vehicle focuses most on and needs to maintain a safe distance during driving of the current vehicle, then a target deceleration that the current vehicle should need is calculated according to a preset driving safe distance, and an actual deceleration that the current vehicle corresponds to is calculated at the same time, and finally the present invention determines a required target braking torque that the current vehicle corresponds to according to the required target deceleration and the actual deceleration of the current vehicle, and the finally determined target braking torque is changed along with the change of the two speeds, and then when the motor controller receives the target braking torque, controlling the current vehicle to automatically adjust the braking torque required by running. Compared with the prior art, the technical problem that driving fatigue is aggravated due to the fact that a driver needs to frequently switch back and forth between stepping on an accelerator pedal and stepping on a brake pedal in the actual driving process is solved, the required brake torque can be automatically adjusted according to actual road and traffic conditions, driving fatigue is relieved, and meanwhile driving safety and comfort of the electric automobile are balanced.
The control device for the self-adaptive energy recovery of the electric automobile comprises a processor and a memory, wherein the acquisition unit, the first calculation unit, the second calculation unit, the determination unit, the transmission unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the required braking torque can be automatically adjusted according to the actual road and traffic conditions by adjusting the kernel parameters when the electric automobile is driven in a free sliding state with the accelerator loosened and the brake not stepped on, so that the driving fatigue is reduced, and the driving safety and the comfort of the electric automobile are balanced.
An embodiment of the present invention provides a storage medium, on which a program is stored, which, when executed by a processor, implements the control method for adaptive energy recovery for an electric vehicle.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes a control method of the self-adaptive energy recovery of the electric automobile when running.
An embodiment of the present invention provides an electronic device 40, as shown in fig. 6, the device includes at least one processor 401, and at least one memory 402 and a bus 403 connected to the processor 401; the processor 401 and the memory 402 complete communication with each other through the bus 403; the processor 401 is configured to call the program instructions in the memory 402 to execute the above-mentioned control method for the adaptive energy recovery of the electric vehicle.
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.
In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
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 above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (16)
1. A control method for self-adaptive energy recovery of an electric vehicle is characterized by comprising the following steps:
the method comprises the steps that when a current vehicle is driven in a free-running state that a brake pedal is released and an accelerator pedal is not stepped, a target vehicle with the smallest relative distance to the current vehicle is obtained within a preset range from the current vehicle;
calculating a target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle;
calculating the corresponding actual deceleration of the current vehicle;
determining a target braking torque corresponding to the current vehicle according to the target deceleration and the actual deceleration;
sending the target braking torque to a motor controller for controlling driving of the current vehicle according to the target braking torque.
2. The method of claim 1, wherein determining a target braking torque for the current vehicle based on the target deceleration and the actual deceleration comprises:
acquiring a target preset braking torque corresponding to the target deceleration by inquiring a preset braking torque data table, wherein a mapping relation between the vehicle deceleration and the required preset braking torque is prestored in the preset braking torque data table;
calculating a correction torque corresponding to the difference between the actual deceleration and the target deceleration by using a proportional-integral-derivative closed-loop control algorithm;
and performing superposition processing according to the target preset braking torque and the correction torque to obtain the target braking torque required by the current vehicle.
3. The method of claim 1, wherein after said calculating the target deceleration for the current vehicle, the method further comprises:
and correcting the target deceleration by using a preset deceleration upper and lower limit value and gradient change processing.
4. The method according to claim 1, wherein the obtaining the target vehicle with the smallest relative distance to the current vehicle within a preset range from the current vehicle comprises:
detecting vehicle distance information corresponding to at least one existing running vehicle within a preset range from the current vehicle, wherein the vehicle distance information at least comprises the transverse distance between the running vehicle and the center line of the current vehicle and the longitudinal distance between the running vehicle and the head of the current vehicle;
judging whether the transverse distance between the running vehicle and the current vehicle center line does not exceed a preset threshold value or not;
if so, taking the running vehicle corresponding to the transverse distance not exceeding the preset threshold value as the running vehicle to be screened;
and screening the running vehicles to be screened corresponding to the minimum longitudinal distance from the running vehicles to be screened corresponding to the longitudinal distance, and taking the running vehicles to be screened corresponding to the minimum longitudinal distance as the target vehicles with the minimum relative distance to the current vehicle.
5. The method of claim 1, wherein calculating the target deceleration corresponding to the current vehicle in accordance with the current vehicle maintaining a preset safe driving distance from the target vehicle comprises:
selecting two adjacent moments;
measuring the relative distance between the current vehicle and the target vehicle at the two adjacent moments respectively;
calculating the relative speed between the target vehicle and the current vehicle by using the difference between the relative distances corresponding to two adjacent moments and the time difference between the two adjacent moments;
at the current moment, acquiring the current relative distance corresponding to the current vehicle and the target vehicle and the actual vehicle speed of the current vehicle;
and calculating the target deceleration corresponding to the current vehicle according to a preset first formula according to the current relative distance, the actual speed of the current vehicle, the relative speed and a preset driving safety distance.
6. The method of claim 1, wherein said calculating an actual deceleration corresponding to the current vehicle comprises:
selecting two adjacent moments;
respectively measuring the actual speed of the current vehicle at the two adjacent moments;
and calculating the actual deceleration corresponding to the current vehicle according to a preset second formula according to the actual speed of the current vehicle corresponding to the two adjacent moments respectively.
7. The method of claim 1, wherein said sending the target braking torque to a motor controller comprises:
and carrying out smooth filtering treatment on the target braking torque and then sending the target braking torque to a motor controller.
8. An adaptive energy recovery control device for an electric vehicle, the device comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a target vehicle with the minimum relative distance from the current vehicle within a preset range from the current vehicle in a free-sliding state that the current vehicle is driven and a brake pedal is released and an accelerator pedal is not stepped;
the first calculating unit is used for calculating the target deceleration corresponding to the current vehicle according to the preset running safety distance between the current vehicle and the target vehicle acquired by the acquiring unit;
a second calculation unit configured to calculate an actual deceleration corresponding to the current vehicle;
the determining unit is used for determining the target braking torque corresponding to the current vehicle according to the target deceleration calculated by the first calculating unit and the actual deceleration calculated by the second calculating unit;
and the sending unit is used for sending the target braking torque determined by the determining unit to a motor controller so as to control the current vehicle to be driven according to the target braking torque.
9. The apparatus of claim 8, wherein the determining unit comprises:
the acquiring module is used for acquiring a target preset braking torque corresponding to the target deceleration by inquiring a preset braking torque data table, and a mapping relation between the vehicle deceleration and the required preset braking torque is prestored in the preset braking torque data table;
the calculating module is used for calculating a correction torque corresponding to the difference value between the actual deceleration and the target deceleration by using a proportional-integral-derivative closed-loop control algorithm;
and the processing module is used for performing superposition processing according to the target preset braking torque acquired by the acquisition module and the correction torque calculated by the calculation module to acquire the target braking torque required by the current vehicle.
10. The apparatus of claim 8, further comprising:
and the processing unit is used for correcting the target deceleration by using a preset deceleration upper and lower limit value and gradient change processing after the target deceleration corresponding to the current vehicle is calculated.
11. The apparatus of claim 8, wherein the obtaining unit comprises:
the detection module is used for detecting vehicle distance information corresponding to at least one existing running vehicle within a preset range from the current vehicle, wherein the vehicle distance information at least comprises the transverse distance between the running vehicle and the center line of the current vehicle and the longitudinal distance between the running vehicle and the head of the current vehicle;
the judging module is used for judging whether the transverse distance between the running vehicle detected by the detecting module and the current vehicle center line does not exceed a preset threshold value or not;
the determining module is used for taking the running vehicle corresponding to the transverse distance not exceeding the preset threshold value as the running vehicle to be screened when the judging module judges that the transverse distance between the running vehicle and the current vehicle center line does not exceed the preset threshold value;
and the screening module is used for screening the running vehicles to be screened corresponding to the minimum longitudinal distance from the running vehicles to be screened corresponding to the longitudinal distance, and the running vehicles to be screened corresponding to the minimum longitudinal distance are used as the target vehicles with the minimum relative distance with the current vehicle.
12. The apparatus of claim 8, wherein the first computing unit comprises:
the selection module is used for selecting two adjacent moments;
the measuring module is used for respectively measuring the relative distance between the current vehicle and the target vehicle at two adjacent moments selected by the selecting module;
the calculation module is used for calculating the relative speed between the target vehicle and the current vehicle by using the difference between the relative distances corresponding to two adjacent moments and the time difference between the two adjacent moments;
the acquisition module is used for acquiring the current relative distance corresponding to the current vehicle and the target vehicle and the actual vehicle speed of the current vehicle at the current moment;
the calculating module is further configured to calculate a target deceleration corresponding to the current vehicle according to a preset first formula according to the current relative distance, the actual speed of the current vehicle, the relative speed, and a preset safe driving distance.
13. The apparatus of claim 8, wherein the second computing unit further comprises:
the selection module is used for selecting two adjacent moments;
the measuring module is used for respectively measuring the actual speed of the current vehicle at the two adjacent moments;
and the calculating module is used for calculating the actual deceleration corresponding to the current vehicle according to the two adjacent moments and the actual speed of the current vehicle corresponding to the two adjacent moments respectively and according to a preset second formula.
14. The device of claim 8, wherein the sending unit is further configured to send the target braking torque to a motor controller after performing a smoothing filtering process.
15. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, the device of the storage medium is controlled to execute the control method of the electric vehicle adaptive energy recovery according to any one of claims 1-7.
16. An electronic device, comprising at least one processor, and at least one memory, bus connected to the processor;
the processor and the memory complete mutual communication through the bus;
the processor is used for calling the program instructions in the memory to execute the control method of the electric vehicle adaptive energy recovery according to any one of claims 1-7.
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| CN115716411A (en) * | 2022-12-01 | 2023-02-28 | 阿维塔科技(重庆)有限公司 | Energy recovery intensity control method and device and computer readable storage medium |
| WO2024174808A1 (en) * | 2023-02-21 | 2024-08-29 | 合众新能源汽车股份有限公司 | Vehicle control method and apparatus based on sliding recovery |
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| CN113511081B (en) | 2023-10-10 |
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