CN113954999A - Constant speed cruise control method and device for two-wheeled vehicle, two-wheeled vehicle and readable medium - Google Patents

Constant speed cruise control method and device for two-wheeled vehicle, two-wheeled vehicle and readable medium Download PDF

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Publication number
CN113954999A
CN113954999A CN202111198915.4A CN202111198915A CN113954999A CN 113954999 A CN113954999 A CN 113954999A CN 202111198915 A CN202111198915 A CN 202111198915A CN 113954999 A CN113954999 A CN 113954999A
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speed
target
control rate
vehicle
wheel
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CN113954999B (en
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于怀智
陈庆
王辰
韩则畴
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Mobai Beijing Information Technology Co Ltd
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Mobai Beijing Information Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J99/00—Subject matter not provided for in other groups of this subclass
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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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  • Mechanical Engineering (AREA)
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  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
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  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present disclosure relates to a constant speed cruise control method and apparatus for a two-wheeled vehicle, the two-wheeled vehicle and a readable medium, the method comprising: responding to a constant-speed cruise instruction, and acquiring a target speed of the two-wheel vehicle; obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle; and controlling the motor of the two-wheel vehicle according to the target control rate.

Description

Constant speed cruise control method and device for two-wheeled vehicle, two-wheeled vehicle and readable medium
Technical Field
The embodiment of the disclosure relates to the technical field of constant speed cruise control of a two-wheeled vehicle, in particular to a constant speed cruise control method and device of the two-wheeled vehicle, the two-wheeled vehicle and a readable medium.
Background
Based on the realization of constant-speed cruising, on the one hand, the fatigue of a user can be relieved, unnecessary vehicle speed change can be reduced, and the energy consumption is saved.
At present, the constant-speed cruising of the motorcycle can be realized by adopting an accelerator locking device. For constant-speed cruising of a four-wheel automobile, speed control can be realized through a PID controller (proportional-integral-derivative controller), and specifically, the difference value between the current automobile speed and the target automobile speed can be used as input to obtain output torque through the PID controller.
However, when the accelerator lock device is used to realize constant-speed cruise, constant-speed cruise at any vehicle speed cannot be realized. When the constant-speed cruise is realized through the PID controller, for different working conditions, a large amount of map icon calibration work needs to be carried out on three parameters of the PID and the torque map, and particularly, the torque map is influenced by various factors, so that the calibration work is multiplied, and a large amount of time of an engineer needs to be consumed.
Disclosure of Invention
An object of an embodiment of the present disclosure is to provide a new solution for constant speed cruise control of a two-wheeled vehicle.
According to a first aspect of the present disclosure, there is provided a constant speed cruise control method of a two-wheeled vehicle, including: responding to a constant-speed cruise instruction, and acquiring a target speed of the two-wheel vehicle; obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle; and controlling the motor of the two-wheel vehicle according to the target control rate.
Optionally, the obtaining the target vehicle speed of the two-wheeled vehicle includes: acquiring a wheel handle signal of the two-wheel vehicle, a brake lever signal of the two-wheel vehicle and environmental information of an environment where the two-wheel vehicle is located; and determining the target speed of the two-wheel vehicle according to the wheel handle signal, the brake lever signal and the environment information.
Optionally, the obtaining a target control rate according to the target vehicle speed and a pre-constructed two-wheel vehicle dynamic model includes: determining a parameter value corresponding to each information item in the dynamic model of the two-wheel vehicle according to each information item included in the environment information; and obtaining a target control rate according to the parameter value, the target speed and the two-wheel vehicle dynamic model.
Optionally, the environmental information includes at least one information item of air resistance information, gradient information, and ground resistance information.
Optionally, the obtaining a target control rate according to the target vehicle speed and a pre-constructed two-wheel vehicle dynamic model includes: acquiring the actual speed of the two-wheel vehicle; obtaining a steady-state control rate, a feedforward control rate and an error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model; and obtaining the target control rate according to the steady-state control rate, the feedforward control rate and the error feedback control rate.
Optionally, the two-wheel vehicle dynamics model comprises: setting a function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the vehicle speed, a third parameter corresponding to the speed change rate and a fourth parameter corresponding to the control rate; the method for obtaining the steady-state control rate, the feedforward control rate and the error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model comprises the following steps: under the condition that the third parameter is zero and the second parameter is the actual vehicle speed, obtaining a steady-state control rate according to the two-wheel vehicle dynamic model; under the condition that the fourth parameter is the sum of the steady-state control rate and the feedforward control rate and the second parameter is the target vehicle speed, obtaining the feedforward control rate according to the two-wheel vehicle dynamic model; and obtaining an error feedback control rate according to the difference value of the target vehicle speed and the actual vehicle speed.
According to a second aspect of the present disclosure, there is also provided a constant speed cruise control apparatus of a two-wheeled vehicle, including: the first acquisition module is used for responding to a constant-speed cruise instruction and acquiring a target speed of the two-wheel vehicle; the second acquisition module is used for acquiring a target control rate according to the target speed and a pre-constructed two-wheel vehicle dynamic model; and the control module is used for controlling the motor of the two-wheel vehicle according to the target control rate.
According to a third aspect of the present disclosure, there is also provided a constant speed cruise control apparatus for a two-wheeled vehicle, comprising a memory for storing a computer program and a processor; the processor is adapted to execute the computer program to implement the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a two-wheeled vehicle comprising: the constant speed cruise control apparatus for a two-wheeled vehicle according to the second or third aspect of the present disclosure.
According to a fifth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to the first aspect of the present disclosure.
One beneficial effect of the disclosed embodiment is that the target speed of the two-wheel vehicle is obtained in response to a constant-speed cruise instruction; obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle; and controlling the motor of the two-wheel vehicle according to the target control rate. The embodiment obtains the target speed of the two-wheel vehicle under the condition of constant-speed cruise, and controls the motor of the two-wheel vehicle according to the target speed, so that constant-speed cruise control under different speeds can be realized, and the constant-speed cruise control is realized through the preset model, so that the calibration workload can be reduced.
Other features of embodiments of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
Fig. 1 is a schematic view of a component structure of an electronic device capable of implementing a constant speed cruise control method of a two-wheeled vehicle according to an embodiment;
FIG. 2 is a schematic flow diagram of a method of constant speed cruise control of a two-wheeled vehicle according to one embodiment;
FIG. 3 is a schematic diagram of a constant speed cruise control implementation logic for a two-wheeled vehicle, according to one embodiment;
FIG. 4 is a schematic flow diagram of a method of constant speed cruise control of a two-wheeled vehicle according to another embodiment;
FIG. 5 is a block schematic diagram of a constant speed cruise control of a two-wheeled vehicle according to one embodiment;
fig. 6 is a schematic diagram of a hardware configuration of a constant speed cruise control apparatus of a two-wheeled vehicle according to an embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
One application scenario of the disclosed embodiment is constant speed cruise control of a two-wheeled vehicle. Based on the realization of constant-speed cruising, a user does not need to control a wheel handle of the two-wheel vehicle, and the two-wheel vehicle can still automatically keep the vehicle speed and run at a fixed speed.
For the purpose of realizing constant-speed cruising, the selectable real-time mode is as follows: for the constant-speed cruising of the motorcycle, an accelerator locking device can be adopted to realize the constant-speed cruising. For constant-speed cruising of a four-wheel automobile, speed control can be realized through a PID controller, and specifically, the difference value between the current speed and the target speed can be used as input to obtain output torque through the PID controller.
In the implementation process, the inventor finds that under the condition that the accelerator locking device is adopted to realize the constant-speed cruise control, the accelerator locking device cannot realize stepless speed regulation, so that the constant-speed cruise at any vehicle speed cannot be realized.
Under the condition that constant-speed cruising is realized through the PID controller, for different working conditions, a large amount of map icon calibration work needs to be carried out aiming at three parameters of the PID and the torque map, particularly, the torque map is influenced by various uncertain factors, so that the calibration work is multiplied and increased, and a large amount of time of an engineer needs to be consumed. When the mode is adopted to realize the constant-speed cruise of the two-wheel vehicle, the problem of large calibration workload can also exist.
In view of the technical problems of the above embodiments, the inventor proposes a method for controlling a constant-speed cruise of a two-wheeled vehicle, which aims to realize the constant-speed cruise control by constructing a dynamic model of the two-wheeled vehicle, and the method may include: responding to a constant-speed cruise instruction, and acquiring a target speed of the two-wheel vehicle; obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle; and controlling the motor of the two-wheel vehicle according to the target control rate.
< hardware configuration >
Fig. 1 is a schematic structural diagram of an electronic device 1000 that can be used to implement an embodiment of the disclosure.
The electronic device 1000 may be a controller in a two-wheeled vehicle, a smart phone, a laptop computer, a desktop computer, a tablet computer, a server, and the like, which is not limited herein. The two-wheeled vehicle can be an electric bicycle, a motorcycle and the like.
The electronic device 1000 may include, but is not limited to, a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a graphics processing unit GPU, a microprocessor MCU, or the like, and is configured to execute a computer program, and the computer program may be written by using an instruction set of architectures such as x86, Arm, RISC, MIPS, and SSE. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication device 1400 is capable of wired communication using an optical fiber or a cable, or wireless communication, and specifically may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. The speaker 1700 is used to output an audio signal. The microphone 1800 is used to collect audio signals.
As applied to the disclosed embodiments, the memory 1200 of the electronic device 1000 is used to store a computer program for controlling the processor 1100 to operate so as to implement the method according to the disclosed embodiments. The skilled person can design the computer program according to the solution disclosed in the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here. The electronic device 1000 may be installed with an intelligent operating system (e.g., Windows, Linux, android, IOS, etc. systems) and application software.
It should be understood by those skilled in the art that although a plurality of devices of the electronic apparatus 1000 are illustrated in fig. 1, the electronic apparatus 1000 of the embodiments of the present disclosure may refer to only some of the devices therein, for example, only the processor 1100 and the memory 1200, etc.
Various embodiments and examples according to the present invention are described below with reference to the accompanying drawings.
< method examples >
Fig. 2 is a flow chart illustrating a constant speed cruise control method of a two-wheeled vehicle according to an embodiment. The main body of the embodiment is, for example, an electronic device 1000 in fig. 1, and the electronic device 1000 may preferably be a controller in a two-wheeled vehicle.
In this embodiment, the two-wheeled vehicle may preferably be an electric bicycle, such as a shared electric bicycle. Next, a technical implementation of the present embodiment will be described by taking a two-wheeled vehicle, which is an electric bicycle, and a method of executing the present embodiment by a controller in the electric bicycle as an example.
As shown in fig. 2, the method for controlling a constant speed cruise of a two-wheeled vehicle according to the present embodiment may include steps S210 to S230 as follows:
and step S210, responding to a constant-speed cruise command, and acquiring a target speed of the two-wheel vehicle.
In detail, the user can ride the electric bicycle in a normal mode and a constant-speed cruising mode in the riding process of the electric bicycle. When a user needs to ride the electric bicycle in the constant-speed cruise mode, the user can send out a constant-speed cruise request.
For example, a user can send a constant-speed cruise request through corresponding keys arranged on the electric bicycle, and the key module can send a constant-speed cruise instruction to the controller in response to the constant-speed cruise request. Or the user can also send out a constant-speed cruise request through the APP on the terminal equipment, and the server can send a constant-speed cruise instruction to the controller in response to the constant-speed cruise request.
The controller responds to the constant-speed cruise instruction, can acquire the target speed of the electric bicycle, so as to control the motor conveniently, and further achieve the purpose that the electric bicycle performs constant-speed cruise at the target speed.
In the present embodiment, the target vehicle speed is a desired vehicle speed to be achieved by the electric bicycle.
In detail, after the user turns on the cruise control function, the controller may periodically perform the steps of the cruise control method of the two-wheeled vehicle of the embodiment until the user ends the cruise control.
In this embodiment, to obtain the target vehicle speed, the controller may obtain the current wheel grip signal and determine the target vehicle speed based on at least the wheel grip signal. When the user rotates the wheel handle to different positions, different wheel handle signals correspondingly exist, and then different degrees of assistance can be generated. The larger the power assisting is, the faster the riding speed is.
Considering that a user can control the brake lever according to needs in the riding process, the use of the brake lever can also influence the vehicle speed, and therefore, the brake lever signal can also be obtained, and the target vehicle speed is determined at least by combining the wheel lever signal and the brake lever signal. When the user controls the brake crank to different positions, different brake crank signals exist correspondingly, and then braking force with different degrees can be generated.
In addition, considering that the vehicle speed is also influenced by environmental factors (such as environmental resistance) of the user during riding, the environmental information can be acquired, and the target vehicle speed is determined at least by combining the wheel handle signal and the environmental information.
Based on the above, in an embodiment of the present disclosure, in the step S210, the acquiring the target vehicle speed of the two-wheeled vehicle may include the following steps S2101 to S2102:
step S2101, obtaining a wheel handle signal of the two-wheel vehicle, a brake handle signal of the two-wheel vehicle and environment information of an environment where the two-wheel vehicle is located.
As described above, when the target vehicle speed needs to be determined, the wheel handle signal, the brake lever signal, and the environmental information are acquired first. In one embodiment of the present disclosure, the environmental information may include at least one information item of air resistance information, gradient information, and ground resistance information.
In detail, considering that the user may not need to control the wheel handle in the constant speed cruising condition of the electric bicycle, when the wheel handle position in the current period is the initial position, the wheel handle signal corresponding to the last non-initial position obtained during the constant speed cruising can be used as the wheel handle signal corresponding to the current period. And when the position of the wheel handle in the current period is the non-initial position, the wheel handle signal corresponding to the non-initial position is used as the wheel handle signal corresponding to the current period.
The present embodiment determines the target speed based on the wheel handle signal, so that the electric bicycle can cruise at the target speed at a constant speed, and the user can adjust the position of the wheel handle as required to change the wheel handle signal, thereby correspondingly changing the target speed, so the present embodiment can realize the cruise at the constant speed at any speed.
In detail, it is considered that in the case of constant speed cruising of the electric bicycle, the user can control the brake lever as desired, so that the brake lever signal can be acquired in real time.
In detail, it is considered that the environmental resistance may not be fixed in the case of the constant speed cruising of the electric bicycle, so that the environmental information may be acquired in real time.
And step S2102, determining the target speed of the two-wheel vehicle according to the wheel handle signal, the brake handle signal and the environment information.
In the step, the target vehicle speed is determined by combining a wheel handle signal, a brake handle signal and environmental information, namely combining a power assisting factor and a resistance factor.
Referring to fig. 3, fig. 3 shows a constant speed cruise control implementation logic for a two-wheeled vehicle. As shown in fig. 3, the wheel handle signal, the brake handle signal, and the environment sensing information (i.e., the environment information) are used as the inputs of the target vehicle speed calculating module, which can calculate the target vehicle speed.
The target vehicle speed is determined by comprehensively influencing the power-assisted factors and the resistance factors of the vehicle speed, and the target vehicle speed can be accurately determined.
And S220, obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle.
In this step, based on the determined target speed and the pre-established model, a corresponding target control rate can be determined, and when the controller controls the motor at the target control rate, the assistance provided by the motor can make the electric bicycle theoretically run at the target speed.
In the embodiment, aiming at the control problem of the constant-speed cruise of the two-wheel vehicle, the constant-speed cruise control is realized by using a means of establishing a dynamic model of the two-wheel vehicle, so that the cruise speed accurate tracking control is facilitated, and the constant-speed cruise control is realized by using the model instead of using a torque map, so that the calibration workload can be reduced.
In detail, the environmental factors may also affect the relevant parameter items in the dynamic model, for example, when the vehicle speed is low and high, the magnitude of the air resistance item in the dynamic model may be inconsistent, and if the vehicle senses the gradient information, the ramp resistance item in the dynamic model may also be adjusted.
Based on this, in an embodiment of the present disclosure, the step S220 of obtaining the target control rate according to the target vehicle speed and the pre-constructed two-wheel vehicle dynamic model may include the following steps S2201 to S2202:
step S2201, according to each information item included in the environment information, determining a parameter value corresponding to the information item in the two-wheel vehicle dynamic model.
In this step, the environmental information may include at least one information item, such as may include at least one of air resistance information, grade information, and ground resistance information.
In this step, according to these information items, the corresponding parameter values in the model can be determined to achieve adaptive adjustment of the model.
And step S2202, obtaining a target control rate according to the parameter value, the target speed and the two-wheel vehicle dynamic model.
In this step, the obtained parameter values may be substituted into a model to obtain an adjusted model, and the target control rate may be determined based on the target vehicle speed and the adjusted model.
The method and the device adjust the dynamic model of the two-wheel vehicle based on the environmental information, so that the adjusted model can better accord with the current control condition, and the target control rate can be accurately obtained when the target control rate is calculated based on the adjusted module and the target vehicle speed.
In an embodiment of the present disclosure, the step S220 of obtaining the target control rate according to the target vehicle speed and a pre-constructed two-wheel vehicle dynamic model may include the following steps a1 to A3:
and A1, acquiring the actual speed of the two-wheel vehicle.
The target control rate may be obtained in combination with the current actual vehicle speed, taking into account that there is usually a certain degree of deviation between the actual vehicle speed and the target vehicle speed. The present embodiment also obtains the control rate based on the actual vehicle speed, and can improve the accuracy of the obtained target control rate.
And A2, obtaining a steady state control rate, a feedforward control rate and an error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model.
In the step, three parameters, namely a steady-state control rate, a feedforward control rate and an error feedback control rate, required by the controller to realize motor control can be obtained by combining the actual vehicle speed, the target vehicle speed and the preset module.
The method is feasible, the target vehicle speed can be brought into a dynamic model to calculate a steady-state control rate and a feedforward control rate, then a difference value between the real-time vehicle speed and the target vehicle speed is taken as error feedback in combination with the real-time vehicle speed measured by a vehicle speed sensor, and an error feedback control rate can also be obtained.
And A3, obtaining the target control rate according to the steady-state control rate, the feedforward control rate and the error feedback control rate.
In this step, a target control rate can be obtained based on the three control rates, so that the motor can be correspondingly controlled according to the target control rate.
For example, the sum of these three control rates may be taken as the target control rate.
The embodiment obtains the target control rate based on the error feedback control rate, and the feed-forward action is beneficial to obtaining the accurate target control rate and improving the constant-speed cruising effect. Different from the existing implementation mode of realizing constant-speed cruise through a PID controller, in the implementation mode, when the deviation of the initial value is large, the problem of low response speed exists due to the fact that the feedforward function does not exist, and the problem can be solved through the embodiment.
As shown in FIG. 3, the target speed calculated by the target speed calculation module is used as the input of the two-wheel vehicle dynamic model, so that the steady-state control rate and the feedforward control rate can be obtained, meanwhile, the error feedback control rate can be obtained according to the actual speed acquired by the speed sensor in real time, and the three comprehensively determine the corresponding output torque. The output torque of the motor can be further transmitted to the actuating mechanism, so that the two-wheeled vehicle can be provided with assistance, and the two-wheeled vehicle can run at a corresponding speed. Correspondingly, the speed sensor can acquire the speed of the two-wheel vehicle.
In one embodiment of the present disclosure, the two-wheel vehicle dynamics model includes: and setting a function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the vehicle speed, a third parameter corresponding to the speed change rate and a fourth parameter corresponding to the control rate.
In detail, the two-wheel vehicle dynamics model may include a function of driving force and vehicle speed. At its simplest, the function may relate only to driving force and vehicle speed, for example the function may be F ═ F (v), for example2V) where F is the driving force and v is the vehicle speed. In this way, the model in the present embodiment can adopt the simplest driving force as a function of vehicle speed while taking into account the influence of air resistance and ramp resistance.
In other embodiments, the influence of various parameters can be considered to establish a more accurate model with multiple degrees of freedom, such as a model considering tire characteristics and suspension characteristics.
In addition to the above-mentioned functions relating to driving force and vehicle speed, the two-wheel vehicle dynamics model of the present embodiment may also include other functions, such as a function for establishing the relationship between output torque and speed from an energy perspective: t ═ g (v), and a function that establishes the relationship between output torque and drive force from a force perspective: t ═ η (F). Where T is the output torque.
A state space equation may be obtained based on at least the three functions, and the obtained state space equation may relate to the output quantity, the control quantity, the state quantity, and the reference quantity. The output quantity corresponds to the output torque of the motor, the control quantity corresponds to the control of the motor, the state quantity corresponds to the actual vehicle speed, and the reference quantity corresponds to the target vehicle speed.
Based on this, in order to be able to obtain the three control rates described above, the setting function described above may be constructed.
Correspondingly, the step a2, obtaining a steady-state control rate, a feedforward control rate and an error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model, may include the following steps a21 to a 23:
and A21, obtaining a steady-state control rate according to the two-wheel vehicle dynamic model under the condition that the third parameter is zero and the second parameter is the actual vehicle speed.
In detailLet the rate of change of speed in the above-mentioned set function be 0, i.e. let the acceleration be 0, so that the steady-state control rate can be obtained, and is denoted as us. Wherein u issIs a function of the state quantity.
In this step, the speed change rate in the above-mentioned set function is made to be 0, and the vehicle speed is made to be the actual vehicle speed, and the control rate is made to be the steady-state control rate (i.e. us) The steady state control rate can be calculated.
And A22, acquiring the feedforward control rate according to the two-wheel vehicle dynamic model under the condition that the fourth parameter is the sum of the steady-state control rate and the feedforward control rate and the second parameter is the target vehicle speed.
Considering that the control system is dynamically changed, a feedforward control item needs to be added on the basis of the steady-state control rate, the vehicle speed at the moment is taken as the target vehicle speed, the steady-state control rate and the feedforward control rate are substituted into the set function, the feedforward control rate can be obtained, and is recorded as uf. Wherein u isfIs a function of the state quantity and the reference quantity.
In this step, the control rate in the above-mentioned set function is made to be the sum of the steady-state control rate and the feedforward control rate (i.e., us+uf) And calculating the feedforward control rate by using the vehicle speed as the target vehicle speed.
And A23, obtaining an error feedback control rate according to the difference value of the target vehicle speed and the actual vehicle speed.
In this step, the error feedback term may be added to obtain the error feedback control rate according to the deviation between the target vehicle speed and the current actual vehicle speed.
In this embodiment, the error feedback control rate is obtained by considering the error between the reference quantity and the state quantity, which can play a role of fine tuning, and specifically, the error feedback control rate can be obtained by a step-back method. Meanwhile, the control system is proved to be asymptotically stable through the Lyapunov second stability law.
And step S230, controlling the motor of the two-wheel vehicle according to the target control rate.
In this step, the controller may implement a corresponding control of the motor based on the target control rate. In detail, the target control rate may relate to motor control parameters such as a motor rotation speed, a motor current, a motor duty ratio, and the like.
The controller can enable the motor to output corresponding torque by controlling the motor, and the output torque of the motor can be further transmitted to the executing mechanism, so that the power can be provided for the two-wheel vehicle, and the two-wheel vehicle can run at a corresponding speed.
As can be seen from the above, the present embodiment provides a constant-speed cruise control method for a two-wheeled vehicle, which obtains a target vehicle speed of the two-wheeled vehicle in response to a constant-speed cruise command; obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle; and controlling the motor of the two-wheel vehicle according to the target control rate. The embodiment obtains the target speed of the two-wheel vehicle under the condition of constant-speed cruise, and controls the motor of the two-wheel vehicle according to the target speed, so that constant-speed cruise control under different speeds can be realized, and the constant-speed cruise control is realized through the preset model, so that the calibration workload can be reduced.
Fig. 4 is a flow chart illustrating a constant speed cruise control method of a two-wheeled vehicle according to an embodiment. As shown in fig. 4, the constant speed cruise control method of the two-wheeled vehicle according to the embodiment may include steps S301 to S308:
step S301, responding to a constant-speed cruise instruction, and acquiring a wheel handle signal of the two-wheel vehicle, a brake handle signal of the two-wheel vehicle and environment information of the environment where the two-wheel vehicle is located.
And step S302, determining the target speed of the two-wheel vehicle according to the wheel handle signal, the brake handle signal and the environment information.
And step S303, acquiring the actual speed of the two-wheel vehicle.
Step S304, under the condition that the third parameter is zero and the second parameter is the actual vehicle speed, obtaining a steady-state control rate according to a two-wheel vehicle dynamic model; wherein the two-wheel vehicle dynamics model comprises: and setting a function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the vehicle speed, a third parameter corresponding to the speed change rate and a fourth parameter corresponding to the control rate.
And S305, obtaining the feedforward control rate according to the two-wheel vehicle dynamic model under the condition that the fourth parameter is the sum of the steady-state control rate and the feedforward control rate and the second parameter is the target vehicle speed.
And step S306, obtaining an error feedback control rate according to the difference value between the target vehicle speed and the actual vehicle speed.
Step S307, obtaining the target control rate according to the steady-state control rate, the feedforward control rate and the error feedback control rate.
And S308, controlling the motor of the two-wheel vehicle according to the target control rate.
The motor is controlled based on the preset model, the constant-speed cruise control of the two-wheel vehicle can be realized, and the torque map is replaced by the two-wheel vehicle dynamic model, so that the calibration workload of the torque map is obviously reduced.
< apparatus embodiment >
Fig. 5 is a functional block diagram of a constant speed cruise control apparatus 400 of a two-wheeled vehicle according to an embodiment. As shown in fig. 5, the constant speed cruise control apparatus 400 of the two-wheeled vehicle may include a first acquiring module 410, a second acquiring module 420, and a control module 430.
The constant speed cruise control apparatus 400 of the two-wheeled vehicle may be the electronic device 1000 shown in fig. 1.
The first obtaining module 410 is configured to obtain a target vehicle speed of the two-wheeled vehicle in response to a cruise control command. The second obtaining module 420 is configured to obtain a target control rate according to the target vehicle speed and a pre-constructed two-wheel vehicle dynamic model. The control module 430 is configured to control a motor of the two-wheel vehicle according to the target control rate.
In the embodiment, the target speed of the two-wheel vehicle is obtained in response to a constant-speed cruise instruction; obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle; and controlling the motor of the two-wheel vehicle according to the target control rate. The embodiment obtains the target speed of the two-wheel vehicle under the condition of constant-speed cruise, and controls the motor of the two-wheel vehicle according to the target speed, so that constant-speed cruise control under different speeds can be realized, and the constant-speed cruise control is realized through the preset model, so that the calibration workload can be reduced.
In an embodiment of the present disclosure, the first obtaining module 410 is configured to obtain a wheel grip signal of the two-wheeled vehicle, a brake lever signal of the two-wheeled vehicle, and environmental information of an environment where the two-wheeled vehicle is located; and determining the target speed of the two-wheel vehicle according to the wheel handle signal, the brake lever signal and the environment information.
In an embodiment of the present disclosure, the second obtaining module 420 is configured to determine, according to each information item included in the environment information, a parameter value corresponding to the information item in the two-wheel vehicle dynamic model; and obtaining a target control rate according to the parameter value, the target speed and the two-wheel vehicle dynamic model.
In one embodiment of the present disclosure, the environmental information includes at least one information item of air resistance information, gradient information, and ground resistance information.
In an embodiment of the present disclosure, the second obtaining module 420 is configured to obtain an actual vehicle speed of the two-wheeled vehicle; obtaining a steady-state control rate, a feedforward control rate and an error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model; and obtaining the target control rate according to the steady-state control rate, the feedforward control rate and the error feedback control rate.
In one embodiment of the present disclosure, the two-wheel vehicle dynamics model includes: setting a function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the vehicle speed, a third parameter corresponding to the speed change rate and a fourth parameter corresponding to the control rate; the second obtaining module 420 is configured to obtain a steady-state control rate according to the two-wheel vehicle dynamic model when the third parameter is zero and the second parameter is the actual vehicle speed; under the condition that the fourth parameter is the sum of the steady-state control rate and the feedforward control rate and the second parameter is the target vehicle speed, obtaining the feedforward control rate according to the two-wheel vehicle dynamic model; and obtaining an error feedback control rate according to the difference value of the target vehicle speed and the actual vehicle speed.
Fig. 6 is a schematic diagram of a hardware configuration of a constant speed cruise control apparatus 500 of a two-wheeled vehicle according to another embodiment.
As shown in fig. 6, the constant speed cruise control apparatus 500 of the two-wheeled vehicle includes a processor 510 and a memory 520, the memory 520 is used for storing an executable computer program, and the processor 510 is used for executing the method according to any of the above method embodiments according to the control of the computer program.
The constant speed cruise control device 500 of the two-wheeled vehicle may be the electronic apparatus 1000 shown in fig. 1.
The modules of the apparatus 500 may be implemented by the processor 510 in the present embodiment executing the computer program stored in the memory 520, or may be implemented by other circuit structures, which is not limited herein.
In addition, an embodiment of the present disclosure also provides a two-wheeled vehicle including: the constant speed cruise control apparatus 400 for a two-wheeled vehicle according to the above embodiment or the constant speed cruise control apparatus 500 for a two-wheeled vehicle according to the above embodiment.
In detail, the two-wheeled vehicle may be an electric bicycle.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, 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/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (10)

1. A constant speed cruise control method for a two-wheeled vehicle, comprising:
responding to a constant-speed cruise instruction, and acquiring a target speed of the two-wheel vehicle;
obtaining a target control rate according to the target speed and a pre-constructed dynamic model of the two-wheel vehicle;
and controlling the motor of the two-wheel vehicle according to the target control rate.
2. The method of claim 1, wherein said obtaining a target vehicle speed for the two-wheeled vehicle comprises:
acquiring a wheel handle signal of the two-wheel vehicle, a brake lever signal of the two-wheel vehicle and environmental information of an environment where the two-wheel vehicle is located;
and determining the target speed of the two-wheel vehicle according to the wheel handle signal, the brake lever signal and the environment information.
3. The method of claim 2, wherein obtaining a target control rate based on the target vehicle speed and a pre-constructed two-wheel vehicle dynamics model comprises:
determining a parameter value corresponding to each information item in the dynamic model of the two-wheel vehicle according to each information item included in the environment information;
and obtaining a target control rate according to the parameter value, the target speed and the two-wheel vehicle dynamic model.
4. The method of claim 2, wherein the environmental information includes at least one of air resistance information, grade information, and ground resistance information.
5. The method of claim 1, wherein obtaining a target control rate based on the target vehicle speed and a pre-constructed two-wheel vehicle dynamics model comprises:
acquiring the actual speed of the two-wheel vehicle;
obtaining a steady-state control rate, a feedforward control rate and an error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model;
and obtaining the target control rate according to the steady-state control rate, the feedforward control rate and the error feedback control rate.
6. The method of claim 5, wherein the two-wheel vehicle dynamics model comprises: setting a function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the vehicle speed, a third parameter corresponding to the speed change rate and a fourth parameter corresponding to the control rate;
the method for obtaining the steady-state control rate, the feedforward control rate and the error feedback control rate according to the actual vehicle speed, the target vehicle speed and the two-wheel vehicle dynamic model comprises the following steps:
under the condition that the third parameter is zero and the second parameter is the actual vehicle speed, obtaining a steady-state control rate according to the two-wheel vehicle dynamic model;
under the condition that the fourth parameter is the sum of the steady-state control rate and the feedforward control rate and the second parameter is the target vehicle speed, obtaining the feedforward control rate according to the two-wheel vehicle dynamic model;
and obtaining an error feedback control rate according to the difference value of the target vehicle speed and the actual vehicle speed.
7. A constant speed cruise control device for a two-wheeled vehicle, comprising:
the first acquisition module is used for responding to a constant-speed cruise instruction and acquiring a target speed of the two-wheel vehicle;
the second acquisition module is used for acquiring a target control rate according to the target speed and a pre-constructed two-wheel vehicle dynamic model; and the number of the first and second groups,
and the control module is used for controlling the motor of the two-wheel vehicle according to the target control rate.
8. A constant speed cruise control device of a two-wheeled vehicle comprises a memory and a processor, wherein the memory is used for storing a computer program; the processor is adapted to execute the computer program to implement the method according to any of claims 1-6.
9. A two-wheeled vehicle, comprising: constant speed cruise control of a two-wheeled vehicle according to claim 7 or 8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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