CN113954999B - 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
CN113954999B
CN113954999B CN202111198915.4A CN202111198915A CN113954999B CN 113954999 B CN113954999 B CN 113954999B CN 202111198915 A CN202111198915 A CN 202111198915A CN 113954999 B CN113954999 B CN 113954999B
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speed
control rate
target
vehicle
wheel
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CN113954999A (en
Inventor
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

Abstract

The present disclosure relates to a constant speed cruise control method and apparatus for a two-wheeled vehicle, and a readable medium, the method comprising: responding to a constant-speed cruising 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 two-wheel vehicle dynamics model; 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 two-wheeled vehicles, and more particularly relates to a constant speed cruise control method and device of a two-wheeled vehicle, a two-wheeled vehicle and a readable medium.
Background
Based on the realization of constant-speed cruising, on one hand, fatigue can be relieved for a user, unnecessary speed change can be reduced, and energy consumption is saved.
Currently, for constant-speed cruising of motorcycles, it is possible to use a lock device of the oil lock. 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 between the current vehicle speed and the target vehicle speed can be used as input, and output torque can be obtained through the PID controller.
However, when constant-speed cruising is achieved by using the oil lock device, constant-speed cruising at any vehicle speed cannot be achieved. When the constant-speed cruising is realized through the PID controller, a large amount of map calibration work is required to be carried out aiming at three parameters of the PID and the torque map for different working conditions, and particularly the calibration work is multiplied by various factors due to the influence of the torque map, so that a great amount of time of an engineer is required to be consumed.
Disclosure of Invention
It is an object of embodiments of the present disclosure 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 cruising 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 two-wheel vehicle dynamics model; and controlling the motor of the two-wheel vehicle according to the target control rate.
Optionally, the acquiring the target vehicle speed of the two-wheel vehicle includes: acquiring a wheel handle signal of the two-wheel vehicle, a brake handle signal of the two-wheel vehicle and environmental information of the 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 handle signal and the environmental information.
Optionally, the obtaining the target control rate according to the target vehicle speed and a pre-built two-wheel vehicle dynamics model includes: determining parameter values corresponding to the information items in the two-wheel vehicle dynamics model according to each information item included in the environment information; and obtaining a target control rate according to the parameter value, the target vehicle speed and the two-wheel vehicle dynamics model.
Optionally, the environmental information includes at least one information item of air resistance information, gradient information, ground resistance information.
Optionally, the obtaining the target control rate according to the target vehicle speed and a pre-built two-wheel vehicle dynamics 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 speed, the target speed and the two-wheel vehicle dynamics 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 includes: a setting function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the speed of the vehicle, a third parameter corresponding to the speed change rate and a fourth parameter corresponding to the control rate; the 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 dynamics 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 dynamics model; obtaining the feedforward control rate according to the two-wheel vehicle dynamics 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 obtaining an error feedback control rate according to the difference value between 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 device of a two-wheeled vehicle, including: the first acquisition module is used for responding to a constant-speed cruising 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 vehicle speed and a pre-constructed two-wheel vehicle dynamics 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 of a two-wheeled vehicle, including a memory for storing a computer program and a processor; the processor is configured 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 including: a constant-speed-cruise control device for a two-wheeled vehicle according to a 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 embodiment of the disclosure is that, in response to a constant-speed cruising instruction, a target speed of the two-wheel vehicle is obtained; obtaining a target control rate according to the target speed and a pre-constructed two-wheel vehicle dynamics model; and controlling the motor of the two-wheel vehicle according to the target control rate. According to the method, the target speed of the two-wheel vehicle is obtained under the condition of constant-speed cruising, and the motor of the two-wheel vehicle is controlled according to the target speed, so that constant-speed cruising control under different speeds can be realized, and the constant-speed cruising control is realized through a preset model, so that the calibration workload can be reduced.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this 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 diagram of the constituent structure of an electronic apparatus capable of implementing a constant-speed-cruise control method of a two-wheeled vehicle according to one embodiment;
FIG. 2 is a flow chart of a constant speed cruise control method of a two-wheeled vehicle according to one embodiment;
FIG. 3 is a schematic diagram of constant speed cruise control implementation logic of a two-wheeled vehicle according to one embodiment;
fig. 4 is a flowchart of a constant speed cruise control method of a two-wheeled vehicle according to another embodiment;
FIG. 5 is a block schematic diagram of a constant speed cruise control device of a two-wheeled vehicle according to one embodiment;
fig. 6 is a schematic hardware configuration of a constant speed cruise control device 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, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one 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 specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
One application scenario of the embodiment of the disclosure is constant speed cruise control of a two-wheeled vehicle. Based on the realization of constant-speed cruising, a user can control the wheel handle of the two-wheel vehicle, and the two-wheel vehicle can still automatically keep the speed of the vehicle and drive at a fixed speed.
In order to achieve the purpose of constant-speed cruising, the optional real-time modes are as follows: for constant-speed cruising of a motorcycle, an oil lock device can be adopted to realize the constant-speed cruising of the motorcycle. For the constant-speed cruising of the four-wheel automobile, the speed control can be realized through a PID controller, and specifically, the difference between the current speed and the target speed can be used as input, and the output torque can be obtained through the PID controller.
In the implementation process, the inventor finds that under the condition that the constant-speed cruising control is realized by adopting the oil lock device, the oil lock device cannot realize stepless speed regulation, so that the constant-speed cruising under any vehicle speed cannot be realized.
In the case of realizing constant-speed cruising by the PID controller, a large amount of map calibration work is required for three parameters of the PID and the torque map for different working conditions, and particularly, the calibration work is multiplied by various uncertain factors due to the influence of the torque map, so that a great amount of time is required for an engineer to consume. When the mode is adopted to realize the constant-speed cruising of the two-wheel vehicle, the problem of large calibration workload can be solved.
Aiming at the technical problems in the above embodiments, the inventor provides a constant-speed cruising control method of a two-wheel vehicle, the method adopts the construction of a two-wheel vehicle dynamics model to realize the purpose of constant-speed cruising control, and the method can comprise the following steps: responding to a constant-speed cruising 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 two-wheel vehicle dynamics model; and controlling the motor of the two-wheel vehicle according to the target control rate.
< hardware configuration >
Fig. 1 is a schematic diagram of an electronic device 1000 that may be used to implement embodiments of the present disclosure.
The electronic device 1000 may be a controller, a smart phone, a portable computer, a desktop computer, a tablet computer, a server, etc. in a two-wheeled vehicle, and is not limited herein. The two-wheel 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 processor GPU, a microprocessor MCU, etc. for executing a computer program written in an instruction set of an architecture such as x86, arm, RISC, MIPS, SSE, etc. The memory 1200 includes, for example, ROM (read only memory), RAM (random access memory), 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 can perform wired communication using an optical fiber or a cable, or perform wireless communication, for example, and specifically can include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display, a touch display, or the like. The input device 1600 may include, for example, a touch screen, keyboard, somatosensory input, and the like. The speaker 1700 is for outputting audio signals. Microphone 1800 is used to collect audio signals.
The memory 1200 of the electronic device 1000 is used for storing a computer program for controlling the processor 1100 to operate to implement the method according to the embodiments of the present disclosure. The skilled person can design the computer program according to the disclosure of 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 will be appreciated by those skilled in the art that although a plurality of devices of the electronic device 1000 are shown in fig. 1, the electronic device 1000 of the embodiments of the present disclosure may involve only some of the devices thereof, 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 example >
Fig. 2 is a flow chart of a constant speed cruise control method of a two-wheeled vehicle according to an embodiment. The implementation body of the present embodiment is, for example, the electronic apparatus 1000 in fig. 1, and the electronic apparatus 1000 may preferably be a controller in a two-wheeled vehicle.
In this embodiment, the two-wheeled vehicle may be an electric bicycle, for example, a shared electric bicycle. Next, a description will be given of a technical implementation of the present embodiment, taking a two-wheeled vehicle such as 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 constant-speed-cruise control method of the two-wheeled vehicle of the present embodiment may include the following steps S210 to S230:
step S210, responding to a constant speed cruising instruction, and acquiring a target speed of the two-wheel vehicle.
In detail, the user can ride not only in a normal mode but also in a constant speed cruising mode during the process of riding the electric bicycle. The user can issue a constant-speed-cruise request when riding the electric bicycle in the constant-speed-cruise mode.
For example, the user can send a constant-speed-cruise request through corresponding keys set by 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 a constant-speed cruising request through the APP on the terminal equipment, and the server can send a constant-speed cruising instruction to the controller in response to the constant-speed cruising request.
The controller responds to the constant-speed cruising instruction, and can acquire the target speed of the electric bicycle so as to control the motor according to the target speed, thereby achieving the aim that the electric bicycle cruises at the target speed.
In this embodiment, the target vehicle speed is an expected vehicle speed to be reached by the electric bicycle.
In detail, after the user turns on the cruise control function, the controller may periodically perform each step of the cruise control method of the two-wheeled vehicle of the present embodiment until the user ends the cruise control.
In this embodiment, to obtain the target vehicle speed, the controller may obtain the current wheel-handle signal and determine the target vehicle speed based at least on the wheel-handle signal. When the user rotates the wheel handle to different positions, different wheel handle signals exist correspondingly, and then different degrees of power assistance can be generated. The greater the assist, the faster the riding speed.
The user can control the brake lever as required in the riding process, and the use of the brake lever can also influence the speed of the vehicle, so that a brake lever signal can be obtained, and the target speed of the vehicle is determined by at least combining the wheel lever signal and the brake lever signal. When a user controls the brake lever to different positions, different brake lever signals exist correspondingly, and then braking forces with different degrees can be generated.
In addition, environmental information can be acquired to determine the target vehicle speed by combining at least the wheel handle signal and the environmental information, considering that environmental factors (such as environmental resistance) of a user during riding can also influence the vehicle speed.
Based on the above, in one embodiment of the present disclosure, in the above step S210, the obtaining the target vehicle speed of the two-wheeled vehicle may include the following steps S2101 to S2102:
step S2101, acquiring a wheel handle signal of the two-wheel vehicle, a brake handle signal of the two-wheel vehicle and environmental information of an environment in which 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, ground resistance information.
In detail, it is considered that the user may not need to control the wheel grips in the case of constant-speed cruising of the electric bicycle, so that when the wheel grip position in the current period is the initial position, the wheel grip signal corresponding to the last non-initial position obtained during the constant-speed cruising can be used as the wheel grip signal corresponding to the current period. And when the wheel handle position in the current period is a non-initial position, namely the wheel handle signal corresponding to the non-initial position is used as the wheel handle signal corresponding to the current period.
The embodiment determines the target vehicle speed based on the wheel handle signal so as to enable the electric bicycle to cruise at a constant speed with the target vehicle speed, and the user can adjust the wheel handle position according to the requirement so as to change the wheel handle signal and further correspondingly change the target vehicle speed, so that the embodiment can realize the cruise at a constant speed under any vehicle speed.
In detail, the user can control the brake lever as required under the condition of constant-speed cruising of the electric bicycle, so that the brake lever signal can be obtained in real time.
In detail, environmental information can be acquired in real time, considering that environmental resistance may not be fixed in the case of constant-speed cruising of an electric bicycle.
Step S2102, determining a target vehicle speed of the two-wheeled vehicle according to the wheel handle signal, the brake handle signal and the environmental information.
In the step, a 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 the constant-speed-cruise control implementation logic of the two-wheeled vehicle. As shown in fig. 3, the wheel handle signal, the brake lever signal, and the environmental sensing information (i.e., the environmental information) are used as inputs to a target vehicle speed calculation module, which calculates a target vehicle speed.
According to the method and the device for determining the target vehicle speed, the target vehicle speed is determined by combining the power assisting factor and the resistance factor which affect the vehicle speed, and accurate determination of the target vehicle speed can be achieved.
And step S220, obtaining a target control rate according to the target vehicle speed and a pre-constructed two-wheel vehicle dynamics model.
In the step, based on the determined target vehicle speed and the pre-established model, the corresponding target control rate can be determined, so that when the controller controls the motor at the target control rate, the power assistance provided by the motor can enable the electric bicycle to theoretically run at the target vehicle speed.
In this embodiment, for the control problem of the constant-speed cruising of the two-wheel vehicle, the means of establishing the dynamic model of the two-wheel vehicle is used to realize the constant-speed cruising control, which is conducive to realizing the accurate tracking control of cruising speed.
In detail, the environmental factors can also influence related parameter items in the dynamics module, for example, when the vehicle speed is low and high, the air resistance items in the dynamics model can be inconsistent in size, and if the vehicle senses gradient information, the gradient resistance items in the dynamics model can also be adjusted.
Based on this, in one 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 dynamics model may include the following steps S2201 to S2202:
step S2201, determining, according to each information item included in the environmental information, a parameter value corresponding to the information item in the two-wheel vehicle dynamics model.
In this step, the environmental information may include at least one information item, such as at least one of air resistance information, gradient information, and ground resistance information.
In this step, based on these information items, corresponding parameter values in the model can be determined to achieve an adaptive adjustment of the model.
And S2202, obtaining a target control rate according to the parameter value, the target vehicle speed and the two-wheel vehicle dynamics model.
In this step, the obtained parameter values may be brought into a model to obtain an adjusted model, and the target control rate is determined based on the target vehicle speed and the adjusted model.
According to the method, the dynamic model of the two-wheel vehicle is adjusted based on the environmental information, so that the adjusted model can be more in line with the current control situation, and when the target control rate is calculated based on the adjusted module and the target vehicle speed, the accurate acquisition of the target control rate can be realized.
In one embodiment of the disclosure, the step S220 of obtaining the target control rate according to the target vehicle speed and the pre-constructed two-wheel vehicle dynamics model may include the following steps A1 to A3:
and A1, acquiring the actual speed of the two-wheeled vehicle.
The target control rate can be obtained by combining the current actual vehicle speed in consideration of the fact that the actual vehicle speed and the target vehicle speed generally have a certain deviation. The 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 speed, the target speed and the two-wheel vehicle dynamics model.
In the step, three parameters of a steady-state control rate, a feedforward control rate and an error feedback control rate required by the controller for realizing motor control can be obtained by combining an actual vehicle speed, a target vehicle speed and a preset module.
The method is feasible, the target vehicle speed can be brought into a dynamics model to calculate a steady-state control rate and a feedforward control rate, and the difference value between the real-time vehicle speed and the target vehicle speed is taken as error feedback by combining the real-time vehicle speed measured by the vehicle speed sensor, so that the error feedback control rate can be obtained.
And step 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 controlled accordingly according to the target control rate.
For example, the sum of the three control rates may be taken as the target control rate.
The target control rate is obtained based on the error feedback control rate, and the feedforward effect is helpful to obtain the accurate target control rate and improve the constant-speed cruising effect. Unlike the existing implementation mode of realizing constant-speed cruising through a PID controller, when the initial value deviation is large in the implementation mode, the problem of low response speed can be solved by the embodiment because the feedforward function does not exist.
As shown in fig. 3, the target vehicle speed calculation module calculates the target vehicle speed as the input of the two-wheel vehicle dynamics model, so that the steady-state control rate and the feedforward control rate can be obtained, and meanwhile, the error feedback control rate can be obtained according to the actual vehicle speed acquired by the vehicle speed sensor in real time, so that the corresponding output torque is comprehensively determined by the three. The output torque of the motor can be further transmitted to the actuating mechanism, so that power assistance can be provided for the two-wheel vehicle, and the two-wheel vehicle can run at a corresponding speed. Correspondingly, the speed sensor can acquire the speed of the two-wheeled vehicle.
In one embodiment of the present disclosure, the two-wheeled vehicle dynamics model includes: and setting functions according to the first parameter corresponding to the output torque of the motor, the second parameter corresponding to the vehicle speed, the third parameter corresponding to the speed change rate and the fourth parameter corresponding to the control rate.
In detail, the two-wheeled vehicle dynamics model may include a function of driving force and vehicle speed. In the simplest case, the function may relate only to the driving force and the vehicle speed, for example, the function may be f=f (v 2 V), where F is the driving force and v is the vehicle speed. As such, the model in the present embodiment can employ the simplest function of the driving force and the vehicle speed while taking into consideration the influence of the air resistance and the hill resistance.
In other embodiments, more accurate multiple degree of freedom models, such as models that consider tire characteristics, suspension characteristics, may also be created taking into account the effects of various parameters.
In addition to the above-described function relating to the driving force and the vehicle speed, the two-wheeled vehicle dynamics model of the present embodiment may further include other functions, such as a function that establishes a relationship between the output torque and the speed from the viewpoint of energy: t=g (v), a function that establishes a relationship between output torque and driving force from a force perspective: t=η (F). Wherein T is the output torque.
Based on at least the three functions, a state space equation can be obtained, and the obtained state space equation can relate to the factors of output quantity, control quantity, state quantity and reference quantity. Wherein the output quantity corresponds to the motor output torque, the control quantity corresponds to the motor control, the state quantity corresponds to the actual vehicle speed, and the reference quantity corresponds to the target vehicle speed.
Based on this, the setting function may be constructed so that the three control rates can be obtained.
Correspondingly, the step A2 of 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 dynamics model may include the following steps a21 to a23:
and step A21, obtaining a steady-state control rate according to the two-wheel vehicle dynamics model under the condition that the third parameter is zero and the second parameter is the actual vehicle speed.
In detail, the steady-state control rate can be obtained by setting the rate of change of the velocity in the setting function to 0, that is, the acceleration to 0, and this is denoted as u s . Wherein u is s Is a function of the state quantity.
In this step, the speed change rate in the setting function is set to 0, and the actual vehicle speed is taken, and the control rate is set to the steady-state control rate (i.e., u s ) And calculating to obtain the steady-state control rate.
And step A22, obtaining the feedforward control rate according to the two-wheel vehicle dynamics 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 the target vehicle speed, and the steady-state control rate and the feedforward control rate are brought into the set function to obtain feedforwardControl rate, denoted as u f . Wherein u is f Is a function of the state quantity and the reference quantity.
In this step, the control rate in the setting function is set to be the sum of the steady-state control rate and the feedforward control rate (i.e., u s +u f ) And enabling the vehicle speed to obtain a target vehicle speed, and calculating to obtain the feedforward control rate.
And step A23, obtaining an error feedback control rate according to the difference value between the target vehicle speed and the actual vehicle speed.
In this step, considering that there is usually a deviation between the target vehicle speed and the current actual vehicle speed, an error feedback term may be added, and an error feedback control rate may be obtained accordingly.
In this embodiment, the error feedback control rate considers the error of the reference quantity and the state quantity, and can play a role in fine tuning, and in particular, the error feedback control rate can be obtained by a back-stepping method. Meanwhile, the asymptotic stability of the control system can be proved by the second stability law of Lyapunov.
And step S230, controlling the motor of the two-wheel vehicle according to the target control rate.
In this step, the controller may implement 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 motor speed, motor current, motor duty cycle, etc.
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 actuating mechanism, so that assistance can be provided for the two-wheel vehicle, and the two-wheel vehicle can run at corresponding speed.
As can be seen from the above, the present embodiment provides a constant-speed-cruise control method of a two-wheeled vehicle, which is responsive to a constant-speed-cruise instruction to obtain a target vehicle speed of the two-wheeled vehicle; obtaining a target control rate according to the target speed and a pre-constructed two-wheel vehicle dynamics model; and controlling the motor of the two-wheel vehicle according to the target control rate. According to the method, the target speed of the two-wheel vehicle is obtained under the condition of constant-speed cruising, and the motor of the two-wheel vehicle is controlled according to the target speed, so that constant-speed cruising control under different speeds can be realized, and the constant-speed cruising control is realized through a preset model, so that the calibration workload can be reduced.
Fig. 4 is a flow chart schematically showing 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 of this embodiment may include the following steps S301 to S308:
step S301, responding to a constant-speed cruising instruction, acquiring a wheel handle signal of the two-wheel vehicle, a brake handle signal of the two-wheel vehicle and environmental information of the environment where the two-wheel vehicle is located.
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.
Step S303, obtaining 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 dynamics model; wherein the two-wheeled vehicle dynamics model includes: and setting functions according to the first parameter corresponding to the output torque of the motor, the second parameter corresponding to the vehicle speed, the third parameter corresponding to the speed change rate and the fourth parameter corresponding to the control rate.
Step S305, when 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 dynamics model.
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 step 308, controlling the motor of the two-wheel vehicle according to the target control rate.
According to the embodiment, the motor is controlled based on the preset model, constant-speed cruising control of the two-wheel vehicle can be achieved, the torque map is replaced by the two-wheel vehicle dynamics model, and the torque map calibration workload is obviously reduced.
< device example >
Fig. 5 is a schematic block diagram of a constant speed cruise control device 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 acquisition module 410, a second acquisition 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-wheel vehicle in response to a constant speed cruising instruction. 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 dynamics model. The control module 430 is configured to control a motor of the two-wheeled vehicle according to the target control rate.
In the embodiment, a target speed of the two-wheel vehicle is obtained in response to a constant-speed cruising instruction; obtaining a target control rate according to the target speed and a pre-constructed two-wheel vehicle dynamics model; and controlling the motor of the two-wheel vehicle according to the target control rate. According to the method, the target speed of the two-wheel vehicle is obtained under the condition of constant-speed cruising, and the motor of the two-wheel vehicle is controlled according to the target speed, so that constant-speed cruising control under different speeds can be realized, and the constant-speed cruising control is realized through a preset model, so that the calibration workload can be reduced.
In one embodiment of the present disclosure, the first obtaining module 410 is configured to obtain a wheel handle signal of the two-wheel vehicle, a brake lever signal of the two-wheel vehicle, and environmental information of an environment in which the two-wheel vehicle is located; and determining the target speed of the two-wheel vehicle according to the wheel handle signal, the brake handle signal and the environmental information.
In one embodiment of the present disclosure, the second obtaining module 420 is configured to determine, according to each information item included in the environmental information, a parameter value corresponding to the information item in the two-wheel vehicle dynamics model; and obtaining a target control rate according to the parameter value, the target vehicle speed and the two-wheel vehicle dynamics model.
In one embodiment of the present disclosure, the environmental information includes at least one information item of air resistance information, gradient information, ground resistance information.
In one 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 speed, the target speed and the two-wheel vehicle dynamics 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-wheeled vehicle dynamics model includes: a setting function according to a first parameter corresponding to the output torque of the motor, a second parameter corresponding to the speed of the vehicle, 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 dynamics model when the third parameter is zero and the second parameter is the actual vehicle speed; obtaining the feedforward control rate according to the two-wheel vehicle dynamics 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 obtaining an error feedback control rate according to the difference value between the target vehicle speed and the actual vehicle speed.
Fig. 6 is a schematic hardware configuration diagram of a constant-speed-cruise control device 500 of a two-wheeled vehicle according to another embodiment.
As shown in fig. 6, the constant-speed-cruise control device 500 of the two-wheeled vehicle includes a processor 510 and a memory 520, the memory 520 storing an executable computer program, the processor 510 being configured to perform a method according to any of the above method embodiments, according to 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 above apparatus 500 may be implemented by the processor 510 executing the computer program stored in the memory 520 in this embodiment, or may be implemented by other circuit structures, which are not limited herein.
In addition, an embodiment of the present disclosure also provides a two-wheeled vehicle including: the cruise control apparatus 400 of the two-wheeled vehicle according to the above embodiment, or the cruise control apparatus 500 of the 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 thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage 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: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through 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 over 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 transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface 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.
Computer program instructions for carrying out operations of the present invention may be assembly 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 be executed 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected 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 electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various 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 having the instructions stored therein includes 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 flowcharts 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, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or 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 various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements 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 (8)

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