CN113997798B - Variable speed limit control system and method for vehicle - Google Patents
Variable speed limit control system and method for vehicle Download PDFInfo
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- CN113997798B CN113997798B CN202010741599.XA CN202010741599A CN113997798B CN 113997798 B CN113997798 B CN 113997798B CN 202010741599 A CN202010741599 A CN 202010741599A CN 113997798 B CN113997798 B CN 113997798B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention belongs to the technical field of vehicle speed control devices, and relates to a vehicle variable speed limit control method, which comprises the following steps: acquiring the current real-time vehicle speed; identifying a vehicle state; outputting a vehicle speed limit set value in a speed limit state; comparing the current vehicle speed limit set value with the real-time vehicle speed, and calculating a required torque value; the torque demand value is transmitted to the electric machine, which executes the torque demand value, which has the advantage that the vehicle can be speed limited.
Description
Technical Field
The invention belongs to the technical field of vehicle speed control devices, and particularly relates to a variable speed limit control system of a vehicle.
Background
The driving system used by the new energy automobile is a direct-drive system directly driven by a motor and an indirect-drive system combined by an automatic gearbox and the motor, the speed of the direct-drive system is higher under the condition of reverse gear, and in order to ensure the safety of the automobile, the highest speed is required to be limited under the condition of reverse gear, and is generally limited to 15-20 km/h. The system is generally used for special vehicles and logistics vehicles, is provided with climbing gears, and particularly, when an L gear in an intermittent drive system climbs a slope, the motor is easy to overspeed, and the condition that the gearbox is damaged due to overspeed of the motor is avoided through limiting the L gear speed. In general, the maximum speed of the city commodity circulation car also needs to be limited. Therefore, a speed limiting control system with variable speed is designed for the pure electric logistics vehicles, the soil and slag vehicles and the special vehicles.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a variable speed limit control system for a vehicle, which has the advantage of limiting the speed of the vehicle.
In one aspect, the invention provides a vehicle variable speed limit control method, which is realized by the following technical scheme:
acquiring the current real-time vehicle speed;
identifying a vehicle state;
outputting a vehicle speed limit set value in a speed limit state;
comparing the current vehicle speed limit set value with the real-time vehicle speed, and calculating a required torque value;
the requested torque value is transmitted to the electric machine, which executes the requested torque value.
As a further description of the invention: the identifying the vehicle state includes the steps of:
and comparing the real-time vehicle speed with the speed limit set value, outputting a speed limit sign as 1 if the real-time vehicle speed is larger than the speed limit set value, otherwise outputting a speed limit sign as 0.
As a further description of the invention: the vehicle speed limit setting value in the output speed limit state comprises the following steps:
detecting whether the gear is a forward gear, if so, continuously judging whether the gear is an L gear, otherwise, detecting whether the gear is a reverse gear;
outputting a reverse gear speed limit set value if the gear is a reverse gear, otherwise, outputting a speed limit set value of 0;
if the gear is L gear, continuously judging whether the vehicle has a fault, otherwise, outputting an L gear speed limiting set value;
if the vehicle fails, outputting a failure speed limiting set value, otherwise, continuously judging whether a remote vehicle locking signal exists;
if the remote locking signal is provided, outputting a remote locking speed limit set value, otherwise, outputting a highest speed limit set value.
As a further description of the invention: and if the current vehicle comprises at least two speed limiting states, comparing a plurality of speed limiting set values, and outputting a minimum speed limiting set value.
As a further description of the invention: the method comprises the following steps of:
the method comprises the following steps of:
if the speed limit flag bit is 1, calculating whether the difference between the current vehicle speed and the set vehicle speed is greater than 3, and if the speed limit flag bit is 0, the required torque is equal to the actual torque;
if V-Vset is more than 3, outputting the required torque to be 0, otherwise, continuously judging that Vset-V is less than or equal to 5;
if Vset-V is less than or equal to 5, continuing to judge Vset-V=5, otherwise, returning to judge V-Vset is more than 3;
outputting Retq=TqCurrent- (TqCurrent/a1+1) if Vset-V=5, otherwise, judging that Vset-V is more than or equal to 0 and less than or equal to 4;
if the Vset-V is more than or equal to 0 and less than or equal to 4, continuing to judge the Vset-V=N, otherwise, continuing to judge the Vset-V is more than or equal to-5 and less than 0, wherein N is any one value of 0,1,2,3 and 4;
outputting retq=tqtcurrent/a2+ (tqtcurrent/a3×n) +1 if Vset-v=n, and returning to judge V-Vset > 3 if Vset-v=n;
outputting Retq= - (TqCurrent/a2+1) if Vset-V is less than-5 and less than 0, otherwise, returning to judge that V-Vset is more than 3;
v is the real-time vehicle speed, vset is the speed limit set value, retq is the required torque, and TqCurrent is the actual torque.
On the other hand, the invention provides a vehicle variable speed limit control system, which is realized by the following technical scheme:
the vehicle speed setting module is used for identifying the current state of the vehicle, collecting the current real-time vehicle speed, comparing the real-time vehicle speed with a set vehicle speed value and outputting a speed limit set value;
the vehicle speed limiting module receives the speed limiting signal, calculates and outputs a required torque value;
a driving motor for receiving the required torque
As a further description of the invention: if the current vehicle comprises at least two states, the vehicle speed setting module can compare the set vehicle speed values in a plurality of states and output a minimum speed limit set value.
As a further description of the invention: the vehicle speed setting module comprises a reverse gear speed limiting module, an L gear speed limiting module, a fault speed limiting module, a remote vehicle locking speed limiting module and a highest vehicle speed limiting module.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the real-time speed of the vehicle under each vehicle condition is collected through the reverse gear speed limiting module, the L gear speed limiting module, the fault speed limiting module, the remote vehicle locking speed limiting module and the highest vehicle speed limiting module, the real-time speed is compared with a speed limiting set value, the vehicle state is judged, the required torque of each vehicle condition under the speed limiting state is limited, and finally the running speed of the vehicle under each vehicle condition is controlled.
Drawings
FIG. 1 is a schematic diagram of the connections between the modules of the present invention.
FIG. 2 is a flow chart of the vehicle condition determination for a single speed limit setting of the present invention.
FIG. 3 is a flow chart of the vehicle condition determination for a plurality of speed limit settings according to the present invention.
Fig. 4 is a flow chart of the vehicle state determination according to the present invention.
FIG. 5 is a flow chart of the torque demand calculation of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, a vehicle variable speed limit control system includes:
the vehicle speed setting module is used for identifying the current state of the vehicle, collecting the current real-time vehicle speed, comparing the real-time vehicle speed with a speed limit set value and outputting the speed limit set value; specifically, when the current real-time vehicle speed is collected, in order to avoid vehicle body shake when the vehicle speed is limited, the current real-time vehicle speed signal collected by the vehicle speed setting module needs to be subjected to filtering processing, the vehicle speed in 10 sampling periods is subjected to smoothing processing, the small floating of the vehicle speed transmitted to the vehicle speed limiting module is avoided, the interference to the selected path is generated, and finally the vehicle shake phenomenon caused by torque abrupt change in the vehicle driving process is avoided
The vehicle speed limiting module receives the speed limiting signal, calculates and outputs a required torque value;
and the driving motor is used for receiving the required torque.
If the current vehicle comprises at least two states, the vehicle speed setting module can compare the set vehicle speed values in a plurality of states and output a minimum speed limit set value. Specifically, the plurality of states includes the vehicle being simultaneously:
the system comprises a reverse gear speed limiting module, a fault speed limiting module and a remote locking speed limiting module;
the system comprises an L-gear speed limiting module, a fault speed limiting module and a remote car locking speed limiting module;
a fault speed limiting module and an L-gear speed limiting module;
a fault speed limiting module and a reverse speed limiting module;
a remote car locking speed limiting module and an L-gear speed limiting module;
a remote car locking speed limiting module and a reverse gear speed limiting module.
The vehicle speed setting module comprises a reverse gear speed limiting module, an L gear speed limiting module, a fault speed limiting module, a remote vehicle locking speed limiting module and a highest vehicle speed limiting module. Specifically, the reverse gear speed limiting module stores a reverse gear speed limiting set value, the L gear speed limiting module stores an L gear speed limiting set value, the fault speed limiting module stores a vehicle fault time limiting set value, the remote vehicle locking speed limiting module stores a vehicle speed limiting set value after receiving remote vehicle locking, and the highest vehicle speed limiting module stores a vehicle normal running time limiting set value (highest vehicle speed).
As shown in fig. 1, a vehicle variable speed limit control method includes the steps of:
acquiring the current real-time vehicle speed;
identifying a vehicle state; the identifying the vehicle state includes the steps of:
and comparing the real-time vehicle speed with the speed limit set value, outputting a speed limit sign as 1 if the real-time vehicle speed is larger than the speed limit set value, otherwise outputting a speed limit sign as 0.
Outputting a vehicle speed limit set value in a speed limit state; the vehicle speed limit setting value in the output speed limit state comprises the following steps:
detecting whether the gear is a forward gear, if so, continuously judging whether the gear is an L gear, otherwise, detecting whether the gear is a reverse gear;
outputting a reverse gear speed limit set value if the gear is a reverse gear, otherwise, outputting a speed limit set value of 0;
if the gear is L gear, continuously judging whether the vehicle has a fault, otherwise, outputting an L gear speed limiting set value;
if the vehicle fails, outputting a failure speed limiting set value, otherwise, continuously judging whether a remote vehicle locking signal exists;
if the remote locking signal is provided, outputting a remote locking speed limit set value, otherwise, outputting a highest speed limit set value;
and if the current vehicle comprises at least two speed limiting states, comparing a plurality of speed limiting set values, and outputting a minimum speed limiting set value.
Comparing the current vehicle speed limit set value with the real-time vehicle speed, and calculating a required torque value; the method comprises the following steps of:
if the speed limit flag bit is 1, calculating whether the difference between the current vehicle speed and the set vehicle speed is greater than 3, and if the speed limit flag bit is 0, the required torque is equal to the actual torque;
if V-Vset is more than 3, outputting the required torque to be 0, otherwise, continuously judging that Vset-V is less than or equal to 5; (where V is the real-time vehicle speed, vset is the speed limit setting, reTq is the demand torque, tqCurrent is the actual torque)
If Vset-V is less than or equal to 5, continuing to judge Vset-V=5, otherwise, returning to judge V-Vset is more than 3;
outputting Retq=TqCurrent- (TqCurrent/a1+1) if Vset-V=5, otherwise, judging that Vset-V is more than or equal to 0 and less than or equal to 4;
if the Vset-V is more than or equal to 0 and less than or equal to 4, continuing to judge the Vset-V=N, otherwise, continuing to judge the Vset-V is more than or equal to-5 and less than 0, wherein N is any one value of 0,1,2,3 and 4;
outputting retq=tqtcurrent/a2+ (tqtcurrent/a3×n) +1 if Vset-v=n, and returning to judge V-Vset > 3 if Vset-v=n;
if-5 is less than Vset-V is less than 0, outputting Retq= - (TqCurrent/a2+1), otherwise, returning to judge that V-Vset is more than 3
The requested torque value is transmitted to the electric machine, which executes the requested torque value. Specifically, a1, a2 and a3 are calibration coefficients, and initial values of the calibration coefficients are 5, 10 and 10; 10, 15, 15 may also be taken.
The embodiments given above are preferred examples for realizing the present invention, and the present invention is not limited to the above-described embodiments. Any immaterial additions and substitutions made by those skilled in the art according to the technical features of the technical scheme of the invention are all within the protection scope of the invention.
Claims (4)
1. A vehicle variable speed limit control method, comprising the steps of:
acquiring the current real-time vehicle speed;
identifying a vehicle state;
outputting a vehicle speed limit set value in a speed limit state;
comparing the current vehicle speed limit set value with the real-time vehicle speed, and calculating a required torque value;
transmitting a required torque value to a motor, the motor executing the required torque value;
the identifying the vehicle state includes the steps of:
comparing the real-time vehicle speed with a speed limit set value, outputting a speed limit sign as 1 if the real-time vehicle speed is larger than the speed limit set value, otherwise outputting a speed limit sign as 0;
the vehicle speed limit setting value in the output speed limit state comprises the following steps:
detecting whether the gear is a forward gear, if so, continuously judging whether the gear is an L gear, otherwise, detecting whether the gear is a reverse gear;
outputting a reverse gear speed limit set value if the gear is a reverse gear, otherwise, outputting a speed limit set value of 0;
if the gear is L gear, continuously judging whether the vehicle has a fault, otherwise, outputting an L gear speed limiting set value;
if the vehicle fails, outputting a failure speed limiting set value, otherwise, continuously judging whether a remote vehicle locking signal exists;
if the remote locking signal is provided, outputting a remote locking speed limit set value, otherwise, outputting a highest speed limit set value;
if the current vehicle comprises at least two speed limiting states, comparing a plurality of speed limiting set values and outputting a minimum speed limiting set value;
the method comprises the following steps of:
if the speed limit flag bit is 1, calculating whether the difference between the current vehicle speed and the set vehicle speed is greater than 3, and if the speed limit flag bit is 0, the required torque is equal to the actual torque;
if V-Vset & gt 3, outputting the required torque to be 0, otherwise, continuing to judge Vset-V & lt 5;
if Vset-V is less than or equal to 5, continuing to judge Vset-V=5, otherwise, returning to judge V-Vset & gt 3;
outputting retq=tqtcurrent- (tqturrent/a1+1) if Vset-v=5, otherwise, judging that 0 is less than or equal to Vset-V is less than or equal to 4;
if 0 is smaller than or equal to Vset-V is smaller than or equal to 4, continuing to judge Vset-V=N, otherwise, continuing to judge that Vset-V is smaller than 0 and is smaller than-5, wherein N is any one value of 0,1,2,3 and 4;
outputting retq=tqtcurrent/a2+ (tqtcurrent/a3×n) +1 if Vset-v=n, and returning to judge V-Vset > 3 if Vset-v=n;
outputting Retq= - (TqCurrent/a2+1) if Vset-V is less than-5 and less than 0, otherwise, returning to judge that V-Vset is more than 3;
v is the real-time vehicle speed, vset is the speed limit set value, retq is the required torque, and TqCurrent is the actual torque.
2. A vehicle variable speed limit control system comprising the vehicle variable speed limit control method according to claim 1;
the system comprises:
the vehicle speed setting module is used for identifying the current state of the vehicle, collecting the current real-time vehicle speed, comparing the real-time vehicle speed with a speed limit set value and outputting the speed limit set value;
the vehicle speed limiting module receives the speed limiting signal, calculates and outputs a required torque value;
and the driving motor is used for receiving the required torque.
3. The vehicle variable speed limit control system of claim 2, wherein: if the current vehicle comprises at least two states, the vehicle speed setting module can compare the set vehicle speed values in a plurality of states and output a minimum speed limit set value.
4. A variable speed limit control system for a vehicle as claimed in claim 3, wherein: the vehicle speed setting module comprises a reverse gear speed limiting module, an L gear speed limiting module, a fault speed limiting module, a remote vehicle locking speed limiting module and a highest vehicle speed limiting module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010741599.XA CN113997798B (en) | 2020-07-28 | 2020-07-28 | Variable speed limit control system and method for vehicle |
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| CN202010741599.XA CN113997798B (en) | 2020-07-28 | 2020-07-28 | Variable speed limit control system and method for vehicle |
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| CN113997798B true CN113997798B (en) | 2024-04-05 |
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| CN114435360B (en) * | 2022-04-07 | 2022-08-19 | 深圳宇通智联科技有限公司 | New energy automobile speed limit control method |
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| CN113997798A (en) | 2022-02-01 |
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