CN114228712B - Method and device for determining braking negative torque in vehicle cruising, vehicle and storage medium - Google Patents
Method and device for determining braking negative torque in vehicle cruising, vehicle and storage medium Download PDFInfo
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- CN114228712B CN114228712B CN202210070577.4A CN202210070577A CN114228712B CN 114228712 B CN114228712 B CN 114228712B CN 202210070577 A CN202210070577 A CN 202210070577A CN 114228712 B CN114228712 B CN 114228712B
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- 238000010586 diagram Methods 0.000 description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18136—Engine braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a method and a device for determining braking negative torque in vehicle cruising, a vehicle and a storage medium, wherein the method comprises the following steps: when the cruise switch is turned on, a cruise target vehicle speed is determined, a negative torque target vehicle speed deviation corresponding to a current driving mode is determined according to the current driving mode and a mapping relation between the driving mode and the negative torque target vehicle speed deviation, an initial negative torque control target vehicle speed corresponding to the current driving mode is determined according to the cruise target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode, and in a cruise working condition, under the condition that the accelerator operation condition is unchanged, a first operation is executed, so that the matched initial negative torque control target vehicle speed can be determined according to the current driving mode, and the subsequently determined first braking negative torque is a braking negative torque which meets the requirements of a driver and is matched with the current driving mode of the vehicle, and the accuracy of the braking negative torque is improved, so that the comfort and the economy in the driving process are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of electronic whole vehicle control of automobiles, in particular to a method and a device for determining braking negative torque in vehicle cruising, a vehicle and a storage medium.
Background
At present, the constant-speed cruise (hereinafter referred to as cruise) control of commercial vehicles is mature and put into large-scale market. In cruise control, there are two control methods: positive torque control and negative torque braking. Positive torque control refers to controlling engine fueling. Negative torque braking refers to outputting a braking negative torque to a controller of auxiliary braking devices such as an engine, a retarder, and the like, so that the auxiliary braking devices generate braking torque to the vehicle according to the braking negative torque. In a vehicle with positive torque control and negative torque braking, there are two target vehicle speeds: cruise target vehicle speed and negative torque control target vehicle speed. In the road section with a flat road and an ascending slope, the vehicle can be stabilized at a cruising target vehicle speed through positive torque control; in the downhill section, when the positive torque is zero, if the actual vehicle speed is greater than the negative torque control target vehicle speed, the vehicle determines a braking negative torque based on the negative torque control target vehicle speed and the actual vehicle speed so that the vehicle speed is stabilized at the negative torque control target vehicle speed.
Currently, when determining the negative torque control target vehicle speed, a preset deviation value is added or a preset weight value is multiplied on the basis of the cruising target vehicle speed.
However, the above manner of determining the negative torque control target vehicle speed is poor in flexibility, and cannot be dynamically adjusted according to the driver demand, so that the braking negative torque determined according to the negative torque control target vehicle speed is not accurate enough, and the comfort and economy in the driving process are poor.
Disclosure of Invention
The invention provides a method and a device for determining braking negative torque in vehicle cruising, a vehicle and a storage medium, and aims to solve the technical problems of poor driving comfort and economy caused by inaccurate braking negative torque determined in the current mode.
In a first aspect, an embodiment of the present invention provides a method for determining a negative braking torque during cruising of a vehicle, including:
when the cruise switch is turned on, determining a cruise target vehicle speed;
determining a negative torque target vehicle speed deviation corresponding to a current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation;
determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and a negative torque target vehicle speed deviation corresponding to the current driving mode;
in the cruising working condition, under the condition that the throttle operation condition is unchanged, executing a first operation; the first operation includes: and when the first current actual vehicle speed of the vehicle is larger than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
In a second aspect, an embodiment of the present invention provides a device for determining a negative braking torque during cruising of a vehicle, including:
the first determining module is used for determining a cruise target vehicle speed when the cruise switch is turned on;
the second determining module is used for determining the negative torque target vehicle speed deviation corresponding to the current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation;
the third determining module is used for determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode;
the first execution module is used for executing a first operation under the condition that the throttle operation condition is unchanged in the cruising working condition; the first operation includes: and when the first current actual vehicle speed of the vehicle is larger than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle cruise control negative torque determination method as provided in the first aspect.
In a fourth aspect, an embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle cruise control negative torque determination method as provided in the first aspect.
The embodiment provides a method and a device for determining braking negative torque in vehicle cruising, a vehicle and a storage medium, wherein the method comprises the following steps: when the cruise switch is turned on, a cruise target vehicle speed is determined, a negative torque target vehicle speed deviation corresponding to a current driving mode is determined according to the current driving mode and a mapping relation between the driving mode and the negative torque target vehicle speed deviation, an initial negative torque control target vehicle speed corresponding to the current driving mode is determined according to the cruise target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode, and in a cruise working condition, under the condition that the accelerator operation condition is unchanged, a first operation is executed, so that the matched initial negative torque control target vehicle speed can be determined according to the current driving mode, and the subsequently determined first braking negative torque is a braking negative torque which meets the requirements of a driver and is matched with the current driving mode of the vehicle, and the accuracy of the braking negative torque is improved, so that the comfort and the economy in the driving process are improved.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a method for determining braking negative torque during vehicle cruising;
FIG. 2 is a schematic diagram of a system to which the method for determining negative braking torque in vehicle cruising of the present invention is applied;
FIG. 3 is a schematic diagram of a driving mode selection switch in the method for determining braking negative torque in vehicle cruising according to the present invention;
fig. 4 is a schematic flow chart of a second embodiment of a method for determining braking negative torque during vehicle cruising;
FIG. 5 is a schematic flow chart of a third embodiment of a method for determining braking negative torque during vehicle cruising;
FIG. 6 is a schematic view of a first embodiment of a device for determining negative braking torque during vehicle cruising according to the present invention;
FIG. 7 is a schematic diagram of a second embodiment of a braking negative torque determination apparatus for vehicle cruising according to the present invention;
FIG. 8 is a schematic diagram of a third embodiment of a braking negative torque determination apparatus for vehicle cruising according to the present invention;
fig. 9 is a schematic structural view of a vehicle according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic flow chart of an embodiment of a method for determining braking negative torque in vehicle cruising. The method and the device are suitable for determining a first braking negative torque scene according to an initial negative torque control target vehicle speed and a first current actual vehicle speed in a vehicle cruising working condition. The present embodiment may be performed by a vehicle cruise negative brake torque determination device, which may be implemented in software and/or hardware, which may be integrated in the vehicle, in particular in a vehicle control unit (Vehicle Control Unit, VCU). As shown in fig. 1, the method for determining the braking negative torque in vehicle cruising provided in this embodiment includes the following steps:
step 101: when the cruise switch is turned on, a cruise target vehicle speed is determined.
Specifically, the present embodiment is applied to a vehicle that realizes cruising by positive torque control and negative torque braking.
The cruise control mode of positive torque control is good in adaptability on flat roads and uphill road sections. In downhill sections, even if the positive torque is zero, i.e. the engine does not spray oil, the component of the vehicle weight in the vehicle running direction still causes the vehicle to accelerate, and in order to ensure driving safety, negative torque braking is introduced: various forms of auxiliary braking devices, such as engine braking, exhaust braking, retarder braking, etc., are introduced into the deployment of vehicles, particularly commercial vehicles. Since auxiliary braking devices such as engine braking and retarder braking generate braking torque to the vehicle, these torques are referred to as negative torques.
The cruise switch in this embodiment is turned on and the vehicle is in a cruise condition when the throttle is not operated.
In one implementation, the vehicle speed input by the user through the cruise switch is determined as the cruise target vehicle speed.
In another implementation, the actual vehicle speed when the user turns on the cruise switch is determined as the cruise target vehicle speed.
Step 102: and determining the negative torque target vehicle speed deviation corresponding to the current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation.
Specifically, in the present embodiment, a map of the driving pattern and the negative torque target vehicle speed deviation is provided.
The driving modes in the present embodiment may include a power mode (P mode) and an economy mode (E mode). In different driving modes, the response speed of the throttle, the gear box gear shifting logic and the like are different.
For example, the E-mode in the present embodiment may be a mode in which conditions that affect fuel consumption, such as an automatic transmission gear, an engine speed, a vehicle speed, braking, and a transmission oil temperature, are comprehensively determined during the running of the vehicle, and the control unit calculates an optimal fuel amount to provide power to the engine to reduce fuel consumption.
The P mode in this embodiment may be a mode in which the throttle is more sensitive and the shift is more delayed.
In this embodiment, the user may select the current driving mode through the driving mode selection switch. Fig. 3 is a schematic diagram of a driving mode selection switch in the method for determining braking negative torque in vehicle cruising. As shown in fig. 3, the switch may be a knob to facilitate user operation.
Step 103: and determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode.
If the current driving mode is the economy mode, according to the formula: v (V) ne ＝V c +ΔV e And determining an initial negative torque control target vehicle speed corresponding to the economy mode. Wherein V is ne Indicating an initial negative torque control target vehicle speed in an economy mode, V c Indicating a cruise target vehicle speed DeltaV e And the negative torque target vehicle speed deviation corresponding to the economy mode is represented.
If the current driving mode is the power mode, according to the formula: v (V) np ＝V c +ΔV p And determining an initial negative torque control target vehicle speed corresponding to the economy mode. Wherein V is np Representing the initial negative torque control target vehicle speed in the power mode, V c Indicating a cruise target vehicle speed DeltaV p And the negative torque target vehicle speed deviation corresponding to the power mode is represented.
The negative torque target vehicle speed deviation corresponding to different driving modes is different.
Step 104: and in the cruising working condition, executing a first operation under the condition that the accelerator operation condition is not changed.
Wherein the first operation comprises: when the first current actual vehicle speed of the vehicle is greater than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
Specifically, the braking negative torque in the present embodiment refers to the torque transmitted to the auxiliary brake device controller. Illustratively, the braking negative torque in the present embodiment (e.g., the first braking negative torque herein, and the second braking negative torque, the third braking negative torque hereafter) includes an engine braking negative torque and a retarder braking negative torque.
The physical meaning of the initial negative torque control target vehicle speed is that the vehicle keeps the vehicle speed after the negative torque braking in a downhill road section in a scene that the accelerator operation condition is not changed in the cruising working condition. When negative torque braking is required, the positive torque is zero.
Optionally, the first operation in this embodiment may further include: when the first current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed and larger than the cruising target vehicle speed, the first positive torque and the first braking negative torque are both zero; and when the first current actual vehicle speed is smaller than the cruising target vehicle speed, determining a second positive torque according to the first current actual vehicle speed and the cruising target vehicle speed.
That is, in the cruise condition, the vehicle speed is stabilized at the cruise target vehicle speed through the positive torque control in the flat road or the ascending road section. In the downhill section, the vehicle speed is stabilized at the initial negative torque control target vehicle speed through the negative torque braking.
In this embodiment, there is a deviation between the cruise target vehicle speed and the initial negative torque control target vehicle speed, so as to avoid the situation that in the downhill section, the positive torque control and the negative torque brake work simultaneously, resulting in energy waste.
In the cruising condition, under the condition that the accelerator operation condition is not changed, the situation that the accelerator is not operated at all times is referred to.
When determining the first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed, the initial negative torque control target vehicle speed and the first current actual vehicle speed may be input into the negative torque pid controller. If the engine braking and the retarder braking are included, the negative torque proportional-integral-derivative controller may output an engine braking negative torque and a retarder braking negative torque, respectively, according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
Fig. 2 is a schematic diagram of a system to which the method for determining negative braking torque in vehicle cruising according to the present invention is applied.
As shown in fig. 2, the cruise switch 21 is connected to the VCU22, and may be connected to the VCU22 by a local interconnect network (Local Interconnect Network, LIN) bus, for example.
The driving mode selection switch 23 is connected to the VCU 22. The driver selects a reasonable driving mode through the driving mode selection switch 23 according to the actual situation.
An accelerator pedal 24 is connected to the VCU 22. The accelerator pedal 24 is used to determine a driver acceleration request. A transmission output shaft speed sensor 25 is connected to the VCU 22.
The transmission output shaft speed sensor 25 is used to output the current actual vehicle speed to the VCU 22.
The engine management system (Engine Management System, EMS) 26, retarder controller (Retarder Control Unit, RCU) 27, and meter 28 are all connected to the VCU 22. Illustratively, it may be connected to the VCU22 via a controller area network (Controller Area Network, CAN) bus.
The VCU22 is configured to perform steps 101-104 in this embodiment. In one scenario, after the VCU22 calculates the engine braking negative torque and the retarder braking negative torque, the engine braking negative torque is sent to the EMS26 via the CAN message and the retarder braking negative torque is sent to the RCU27. In another scenario, after the VCU22 calculates the positive torque, the positive torque is sent to the EMS26 via a CAN message. The EMS26 controls engine operation based on the received engine braking negative or positive torque. The RCU27 controls the retarder operation according to the received retarder braking negative torque.
The meter 28 may be displayed under control of the VCU22, with the information displayed including: cruise setting state of whether the cruise is on, cruise target vehicle speed, retarder working state of whether the retarder is braked, engine braking state of whether the engine is braked and the like.
According to the method for determining the braking negative torque in the vehicle cruising, when the cruising switch is turned on, the cruising target vehicle speed is determined, the negative torque target vehicle speed deviation corresponding to the current driving mode is determined according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation, the initial negative torque control target vehicle speed corresponding to the current driving mode is determined according to the cruising target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode, in the cruising working condition, under the condition that the accelerator operation condition is unchanged, the first operation is executed, the fact that the matched initial negative torque control target vehicle speed can be determined according to the current driving mode is achieved, accordingly the first braking negative torque which is determined subsequently meets the requirements of a driver and the braking negative torque which is matched with the current driving mode of the vehicle is achieved, the accuracy of the braking negative torque is improved, and therefore the comfort and the economy in the driving process are improved.
Fig. 4 is a schematic flow chart of a second embodiment of a method for determining a braking negative torque during vehicle cruising. The present embodiment provides a detailed description of the steps performed in the cruise condition when the user operates the accelerator to accelerate and then releases the accelerator based on the embodiment shown in fig. 1 and various alternative implementations. As shown in fig. 4, the method for determining the braking negative torque in vehicle cruising provided in this embodiment includes the following steps:
step 401: when the cruise switch is turned on, a cruise target vehicle speed is determined.
Step 402: and determining the negative torque target vehicle speed deviation corresponding to the current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation.
Step 403: and determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode.
Step 404: and in the cruising working condition, executing a first operation under the condition that the accelerator operation condition is not changed.
Wherein the first operation comprises: when the first current actual vehicle speed of the vehicle is greater than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
Optionally, the first operation in this embodiment may further include: when the first current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed and larger than the cruising target vehicle speed, the first positive torque and the first braking negative torque are both zero; and when the first current actual vehicle speed is smaller than the cruising target vehicle speed, determining a second positive torque according to the first current actual vehicle speed and the cruising target vehicle speed.
The implementation processes and technical principles of step 401 and step 101, step 402 and step 102, step 403 and step 103, and step 404 and step 104 are similar, and are not repeated here.
Step 405: in the cruising working condition, under the condition that the accelerator is released after the accelerator is operated by a user, when the actual vehicle speed when the accelerator is released is greater than the initial negative torque control target vehicle speed, and the increment of the second current actual vehicle speed in a preset time period is less than or equal to a preset variation threshold value, executing a second operation.
Wherein the second operation comprises: and setting the second braking negative torque to zero, acquiring an updated second current actual vehicle speed, taking the updated second current actual vehicle speed as the second current actual vehicle speed, and returning to execute the second operation until the second current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed, and stopping executing the second operation.
There is no timing relationship between step 405 and step 404.
Step 406: the first operation is returned to execution or continued to be executed.
In the scene of the embodiment, after the user operates the accelerator to accelerate, the accelerator is released, the control right of the vehicle is obtained corresponding to the user operating the accelerator, the accelerator is released again after overtaking is realized, and the vehicle resumes the actual scene of cruise control.
In the scene, the actual vehicle speed when the accelerator is released is larger than the initial negative torque control target vehicle speed, the increment of the second current actual vehicle speed in a preset time period is smaller than or equal to a preset variation threshold, and the road section on a flat road or an uphill road after overtaking can be determined based on the fact that the increment of the second current vehicle speed is smaller than the preset variation threshold. The second current actual vehicle speed is a vehicle speed subsequent to the actual vehicle speed at the time of accelerator release.
Since the actual vehicle speed when the accelerator is released is greater than the initial negative torque control target vehicle speed, it can be inferred that the second current actual vehicle speed is also greater than the initial negative torque control target vehicle speed, and if the method provided by the embodiment is not adopted, it is necessary to determine that the braking negative torque brakes the vehicle according to the second current actual vehicle speed and the initial negative torque control target vehicle speed at this time, so that the vehicle speed is stabilized at the cruising target vehicle speed. However, this approach may result in a faster vehicle speed drop, which may lead to rear-end collision accidents or reduced driving comfort in the overtaking scenario.
In order to improve driving safety and driving comfort, the second operation is performed when the vehicle is on a flat road or an uphill road after the throttle is released, specifically: and setting the second braking negative torque to zero, acquiring an updated second current actual vehicle speed, taking the updated second current actual vehicle speed as the second current actual vehicle speed, and returning to execute the second operation until the second current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed, and stopping executing the second operation.
In this embodiment, the second braking negative torque is set to zero, so that the rapid drop of the vehicle speed can be avoided, and the vehicle can slide smoothly. At this time, both the positive torque and the braking negative torque are zero. The second current actual vehicle speed may drop during the vehicle coasting. The second braking negative torque is set to zero before the second current actual vehicle speed falls to the initial negative torque control target vehicle speed.
If the second braking negative torque includes an engine braking negative torque and a retarder braking negative torque, in this embodiment, before the second current actual vehicle speed drops to the initial negative torque control target vehicle speed, the engine braking negative torque and the retarder braking negative torque are both zero.
And stopping executing the second operation when the second current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed.
The vehicle is then in normal cruise control, i.e. the first operation is performed. If step 405 is performed before step 404, continuing to perform the first operation after stopping performing the second operation; if step 405 is performed after step 404, the first operation is returned to being performed after the second operation is stopped.
According to the method for determining the braking negative torque in the vehicle cruising, under the condition that the accelerator is released after the accelerator is operated by a user in the cruising working condition, when the actual vehicle speed when the accelerator is released is larger than the initial negative torque control target vehicle speed, and the increment of the second current actual vehicle speed in the preset time period is smaller than or equal to the preset variation threshold value, the second operation is executed, so that the second current actual vehicle speed is stably reduced, the problems of reduced driving safety and reduced driving comfort caused by the rapid reduction of the second current actual vehicle speed are avoided, and the driving safety and the driving comfort are improved.
Fig. 5 is a schematic flow chart of a third embodiment of a method for determining braking negative torque during vehicle cruising. The present embodiment provides a detailed description of the steps performed in the cruise mode when the user releases the throttle after accelerating the accelerator operation based on the embodiments shown in fig. 1 and 4 and various alternative implementations. As shown in fig. 5, the method for determining the braking negative torque in vehicle cruising provided in this embodiment includes the following steps:
step 501: when the cruise switch is turned on, a cruise target vehicle speed is determined.
Step 502: and determining the negative torque target vehicle speed deviation corresponding to the current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation.
Step 503: and determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode.
Step 504: and in the cruising working condition, executing a first operation under the condition that the accelerator operation condition is not changed.
Wherein the first operation comprises: when the first current actual vehicle speed of the vehicle is greater than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
Optionally, the first operation in this embodiment may further include: when the first current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed and larger than the cruising target vehicle speed, the first positive torque and the first braking negative torque are both zero; and when the first current actual vehicle speed is smaller than the cruising target vehicle speed, determining a second positive torque according to the first current actual vehicle speed and the cruising target vehicle speed.
The implementation process and technical principle of step 501 and step 101, step 502 and step 102, step 503 and step 103, and step 504 and step 104 are similar, and will not be described here again.
Step 505: in the cruising working condition, under the condition that the accelerator is released after the accelerator is operated by a user, the actual vehicle speed when the accelerator is released is larger than the initial negative torque control target vehicle speed, the increment of the third current actual vehicle speed in a preset time period is larger than a preset variation threshold, the actual vehicle speed when the accelerator is released by the user is determined to be the updated negative torque control target vehicle speed, and the third operation is executed.
Wherein the third operation comprises: and according to the updated negative torque control target vehicle speed and the third current actual vehicle speed, determining a third braking negative torque, acquiring the updated third current actual vehicle speed, taking the updated third current actual vehicle speed as the third current actual vehicle speed, returning to execute the third operation until the third current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed, and stopping executing the third operation.
There is no timing relationship between step 505 and step 504.
Step 506: the first operation is returned to execution or continued to be executed.
In the scene of the embodiment, after the user operates the accelerator to accelerate, the accelerator is released, the control right of the vehicle is obtained corresponding to the user operating the accelerator, the accelerator is released again after overtaking is realized, and the vehicle resumes the actual scene of cruise control.
In the scene, the actual vehicle speed when the accelerator is released is greater than the initial negative torque control target vehicle speed, the increment of the third current actual vehicle speed in a preset time period is greater than a preset variation threshold, and the condition that the vehicle is in a downhill section after overtaking can be determined based on the fact that the increment of the third current vehicle speed is less than the preset variation threshold. The third current actual vehicle speed is a vehicle speed subsequent to the actual vehicle speed at the time of accelerator release.
In this embodiment, in order to avoid a safety problem caused by performing negative torque braking on the vehicle based on the initial negative torque control target vehicle speed and the third current actual vehicle speed, the actual vehicle speed when the user releases the accelerator is determined as the updated negative torque control target vehicle speed. And then, according to the updated negative torque control target vehicle speed and the third current actual vehicle speed, carrying out negative torque braking on the vehicle. And stopping executing the third operation until the third current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed.
The vehicle is then in normal cruise control, i.e. the first operation is performed. If step 505 is performed before step 504, continuing to perform the first operation after stopping performing the third operation; if step 505 is performed after step 504, the first operation is returned to being performed after the third operation is stopped.
In the embodiment, under the cruising condition, after a user operates the accelerator to overtake, the accelerator is released, the actual vehicle speed when the accelerator is released is larger than the initial negative torque control target vehicle speed, and in a scene of a downhill road section, the vehicle speed can be kept at the updated negative torque control target vehicle speed, namely, the actual vehicle speed when the accelerator is released, so that the driving safety is improved.
According to the method for determining the braking negative torque in the vehicle cruising, under the condition that the accelerator is released after the accelerator is operated by a user in the cruising working condition, the actual vehicle speed when the accelerator is released is larger than the initial negative torque control target vehicle speed, the increment of the third current actual vehicle speed in the preset time period is larger than the preset variation threshold, the actual vehicle speed when the accelerator is released by the user is determined to be the updated negative torque control target vehicle speed, the third operation is executed, the vehicle speed is kept at the updated negative torque control target vehicle speed, namely the actual vehicle speed when the accelerator is released, and driving safety is improved.
Fig. 6 is a schematic structural view of a first embodiment of a device for determining braking negative torque in vehicle cruising. The vehicle cruise control device may be integrated in the vehicle. As shown in fig. 6, the device for determining braking negative torque in vehicle cruising provided in this embodiment includes: the first determination module 61, the second determination module 62, the third determination module 63, and the first execution module 64.
The first determination module 61 is configured to determine a cruise target vehicle speed when the cruise switch is turned on.
Alternatively, the first determination module 61 is configured to determine the vehicle speed input by the user through the cruise switch or the actual vehicle speed when the user turns on the cruise switch as the cruise target vehicle speed.
The second determining module 62 is configured to determine a negative torque target vehicle speed deviation corresponding to the current driving mode according to the current driving mode and a mapping relationship between the driving mode and the negative torque target vehicle speed deviation.
Optionally, the driving mode includes: power mode and economy mode.
The third determining module 63 is configured to determine an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruise target vehicle speed and a negative torque target vehicle speed deviation corresponding to the current driving mode.
The first execution module 64 is configured to execute a first operation in a cruise condition without a change in an accelerator operation condition.
Wherein the first operation comprises: when the first current actual vehicle speed of the vehicle is greater than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
Optionally, the first operation further comprises: when the first current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed and larger than the cruising target vehicle speed, the first positive torque and the first braking negative torque are both zero; and when the first current actual vehicle speed is smaller than the cruising target vehicle speed, determining a second positive torque according to the first current actual vehicle speed and the cruising target vehicle speed.
Optionally, braking the negative torque includes: engine braking negative torque and retarder braking negative torque.
The device for determining the braking negative torque in the vehicle cruising process provided by the embodiment of the invention can execute the method for determining the braking negative torque in the vehicle cruising process provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 7 is a schematic structural diagram of a second embodiment of a device for determining negative braking torque in cruising of a vehicle according to the present invention. This embodiment will be described in detail with respect to other modules included in the negative brake torque determining device during vehicle cruising, based on the embodiment shown in fig. 6. As shown in fig. 7, the device for determining negative braking torque in vehicle cruising provided in this embodiment further includes the following modules: the second execution module 71 and the third execution module 72.
The second execution module 71 is configured to execute, in a cruise condition, when the accelerator is released after the accelerator is operated by the user, a second operation when an actual vehicle speed when the accelerator is released is greater than an initial negative torque control target vehicle speed and an increase amount of a second current actual vehicle speed in a preset time period is less than or equal to a preset change amount threshold.
Wherein the second operation comprises: and setting the second braking negative torque to zero, acquiring an updated second current actual vehicle speed, taking the updated second current actual vehicle speed as the second current actual vehicle speed, and returning to execute the second operation until the second current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed, and stopping executing the second operation.
The third execution module 72 is configured to return to the execution or continue to execute the first operation.
The device for determining the braking negative torque in the vehicle cruising process provided by the embodiment of the invention can execute the method for determining the braking negative torque in the vehicle cruising process provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 8 is a schematic structural view of a third embodiment of a device for determining negative braking torque in vehicle cruising. This embodiment will be described in detail with respect to other modules included in the negative brake torque determining device during vehicle cruising, based on the embodiment shown in fig. 6. As shown in fig. 8, the device for determining negative braking torque in vehicle cruising provided in this embodiment further includes the following modules: a fourth execution module 81 and a fifth execution module 82.
And a fourth execution module 81, configured to, in a cruise condition, determine, when the accelerator is operated by the user and released, an actual vehicle speed when the accelerator is released is greater than an initial negative torque control target vehicle speed and an increase of a third current actual vehicle speed in a preset period of time is greater than a preset change amount threshold, determine the actual vehicle speed when the accelerator is released by the user as an updated negative torque control target vehicle speed, and execute a third operation.
Wherein the third operation comprises: and according to the updated negative torque control target vehicle speed and the third current actual vehicle speed, determining a third braking negative torque, acquiring the updated third current actual vehicle speed, taking the updated third current actual vehicle speed as the third current actual vehicle speed, returning to execute the third operation until the third current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed, and stopping executing the third operation.
The fifth execution module 82 is configured to return to executing or continue executing the first operation.
The device for determining the braking negative torque in the vehicle cruising process provided by the embodiment of the invention can execute the method for determining the braking negative torque in the vehicle cruising process provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 9 is a schematic structural view of a vehicle according to the present invention. As shown in fig. 9, the vehicle includes a processor 90 and a memory 91. The number of processors 90 in the vehicle may be one or more, one processor 90 being taken as an example in fig. 9; the processor 90 and the memory 91 of the vehicle may be connected by a bus or otherwise, for example by a bus connection in fig. 9.
The memory 91 is a computer-readable storage medium, and may be used to store a software program, a computer-executable program, and modules, such as program instructions and modules corresponding to the vehicle cruise control negative torque determination method in the embodiment of the present invention (for example, the first determination module 61, the second determination module 62, the third determination module 63, and the first execution module 64 in the vehicle cruise control negative torque determination device). The processor 90 executes various functional applications of the vehicle and data processing by running software programs, instructions and modules stored in the memory 91, i.e., implements the vehicle cruise braking negative torque determination method described above.
The memory 91 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the vehicle, etc. In addition, the memory 91 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 91 may further comprise memory located remotely from processor 90, which may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The present invention also provides a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform a method of determining a negative torque for braking in a vehicle cruising, the method comprising:
when the cruise switch is turned on, determining a cruise target vehicle speed;
determining a negative torque target vehicle speed deviation corresponding to a current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation;
determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and a negative torque target vehicle speed deviation corresponding to the current driving mode;
in the cruising working condition, under the condition that the throttle operation condition is unchanged, executing a first operation; the first operation includes: and when the first current actual vehicle speed of the vehicle is larger than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed.
Of course, the storage medium containing the computer executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the method for determining negative braking torque in vehicle cruising provided by any of the embodiments of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a vehicle, a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the above embodiment of the device for determining negative braking torque during vehicle cruising, each unit and module included are only divided according to the functional logic, but are not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A method for determining a negative braking torque during vehicle cruising, comprising:
when the cruise switch is turned on, determining a cruise target vehicle speed;
determining a negative torque target vehicle speed deviation corresponding to a current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation;
determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and a negative torque target vehicle speed deviation corresponding to the current driving mode;
in the cruising working condition, under the condition that the throttle operation condition is unchanged, executing a first operation; the first operation includes: when the first current actual vehicle speed of the vehicle is larger than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed;
when the first current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed and larger than the cruising target vehicle speed, both the first positive torque and the first braking negative torque are zero;
and when the first current actual vehicle speed is smaller than the cruising target vehicle speed, determining a second positive torque according to the first current actual vehicle speed and the cruising target vehicle speed.
2. The method of claim 1, wherein after determining the initial negative torque control target vehicle speed for the current driving mode, the method further comprises:
in the cruising working condition, under the condition that the accelerator is released after the accelerator is operated by a user, when the actual vehicle speed when the accelerator is released is greater than the initial negative torque control target vehicle speed, and the increment of the second current actual vehicle speed in a preset time period is less than or equal to a preset variation threshold value, executing a second operation; wherein the second operation comprises: setting a second braking negative torque to zero, acquiring an updated second current actual vehicle speed, taking the updated second current actual vehicle speed as the second current actual vehicle speed, and returning to execute the second operation until the second current actual vehicle speed is less than or equal to the initial negative torque control target vehicle speed, and stopping executing the second operation;
and returning to execute or continuing to execute the first operation.
3. The method of claim 1, wherein after determining the initial negative torque control target vehicle speed for the current driving mode, the method further comprises:
in the cruising working condition, under the condition that the accelerator is released after the accelerator is operated by a user, the actual vehicle speed when the accelerator is released is larger than the initial negative torque control target vehicle speed, the increment of the third current actual vehicle speed in a preset time period is larger than a preset variation threshold, the actual vehicle speed when the accelerator is released by the user is determined to be the updated negative torque control target vehicle speed, and the third operation is executed; wherein the third operation includes: according to the updated negative torque control target vehicle speed and the third current actual vehicle speed, determining a third braking negative torque, acquiring an updated third current actual vehicle speed, taking the updated third current actual vehicle speed as the third current actual vehicle speed, and returning to execute the third operation until the third current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed, and stopping executing the third operation;
and returning to execute or continuing to execute the first operation.
4. A method according to any one of claims 1-3, wherein said determining a cruise target vehicle speed comprises:
and determining the vehicle speed input by the user through the cruise switch or the actual vehicle speed when the user turns on the cruise switch as the cruise target vehicle speed.
5. A method according to any one of claims 1-3, wherein the braking negative torque comprises: engine braking negative torque and retarder braking negative torque.
6. A method according to any one of claims 1-3, wherein the driving mode comprises: power mode and economy mode.
7. A vehicle cruise control negative brake torque determination device, characterized by comprising:
the first determining module is used for determining a cruise target vehicle speed when the cruise switch is turned on;
the second determining module is used for determining the negative torque target vehicle speed deviation corresponding to the current driving mode according to the current driving mode and the mapping relation between the driving mode and the negative torque target vehicle speed deviation;
the third determining module is used for determining an initial negative torque control target vehicle speed corresponding to the current driving mode according to the cruising target vehicle speed and the negative torque target vehicle speed deviation corresponding to the current driving mode;
the first execution module is used for executing a first operation under the condition that the throttle operation condition is unchanged in the cruising working condition; the first operation includes: when the first current actual vehicle speed of the vehicle is larger than the initial negative torque control target vehicle speed, determining a first braking negative torque according to the initial negative torque control target vehicle speed and the first current actual vehicle speed; when the first current actual vehicle speed is smaller than or equal to the initial negative torque control target vehicle speed and larger than the cruising target vehicle speed, the first positive torque and the first braking negative torque are both zero; and when the first current actual vehicle speed is smaller than the cruising target vehicle speed, determining a second positive torque according to the first current actual vehicle speed and the cruising target vehicle speed.
8. A vehicle, characterized in that the vehicle comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the vehicle cruise negative brake torque determination method as claimed in any one of claims 1-6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a method for determining a negative torque for a vehicle during cruising operation as claimed in any one of claims 1-6.
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| CN202210070577.4A CN114228712B (en) | 2022-01-21 | 2022-01-21 | Method and device for determining braking negative torque in vehicle cruising, vehicle and storage medium |
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