CN114379364A - Constant-speed cruise system, vehicle and constant-speed cruise method - Google Patents

Constant-speed cruise system, vehicle and constant-speed cruise method Download PDF

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Publication number
CN114379364A
CN114379364A CN202111679958.4A CN202111679958A CN114379364A CN 114379364 A CN114379364 A CN 114379364A CN 202111679958 A CN202111679958 A CN 202111679958A CN 114379364 A CN114379364 A CN 114379364A
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Prior art keywords
speed
vehicle
motor
brake
module
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CN202111679958.4A
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CN114379364B (en
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苏帅
李涛
刘德政
王宗文
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Yantai Jereh Oilfield Services Group Co Ltd
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Yantai Jereh Oilfield Services Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a constant-speed cruising system, a vehicle and a constant-speed cruising method. Wherein, constant speed cruise system includes: a main control module; the speed control module is connected with the main control module and comprises an accelerator pedal assembly and a driving assembly, the accelerator pedal assembly comprises a first detection device and an accelerator pedal, the first detection device is used for detecting the turning angle of the accelerator pedal so as to convert the turning angle into a first control signal, the driving assembly comprises a motor controller and a motor connected with the motor controller, the motor is in driving connection with wheels, and the motor controller controls the rotating speed of the motor according to the received first control signal; the brake module is connected with the main control module; after the brake module acts, the constant-speed cruise system is switched from the constant-speed cruise mode to the non-constant-speed cruise mode. The invention effectively solves the problem that the vehicle can not exit the constant-speed cruise mode when the vehicle has a fault in the prior art.

Description

Constant-speed cruise system, vehicle and constant-speed cruise method
Technical Field
The invention relates to the technical field of outdoor driving, in particular to a constant-speed cruise system, a vehicle and a constant-speed cruise method.
Background
At present, once a vehicle is set to a constant-speed cruise mode, the oil supply amount of an engine and the power supply amount of a motor are controlled by a main control board, and the main control board can adjust the oil supply amount and the power supply amount in real time according to the road condition and the driving resistance of the vehicle, so that the vehicle always keeps the set vehicle speed to drive without operating an accelerator, thereby reducing the fatigue of a driver, ensuring safer driving, reducing unnecessary vehicle speed change and saving energy.
However, since the constant-speed cruise mode is single, once a vehicle fails, such as a transmission hard line failure, a VCU vehicle controller failure, or a communication failure between the VCU and the electric drive controller main control module, the vehicle cannot normally exit the constant-speed cruise mode, which may cause a traffic accident and threaten the life health of a driver.
Disclosure of Invention
The invention mainly aims to provide a constant-speed cruise system, a vehicle and a constant-speed cruise method, which aim to solve the problem that the vehicle cannot exit a constant-speed cruise mode when a fault occurs in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a constant-speed cruise system including: a main control module; the speed control module is connected with the main control module and comprises an accelerator pedal assembly and a driving assembly, the accelerator pedal assembly comprises a first detection device and an accelerator pedal, the first detection device is used for detecting the turning angle of the accelerator pedal so as to convert the turning angle into a first control signal, the driving assembly comprises a motor controller and a motor connected with the motor controller, the motor is in driving connection with wheels, and the motor controller controls the rotating speed of the motor according to the received first control signal; the brake module is connected with the main control module; after the brake module acts, the constant-speed cruise system is switched from the constant-speed cruise mode to the non-constant-speed cruise mode.
Further, the speed control module further comprises: the driving direction control device is connected with the motor and used for controlling the steering of the motor so as to control the vehicle to move forwards or backwards; the throttle protection signal switch is used for controlling the starting or closing of the throttle of the vehicle; and the encoder is connected with the motor and used for detecting the actual rotating speed of the motor.
Further, the brake module includes: the brake device comprises a brake pedal, a brake pipeline and a brake structure, and oil is pumped into the brake pipeline by stepping the brake pedal, so that the brake structure is pushed by the oil to move towards the wheel, and the wheel is braked; the second detection device is connected with the brake pedal and used for detecting the turning angle of the brake pedal so as to convert the turning angle into a second control signal; and the brake lamp emits light after receiving the second control signal.
Further, the brake module includes: the rotating speed detection device is arranged on the wheel and used for detecting the rotating speed of the wheel; the brake device comprises an ABS pump, a brake pipeline and a brake structure, wherein the ABS pump is used for pumping oil into the brake pipeline so as to push the brake structure to move towards the wheel through the oil and further brake the wheel; when the detection value of the rotating speed detection device is larger than the safe rotating speed, the rotating speed detection device sends a third control signal to the main control module, and the ABS pump pumps oil into the brake pipeline after receiving the third control signal.
Further, the brake module still includes: the pressure detection device is used for detecting the pressure in the brake pipeline, and when the detection value of the pressure detection device is larger than a first preset pressure value, the vehicle is judged to be in a brake mode; or when the detection value of the pressure detection device reaches a second preset pressure value, the main control module controls the brake device to stop running.
According to another aspect of the invention, a vehicle is provided that includes the cruise control system described above.
According to another aspect of the present invention, there is provided a cruise control method for a vehicle as described above, the cruise control method comprising: determining the running speed of the vehicle, and controlling the vehicle to run at the running speed; detecting the running speed of the vehicle in real time, and comparing the running speed with a preset running speed; when the running speed is lower than the preset running speed, controlling the action of an accelerator pedal of the vehicle to increase the running speed of the vehicle; and when the running speed is greater than or equal to the preset running speed, controlling the brake module of the vehicle to act so as to switch the constant-speed cruise system of the vehicle from the constant-speed cruise mode to the non-constant-speed cruise mode and reduce the running speed of the vehicle.
Further, after controlling the action of the brake module, the constant-speed cruise system is switched from the constant-speed cruise mode to the non-constant-speed cruise mode, and the method comprises the following steps: detecting the detection value of a second detection device of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle to control the motor to stop running when the detection value of the second detection device is larger than a preset turning angle value; or detecting the on-off condition of a brake lamp of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle when the brake lamp is detected to emit light so as to control the motor to stop running; or detecting the detection value of a pressure detection device of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle when the detection value of the pressure detection device is greater than a preset pressure value so as to control the motor to stop running.
Further, determining the travel speed of the vehicle includes: selecting from a plurality of preset running speeds, and determining the selected running speed as the running speed of the vehicle; or customizing the running speed of the vehicle.
Further, controlling the brake module to act to reduce the vehicle speed of the vehicle includes: a driver steps on a brake pedal of the vehicle, and a second detection device of the vehicle sends a second control signal to a main control module of the vehicle so as to control the brake lamp to emit light through the second control signal; or comparing the running speed of the vehicle with the safe speed, and sending a starting signal to an ABS pump of the vehicle to start the brake module when the running speed is greater than the safe speed.
Further, before determining the traveling speed of the vehicle, setting and storing a voltage value of the motor in correspondence with the traveling speed of the vehicle in a speed voltage module; the constant-speed cruising method further comprises the following steps: the main control module of the vehicle sends a preset voltage value to the motor controller at intervals of a preset time period, compares the preset voltage value with an actual voltage value of the motor and forms a feedback signal, and the main control module carries out real-time detection and judgment on the feedback signal so as to compensate the speed of the vehicle on and off a slope.
Further, the feedback signal comprises a first feedback signal comprising: the accelerator pedal acts and the actual voltage value of the motor is greater than or equal to the preset voltage value corresponding to the motor in the speed and voltage module when the vehicle runs at the speed; when the main control module receives the first feedback signal, the main control module ignores the first feedback signal.
Further, the feedback signal further includes a second feedback signal, the second feedback signal including: the actual voltage value of the motor is smaller than the preset voltage value corresponding to the motor in the speed and voltage module when the vehicle runs at the speed; when the main control module receives the second feedback signal, the main control module compensates the speed of the vehicle on the uphill slope and the downhill slope; or the main control module sends out vehicle abnormal signals, and the vehicle abnormal signals comprise low-risk abnormal signals and risk abnormal signals.
Further, the driving speed of the vehicle and the rotating speed of the motor are set in a one-to-one correspondence manner, and after the main control module receives the second feedback signal, the constant-speed cruising method further comprises the following steps: acquiring the rotating speed of the motor, controlling an inertial navigation module of the vehicle to detect the inclination angle of the vehicle, and if the rotating speed of the motor continuously exceeds a first set speed value V for n times1The detection value of the inertial navigation module exceeds a preset angle value, and the voltage value of the motor is increased or decreased through the main control module so as to compensate the speed of the vehicle going up and down a slope; wherein the first set speed value V1And the preset rotating speed V satisfies the following conditions: v1Less than 0.9V; or V1＞1.1V；n≥3。
Further, the speed compensation amount for compensating the speed of the vehicle on the uphill slope and the downhill slope can be obtained according to a formula established by the inclination angle of the vehicle, the friction force between the vehicle and the ground, the average value of the overspeed value of the motor for n times continuously and the braking deceleration value.
Furthermore, the running speed of the vehicle and the rotating speed of the motor are arranged in a one-to-one correspondence mode, and after the main control module receives the second feedback signal, the constant-speed patrol is carried outThe navigation method further comprises the following steps: acquiring the rotating speed of the motor, controlling an inertial navigation module of the vehicle to detect the inclination angle of the vehicle, and if the rotating speed of the motor continuously exceeds a first set speed value V for n times1And the detection value of the inertial navigation module is smaller than the preset angle value, and the main control module sends out a low-risk abnormal signal; wherein the first set speed value V1And the preset rotating speed V satisfies the following conditions: v1Less than 0.9V; or V1＞1.1V；n≥3。
Further, the driving speed of the vehicle and the rotating speed of the motor are set in a one-to-one correspondence manner, and after the main control module receives the second feedback signal, the constant-speed cruising method further comprises the following steps: acquiring the rotating speed of the motor, and if the rotating speed of the motor continuously exceeds a second set speed value V for n times2The main control module sends out a danger abnormal signal, and the brake module acquires the inclination angle of the vehicle and the friction force exerted by the ground and wheels after receiving the danger abnormal signal so as to determine a parking pressure value required during parking and control the brake module of the vehicle to act; wherein the second set speed value V2And the preset rotating speed V satisfies the following conditions: v2Less than 0.5V; or V2＞1.5V；n≥3。
Further, before selecting the traveling speed of the vehicle, setting and storing a voltage value of the motor in the speed voltage module in correspondence with the traveling speed of the vehicle; the constant-speed cruising method further comprises the following steps: when the vehicle is started, the voltage value in the speed and voltage module is set to be in an inactivated state, and after the running speed of the vehicle is selected, the voltage value is switched to be in an activated state, so that the rotating speed of the motor is controlled through the activated voltage value.
Further, when the voltage value of the motor after the running speed of the vehicle is selected is a voltage value corresponding to the selected running speed in the speed voltage module, the constant-speed cruise method further includes: and opening an accelerator protection signal switch of the vehicle, sending a fourth control signal to a main control module of the vehicle by the accelerator protection signal switch, and controlling the motor to start under a voltage value corresponding to the selected running speed after the motor controller receives the fourth control signal.
By applying the technical scheme of the invention, the brake module is connected with the main control module, and when the constant-speed cruise system is in the constant-speed cruise mode, if a driver operates the brake module, the brake module acts; or the constant-speed cruise system starts the brake module according to the comparison condition structure between the running speed and the preset running speed. And then, the constant-speed cruise system exits the constant-speed cruise mode and is switched to the non-constant-speed cruise mode from the constant-speed cruise mode, so that the vehicle is braked safely, the problem that the vehicle cannot exit the constant-speed cruise mode when a fault occurs in the prior art is solved, and traffic accidents are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 illustrates a flow chart of speed control of a vehicle according to an embodiment of the cruise control method of the present invention;
FIG. 2 is a control flow diagram illustrating a first braking mode of the embodiment of the cruise control method according to the present invention;
FIG. 3 is a control flow diagram of a second braking mode of the embodiment of the constant speed cruise method according to the present invention; and
FIG. 4 shows a constant-speed-cruise-anomaly handling flowchart of an embodiment of the constant-speed-cruise method according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the present invention, unless stated to the contrary, use of the directional terms "upper and lower" are generally directed to the orientation shown in the drawings, or to the vertical, or gravitational direction; likewise, for ease of understanding and description, "left and right" are generally to the left and right as shown in the drawings; "inner and outer" refer to the inner and outer relative to the profile of the respective member itself, but the above directional terms are not intended to limit the present invention.
In order to solve the problem that a vehicle cannot exit a constant-speed cruise mode when a fault occurs in the prior art, the application provides a constant-speed cruise system, the vehicle and a constant-speed cruise method.
In this embodiment, the cruise control system includes a main control module, a speed control module, and a brake module. The speed control module is connected with the main control module, the speed control module comprises an accelerator pedal assembly and a driving assembly, the accelerator pedal assembly comprises a first detection device and an accelerator pedal, the first detection device is used for detecting the turning angle of the accelerator pedal so as to convert the turning angle into a first control signal, the driving assembly comprises a motor controller and a motor connected with the motor controller, the motor is connected with a wheel drive, and the motor controller controls the rotating speed of the motor according to the received first control signal. The brake module is connected with the main control module. After the brake module acts, the constant-speed cruise system is switched from the constant-speed cruise mode to the non-constant-speed cruise mode.
By applying the technical scheme of the embodiment, the brake module is connected with the main control module, and when the constant-speed cruise system is in the constant-speed cruise mode, if a driver operates the brake module, the brake module acts; or the constant-speed cruise system starts the brake module according to the comparison condition structure between the running speed and the preset running speed. And then, the constant-speed cruise system exits the constant-speed cruise mode and is switched to the non-constant-speed cruise mode from the constant-speed cruise mode, so that the vehicle is braked safely, the problem that the vehicle cannot exit the constant-speed cruise mode when a fault occurs in the prior art is solved, and traffic accidents are avoided.
In this embodiment, the main control module is an mcu (micro controller unit).
In this embodiment, the speed control module further includes a driving direction control device, a throttle protection signal switch, and an encoder. The driving direction control device is connected with the motor and used for controlling the steering of the motor so as to control the vehicle to move forwards or backwards. The throttle protection signal switch is used for controlling the starting or closing of the throttle of the vehicle. The encoder is connected with the motor for detecting the actual rotating speed of the motor. Therefore, the driver can control the vehicle to move forwards or backwards through the driving direction control device, and can also control the starting and stopping of the vehicle through the accelerator protection signal switch so as to realize the intelligent control of the vehicle. Meanwhile, in the running process of the vehicle, the encoder is used for detecting the actual rotating speed of the motor so as to correct the rotating speed of the motor or adjust the running speed of the vehicle.
Specifically, when the vehicle selects a constant-speed cruise mode to run, the encoder measures the actual rotating speed of the motor and feeds the measured value back to the main control module at regular time, and the main control module performs compensation control on the basis of the speed value corresponding to the speed feedback value and the voltage, so that the rotating speed of the motor is in a specified range, and the constant-speed cruise of the vehicle is realized. The accelerator protection signal switch is used for preventing interference of fluctuation signals during constant-speed cruise from influencing stable running of the vehicle, and the switch function of the accelerator protection signal switch is achieved through the relay.
In this embodiment, the brake module includes a brake device, a second detection device and a brake light. The brake device comprises a brake pedal, a brake pipeline and a brake structure, wherein oil is pumped into the brake pipeline by treading the brake pedal, the brake structure is pushed to move towards the wheel through the oil, and then the wheel is braked. The second detection device is connected with the brake pedal and used for detecting the turning angle of the brake pedal so as to convert the turning angle into a second control signal. And the brake lamp emits light after receiving the second control signal. Therefore, after the driver treads the brake pedal, the detection value of the second detection device is not zero, the second detection device sends a second control signal to the main control module, and the brake lamp emits light after receiving the second control signal so as to prompt a pedestrian and a vehicle behind the pedestrian and avoid rear-end collision of the vehicle.
Specifically, the second detection device measures the turning angle of the brake pedal, converts the detection value into a second control signal and then sends the second control signal to the main control module, and the main control module controls the brake lamp to emit light. And the brake fluid flowing through the brake fluid flow corresponding to different values of the turning angle is different, so that the brake is performed under the corresponding brake fluid flow.
As shown in FIG. 1, the front and rear wheels of the vehicle are respectively provided with a pressure chamber, the pressure chambers are communicated with a brake pipeline, and a stable brake oil pressure value is obtained in the pressure chambers during braking so as to push the brake structure to perform the braking operation.
In other embodiments, not shown in the figures, the brake module comprises a rotational speed detection device and a braking device. The rotation speed detection device is provided on the wheel for detecting the rotation speed of the wheel. The brake device comprises an ABS pump, a brake pipeline and a brake structure, wherein the ABS pump is used for pumping oil into the brake pipeline so as to push the brake structure to move towards the wheel through the oil, and then the wheel is braked. When the detection value of the rotating speed detection device is larger than the safe rotating speed, the rotating speed detection device sends a third control signal to the main control module, and the ABS pump pumps oil into the brake pipeline after receiving the third control signal. Specifically, the ABS pump is connected with the main control module, the main control module sends a third control signal to the ABS pump, and the ABS pump pumps oil into the brake pipeline. Therefore, when the detection value of the rotating speed detection device is larger than the safe rotating speed, the main control module sends a third control signal to the ABS pump so as to start the ABS pump, and brake fluid is pumped into the brake pipeline through the ABS pump to form stable oil pressure.
In other embodiments not shown in the drawings, the front wheel and the rear wheel of the vehicle are respectively provided with a pressure cavity, the pressure cavities are communicated with a brake pipeline, and a stable brake oil pressure value is obtained in the pressure cavities during braking so as to push the brake structure to perform the braking operation. The brake module also comprises a front wheel and a rear wheel electromagnetic valve. The front and rear wheel electromagnetic valves are connected with the ABS pump, the front and rear wheel electromagnetic valves are one-way valves, and the ABS pump presses brake fluid into the pressure cavity through the front and rear wheel electromagnetic valves. Wherein, the brake fluid can not flow back when the electromagnetic valve is not opened.
Optionally, the brake module further comprises a pressure detection device. The pressure detection device is used for detecting the pressure in the brake pipeline, and when the detection value of the pressure detection device is larger than a first preset pressure value, the vehicle is judged to be in a brake mode; or when the detection value of the pressure detection device reaches a second preset pressure value, the main control module controls the brake device to stop running.
In this embodiment, the brake module further includes a pressure detection device. The pressure detection device is used for detecting the pressure in the brake pipeline, and when the detection value of the pressure detection device is larger than a first preset pressure value, the vehicle is judged to be in a brake mode. Therefore, the pressure detection device transmits the detected pressure value back to the main control module, the pressure in the brake pipeline indicates that the vehicle is braking at the moment, and if the vehicle is currently in the positioning cruise mode, the vehicle needs to exit the constant-speed cruise mode, and the constant-speed cruise mode is switched to the non-constant-speed cruise mode.
In other embodiments, not shown in the drawings, the brake module further comprises a pressure detection device. The pressure detection device is used for detecting the pressure in the brake pipeline, and when the detection value of the pressure detection device reaches a second preset pressure value, the brake device is controlled to stop running through the main control module. Like this, above-mentioned braking mode is automatic brake, the pressure value that the pressure sensor device will detect returns host system, host system carries out the comparison calculation with the current pressure in the brake pipeline that pressure detection device detected with the brake oil pressure control volume of reality (specific brake oil pressure control volume is directly proportional with the brake degree) and pressure, if the pressure in the brake pipeline does not reach the brake oil pressure control volume, host system continues control ABS pump sending fluid to the brake pipeline in, until the fluid pressure power in the brake pipeline reaches the brake oil pressure control volume, stop to continue pump pressure fluid to the brake pipeline this moment in.
The present application further provides a vehicle (not shown) including the cruise control system described above.
In the present embodiment, a constant-speed cruise method is applied to the vehicle described above, the constant-speed cruise method including:
determining the running speed of the vehicle, and controlling the vehicle to run at the running speed;
detecting the running speed of the vehicle in real time, and comparing the running speed with a preset running speed;
when the running speed is lower than the preset running speed, controlling the action of an accelerator pedal of the vehicle to increase the running speed of the vehicle; and when the running speed is greater than or equal to the preset running speed, controlling the brake module of the vehicle to act so as to switch the constant-speed cruise system of the vehicle from the constant-speed cruise mode to the non-constant-speed cruise mode and reduce the running speed of the vehicle.
Specifically, before the vehicle cruise at a constant speed, the driver determines the running speed of the vehicle and controls the vehicle to run at the running speed. Detecting the running speed of the vehicle in real time in the running process of the vehicle, comparing the running speed with a preset running speed, and controlling the action of an accelerator pedal of the vehicle to accelerate the vehicle if the running speed is less than the preset running speed; and if the running speed exceeds the preset running speed, controlling the brake module of the vehicle to act so as to decelerate the vehicle, and controlling the constant-speed cruise system of the vehicle to be switched from the constant-speed cruise mode to the non-constant-speed cruise mode.
As shown in fig. 1, the speed control method of the vehicle is: the main control module sends the voltage signal to the motor controller, the motor controller controls the motor to rotate to a specified rotating speed according to the received voltage value, and a relational expression is established between the voltage value and the rotating speed to complete the conversion from the voltage value to the rotating speed of the motor. The gear selected by the driving direction control device is used as the rotating direction of the motor, the driving direction control device controls the motor to rotate in the forward direction when selecting the forward gear, and the driving direction control device controls the motor to rotate in the reverse direction when selecting the reverse gear.
In this embodiment, after controlling the brake module to act, the switching of the cruise control system from the cruise control mode to the non-cruise control mode includes:
detecting the detection value of a second detection device of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle to control the motor to stop running when the detection value of the second detection device is larger than a preset turning angle value; or,
detecting the on-off condition of a brake lamp of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle to control the motor to stop running when the brake lamp is detected to emit light; or,
and detecting the detection value of a pressure detection device of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle to control the motor to stop running when the detection value of the pressure detection device is greater than a preset pressure value.
Specifically, when the vehicle is braked, the arrangement enables the vehicle to exit the constant-speed cruise mode in three modes, and the vehicle can be switched from the constant-speed cruise mode to the non-constant-speed cruise mode as long as any one of the three modes is met.
In the present embodiment, determining the traveling speed of the vehicle includes: selecting from a plurality of preset running speeds, and determining the selected running speed as the running speed of the vehicle; or customizing the running speed of the vehicle.
Thus, the above arrangement allows the selection of the travel speed of the vehicle in two ways: the first mode is to set several common constant-speed gears, and the second mode is to customize the desired constant-speed cruising driving speed of the vehicle for the driver. Meanwhile, when a driver drives normally, a voltage signal obtained by converting the turnover angle of the accelerator pedal can be sent to the motor controller through the main control module so as to control the motor to rotate according to the rotating speed converted by the voltage. When the constant-speed cruise driving is carried out, the voltage value corresponding to the speed can be selected in the first mode and stored in the speed voltage storage module, and the corresponding voltage value can also be stored in the speed voltage storage module after the angle is selected in the second mode.
Specifically, the first method is as follows: setting several common constant-speed gears, collecting vehicle speed data of different drivers driving the vehicle type for a long time, performing data statistics and analysis to determine the vehicle speed range kept for most of time under the normal driving state of the vehicle type, setting the constant-speed gears into several gears according to the vehicle speed range, for example, setting 5 gears in the speed range of 30-50 km/h, and setting the speed interval between the gears to be 5 km/h. Therefore, the constant-speed gear is selected by the driver, the constant-speed cruise mode is automatically switched after the constant-speed gear is selected, the speed of the selected gear is converted into a voltage value corresponding to the speed of the motor, the voltage value is stored in a speed and voltage storage module in the main control module, and the driver can step on the brake module to automatically quit the constant-speed cruise mode.
Specifically, the set common constant speed gear does not necessarily have a driving speed according with the driving habit of the driver, and the second mode is as follows: the driver self-defines the desired running speed of constant-speed cruising, steps on the accelerator pedal to open the constant-speed cruising switch when the vehicle reaches the desired speed, records the turning angle of the stepped accelerator pedal at the moment, converts the turning angle value into a corresponding voltage value, and stores the voltage value into the speed voltage storage module of the main control module. If the current speed is detected to be zero when the constant-speed cruise switch is turned on, the actual speed of the constant-speed cruise is obtained in a timing constant-speed mode, the process is that a driver treads an accelerator pedal to a certain angle (the angle allowable deviation is set to be two degrees at the upper part and the lower part) and keeps for a certain time (if the keeping time is set to be 3s), the overturning angle value of the acceleration treading is converted into a voltage value, the voltage value is stored in a speed and voltage storage module of the main control module, and the voltage value stored in the main control module is finally converted into the running speed of the vehicle through the motor controller and is used as the using speed of the constant-speed cruise.
In this embodiment, controlling the brake module to act to reduce the vehicle speed of the vehicle includes:
a driver steps on a brake pedal of the vehicle, and a second detection device of the vehicle sends a second control signal to a main control module of the vehicle so as to control the brake lamp to emit light through the second control signal; or comparing the running speed of the vehicle with the safe speed, and sending a starting signal to an ABS pump of the vehicle to start the brake module when the running speed is greater than the safe speed.
Specifically, in the running process of the vehicle, if braking is needed in an emergency, two braking modes can be selected, and fig. 2 shows a first braking mode, wherein the first braking mode is that a driver steps on a brake pedal of the vehicle, namely, manual braking; fig. 3 shows a second braking mode, which is automatic braking. When the vehicle is braked by the second braking mode, the main control module directly controls the electromagnetic valves of the front wheel and the rear wheel to be closed when receiving the continuous running signal, and after the electromagnetic valves are closed, oil in the pressure cavities of the front wheel and the rear wheel flows back to control the vehicle to continuously run.
In the present embodiment, the voltage value of the motor is set in correspondence with the traveling speed of the vehicle and stored in the speed voltage module before the traveling speed of the vehicle is determined. The constant-speed cruising method further comprises the following steps:
the main control module of the vehicle sends a preset voltage value to the motor controller at intervals of a preset time period, compares the preset voltage value with an actual voltage value of the motor and forms a feedback signal, and the main control module carries out real-time detection and judgment on the feedback signal so as to compensate the speed of the vehicle on and off a slope.
Specifically, in the vehicle constant-speed cruising process, the main control module sends the voltage value to the motor controller at regular time, the voltage value stored in the speed and voltage storage module is used as the lowest cut-off voltage to compare with the actual voltage value of the motor according to the preset voltage value and form a feedback signal, and the main control module carries out real-time detection and judgment on the feedback signal, so that the automatic driving intelligence degree of the vehicle is further improved.
In this embodiment, the feedback signal includes a first feedback signal, and the first feedback signal includes: the accelerator pedal acts and the actual voltage value of the motor is greater than or equal to the preset voltage value corresponding to the motor in the speed and voltage module when the vehicle runs at the speed; when the main control module receives the first feedback signal, the main control module ignores the first feedback signal.
Specifically, if the driver steps on the accelerator pedal to enable the voltage value converted by the turning angle to exceed the voltage value stored in the speed voltage storage module during constant-speed cruising, the current vehicle speed is the speed corresponding to the step-on of the accelerator pedal by the driver, and the main control module does not process the speed feedback result.
As shown in fig. 4, the feedback signal further includes a second feedback signal, and the second feedback signal includes:
the actual voltage value of the motor is smaller than the preset voltage value corresponding to the motor in the speed and voltage module when the vehicle runs at the speed; when the main control module receives the second feedback signal, the main control module compensates the speed of the vehicle on the uphill slope and the downhill slope; or the main control module sends out vehicle abnormal signals, and the vehicle abnormal signals comprise low-risk abnormal signals and risk abnormal signals.
Specifically, if the driver stops stepping on the accelerator pedal and the corresponding voltage value is smaller than the voltage value stored in the speed and voltage storage module during constant-speed cruise, the voltage value sent to the motor controller by the main control module is the voltage value stored in the speed and voltage storage module, and the main control module processes the speed feedback result.
In this embodiment, the driving speed of the vehicle and the rotation speed of the motor are set in a one-to-one correspondence, and after the main control module receives the second feedback signal, the cruise control method further includes:
acquiring the rotating speed of the motor, controlling an inertial navigation module of the vehicle to detect the inclination angle of the vehicle, and if the rotating speed of the motor continuously exceeds a first set speed value V for n times1The detection value of the inertial navigation module exceeds a preset angle value, and the voltage value of the motor is increased or decreased through the main control module so as to compensate the speed of the vehicle going up and down a slope; wherein the first set speed value V1And the preset rotating speed V satisfies the following conditions: v1Less than 0.9V; or V1＞1.1V；n≥3。
Specifically, if the detection result of the rotation speed of the motor n times (3 times in this embodiment) exceeds the first set speed value V1At the moment, the inertial navigation module is utilized to detect the inclination angle of the vehicle, and if the current inclination angle of the vehicle exceeds a certain angle, the vehicle is judged to run on an uphill slope (at the moment, V)1< 0.9V) or downhill (in this case V)1More than 1.1V), the voltage value is properly increased or decreased through the main control module, and then the speed of the vehicle on or off the slope is compensated.
In the embodiment, the speed compensation amount for compensating the speed of the vehicle going up and down the slope can be obtained by an equation established according to the inclination angle of the vehicle, the friction between the vehicle and the ground, the average value of the overspeed value of the motor for n times continuously and the braking deceleration value. Thus, the arrangement enables the vehicle to run at a constant speed on the uphill slope and the downhill slope.
In this embodiment, the driving speed of the vehicle and the rotation speed of the motor are set in a one-to-one correspondence, and after the main control module receives the second feedback signal, the cruise control method further includes:
acquiring the rotating speed of the motor, controlling an inertial navigation module of the vehicle to detect the inclination angle of the vehicle, and if the rotating speed of the motor continuously exceeds a first set speed value V for n times1And the detection value of the inertial navigation module is smaller than the preset angle value, and the main control module sends out a low-risk abnormal signal; wherein the first set speed value V1And the preset rotating speed V satisfies the following conditions: v1Less than 0.9V; or V1＞1.1V；n≥3。
Specifically, if the rotation speed of the motor exceeds the first set speed value V n times (3 times in this embodiment) in succession1And if the inclination angle of the current vehicle does not exceed the preset angle, judging the low-risk abnormal condition, carrying out abnormal labeling reminding, and reminding a worker to check and solve the abnormal problem.
In this embodiment, the driving speed of the vehicle and the rotation speed of the motor are set in a one-to-one correspondence, and after the main control module receives the second feedback signal, the cruise control method further includes:
acquiring the rotating speed of the motor, and if the rotating speed of the motor continuously exceeds a second set speed value V for n times2The main control module sends out a danger abnormal signal, and the brake module acquires the inclination angle of the vehicle and the friction force exerted by the ground and wheels after receiving the danger abnormal signal so as to determine a parking pressure value required during parking and control the brake module of the vehicle to act; wherein the second set speed value V2And the preset rotating speed V satisfies the following conditions: v2Less than 0.5V; or V2＞1.5V；n≥3。
Specifically, if the rotation speed of the motor is continuously set to the second set speed value V n times (3 times in the present embodiment)2If the vehicle is in a dangerous abnormal condition, the vehicle needs to be stopped urgently to prevent accidents. The master control module sends a parking command to the brake module, detects the inclination angle of the current vehicle and the friction force between the vehicle and the ground, further determines the corresponding pressure value during parking, and automatically parks by using a second brake mode.
In the present embodiment, before the selection of the running speed of the vehicle, the constant-speed cruise method further includes:
when the vehicle is started, the voltage value in the speed and voltage module is set to be in an inactivated state, and after the running speed of the vehicle is selected, the voltage value is switched to be in an activated state, so that the rotating speed of the motor is controlled through the activated voltage value.
Specifically, in the first safe speed control mode set for the vehicle, when the vehicle is started, the state of the voltage value in the speed-voltage storage module is set to be the inactive state, when the speed is selected for the constant-speed cruise, a real and effective voltage value is obtained and stored in the speed-voltage storage module, the state of the voltage value is set to be the active state, the activated voltage value is sent to the motor controller to control the rotating speed of the motor, and when the vehicle exits from the constant-speed cruise, the reset state is the inactive state.
In this embodiment, after the running speed of the vehicle is selected and the voltage value of the motor is the voltage value corresponding to the selected running speed in the speed-voltage module, the constant-speed cruise method further includes:
and opening an accelerator protection signal switch of the vehicle, sending a fourth control signal to a main control module of the vehicle by the accelerator protection signal switch, and controlling the motor to start under a voltage value corresponding to the selected running speed after the motor controller receives the fourth control signal.
Specifically, the second setting is a safe speed control mode of the vehicle, speed safety control is realized by adding an accelerator protection signal switch, the accelerator protection signal switch is turned on when a real and effective voltage value is obtained after speed selection is performed by constant-speed cruising, and the motor controller is turned on after receiving a fourth control signal of the accelerator protection signal switch, so that the voltage signal value stored in the received and processed speed voltage storage module is converted into the rotating speed of the motor. And when the vehicle exits from the constant-speed cruise, the accelerator protection signal switch is closed, and the voltage signal value stored in the speed voltage storage module is stopped being received and processed.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the brake module is connected with the main control module, and when the constant-speed cruise system is in a constant-speed cruise mode, if a driver operates the brake module, the brake module acts; or the constant-speed cruise system starts the brake module according to the comparison condition structure between the running speed and the preset running speed. And then, the constant-speed cruise system exits the constant-speed cruise mode and is switched to the non-constant-speed cruise mode from the constant-speed cruise mode, so that the vehicle is braked safely, the problem that the vehicle cannot exit the constant-speed cruise mode when a fault occurs in the prior art is solved, and traffic accidents are avoided.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (19)

1. A cruise control system, comprising:
a main control module;
the speed control module is connected with the main control module and comprises an accelerator pedal assembly and a driving assembly, the accelerator pedal assembly comprises a first detection device and an accelerator pedal, the first detection device is used for detecting the turning angle of the accelerator pedal so as to convert the turning angle into a first control signal, the driving assembly comprises a motor controller and a motor connected with the motor controller, the motor is in driving connection with wheels, and the motor controller controls the rotating speed of the motor according to the received first control signal;
the brake module is connected with the main control module;
after the brake module acts, the constant-speed cruise system is switched from a constant-speed cruise mode to a non-constant-speed cruise mode.
2. The cruise control system according to claim 1, wherein said speed control module further comprises:
the driving direction control device is connected with the motor and is used for controlling the steering of the motor so as to control the forward or backward movement of the vehicle;
the throttle protection signal switch is used for controlling the starting or closing of the throttle of the vehicle;
and the encoder is connected with the motor and is used for detecting the actual rotating speed of the motor.
3. The cruise control system according to claim 1, wherein said brake module comprises:
the brake device comprises a brake pedal, a brake pipeline and a brake structure, wherein oil is pumped into the brake pipeline by stepping on the brake pedal, so that the brake structure is pushed to move towards the wheel by the oil, and the wheel is braked;
the second detection device is connected with the brake pedal and used for detecting the turning angle of the brake pedal so as to convert the turning angle into a second control signal;
and the brake lamp emits light after receiving the second control signal.
4. The cruise control system according to claim 1, wherein said brake module comprises:
rotation speed detecting means provided on the wheel for detecting a rotation speed of the wheel;
the brake device comprises an ABS pump, a brake pipeline and a brake structure, wherein the ABS pump is used for pumping oil into the brake pipeline so as to push the brake structure to move towards the wheel through the oil and further brake the wheel;
when the detection value of the rotating speed detection device is larger than the safe rotating speed, the rotating speed detection device sends a third control signal to the main control module, and the ABS pump pumps oil into the brake pipeline after receiving the third control signal.
5. The cruise control system according to claim 3 or 4, wherein the brake module further comprises:
the pressure detection device is used for detecting the pressure in the brake pipeline, and when the detection value of the pressure detection device is larger than a first preset pressure value, the vehicle is judged to be in a brake mode; or when the detection value of the pressure detection device reaches a second preset pressure value, the main control module controls the brake device to stop running.
6. A vehicle, characterized by comprising a cruise control system according to any one of claims 1 to 5.
7. A cruise control method, applied to a vehicle according to claim 6, comprising:
determining a running speed of a vehicle, and controlling the vehicle to run at the running speed;
detecting the running speed of the vehicle in real time, and comparing the running speed with a preset running speed;
when the running speed is lower than the preset running speed, controlling the action of an accelerator pedal of the vehicle to increase the running speed of the vehicle; and when the running speed is greater than or equal to the preset running speed, controlling the brake module of the vehicle to act so as to switch the constant-speed cruise system of the vehicle from the constant-speed cruise mode to the non-constant-speed cruise mode and reduce the running speed of the vehicle.
8. The cruise control method according to claim 7, wherein the switching of the cruise control system from the cruise control mode to the non-cruise control mode after controlling the brake module to act comprises:
detecting a detection value of a second detection device of the vehicle in real time, and sending a voltage signal corresponding to zero speed to a motor controller of the vehicle to control a motor to stop running when the detection value of the second detection device is larger than a preset turning angle value; or,
detecting the on-off condition of a brake lamp of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle when the brake lamp is detected to emit light so as to control the motor to stop running; or,
and detecting the detection value of the pressure detection device of the vehicle in real time, and sending a voltage signal corresponding to the zero speed to a motor controller of the vehicle when the detection value of the pressure detection device is greater than a preset pressure value so as to control the motor to stop running.
9. The cruise control method according to claim 7, wherein determining the travel speed of the vehicle comprises:
selecting from a plurality of preset running speeds, and determining the selected running speed as the running speed of the vehicle; or,
customizing the running speed of the vehicle.
10. The cruise control method according to claim 7, wherein controlling the brake module action to reduce the vehicle speed of the vehicle comprises:
a driver steps on a brake pedal of the vehicle, and a second detection device of the vehicle sends a second control signal to a main control module of the vehicle so as to control a brake lamp to emit light through the second control signal; or,
and comparing the running speed of the vehicle with a safe speed, and sending a starting signal to an ABS (anti-lock brake system) pump of the vehicle to start the brake module when the running speed is higher than the safe speed.
11. The cruise control method according to claim 7, wherein before determining the traveling speed of the vehicle, the voltage value of the motor is set corresponding to the traveling speed of the vehicle and stored in a speed voltage module; the constant-speed cruising method further comprises the following steps:
the main control module of the vehicle sends a preset voltage value to the motor controller at intervals of a preset time period, the preset voltage value is compared with an actual voltage value of the motor to form a feedback signal, and the main control module detects and judges the feedback signal in real time to compensate the speed of the vehicle on and off a slope.
12. A constant speed cruise method according to claim 11, wherein said feedback signal comprises a first feedback signal comprising:
the accelerator pedal acts and the actual voltage value of the motor is greater than or equal to the preset voltage value corresponding to the motor when the vehicle in the speed and voltage module runs at the running speed;
when the main control module receives the first feedback signal, the main control module ignores the first feedback signal.
13. The cruise control method according to claim 11, wherein said feedback signal further comprises a second feedback signal, said second feedback signal comprising:
the actual voltage value of the motor is smaller than the preset voltage value corresponding to the motor when the vehicle in the speed and voltage module runs at the running speed;
when the main control module receives the second feedback signal, the main control module compensates the speed of the vehicle on the uphill slope and the downhill slope; or the main control module sends out vehicle abnormal signals, and the vehicle abnormal signals comprise low-risk abnormal signals and risk abnormal signals.
14. The cruise control method according to claim 13, wherein the driving speed of the vehicle and the rotation speed of the motor are set in one-to-one correspondence, and after the main control module receives the second feedback signal, the cruise control method further comprises:
acquiring the rotating speed of the motor, controlling an inertial navigation module of the vehicle to detect the inclination angle of the vehicle, and if the rotating speed of the motor continuously exceeds a first set speed value V for n times1The detection value of the inertial navigation module exceeds a preset angle value, and the voltage value of the motor is increased or decreased through the main control module so as to compensate the speed of the vehicle on the uphill slope and the speed of the vehicle on the downhill slope;
wherein the first set speed value V1And the preset rotating speed V satisfies the following conditions: v1Less than 0.9V; or V1＞1.1V；n≥3。
15. The cruise control method according to claim 14, wherein the speed compensation amount for compensating the speed of the vehicle on the uphill and downhill is obtained by an equation established based on the inclination angle of the vehicle, the friction between the vehicle and the ground, the average value of the number of consecutive n-times overspeed values of the motor, and the braking deceleration value.
16. The cruise control method according to claim 13, wherein the driving speed of the vehicle and the rotation speed of the motor are set in one-to-one correspondence, and after the main control module receives the second feedback signal, the cruise control method further comprises:
acquiring the rotating speed of the motor, controlling an inertial navigation module of the vehicle to detect the inclination angle of the vehicle, and if the rotating speed of the motor continuously exceeds a first set speed value V for n times1The detection value of the inertial navigation module is smaller than a preset angle value, and the main control module sends a low-risk abnormal signal;
wherein the first set speed value V1And the preset rotating speed V satisfies the following conditions: v1Less than 0.9V; or V1＞1.1V；n≥3。
17. The cruise control method according to claim 13, wherein the driving speed of the vehicle and the rotation speed of the motor are set in one-to-one correspondence, and after the main control module receives the second feedback signal, the cruise control method further comprises:
acquiring the rotating speed of the motor, and if the rotating speed of the motor continuously exceeds a second set speed value V for n times2The main control module sends out a danger abnormal signal, and the brake module acquires the inclination angle of the vehicle and the friction force exerted by the ground and wheels after receiving the danger abnormal signal so as to determine a parking pressure value required during parking and control the brake module of the vehicle to act;
wherein the second set speed value V2And the preset rotating speed V satisfies the following conditions: v2Less than 0.5V; or V2＞1.5V；n≥3。
18. The cruise control method according to claim 7, wherein before the running speed of the vehicle is selected, the voltage value of the motor is set corresponding to the running speed of the vehicle and stored in a speed voltage module; the constant-speed cruising method further comprises the following steps:
and when the vehicle is started, setting the voltage value in the speed and voltage module to be in an inactivated state, and after the running speed of the vehicle is selected, switching the voltage value to be in an activated state so as to control the rotating speed of the motor through the activated voltage value.
19. The cruise control method according to claim 11, wherein after the running speed of the vehicle is selected and the voltage value of the motor is a voltage value corresponding to the selected running speed in the speed-voltage module, the cruise control method further comprises:
and opening an accelerator protection signal switch of the vehicle, wherein the accelerator protection signal switch sends a fourth control signal to a main control module of the vehicle, and after receiving the fourth control signal, a motor controller controls the motor to start under a voltage value corresponding to the selected running speed.
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CN103587526A (en) * 2012-08-17 2014-02-19 北汽福田汽车股份有限公司 Electrocar cruise control method
CN103818379A (en) * 2012-11-16 2014-05-28 比亚迪股份有限公司 Electric car constant-speed cruising method and device
CN105966399A (en) * 2015-03-11 2016-09-28 现代自动车株式会社 Auto cruise controller of vehicle, and method and system thereof
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