CN114987476A

CN114987476A - Deceleration control system, method and equipment under self-adaptive cruise working condition and storage medium

Info

Publication number: CN114987476A
Application number: CN202210411701.9A
Authority: CN
Inventors: 邸丽伟
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2022-09-02

Abstract

The invention discloses a deceleration control system, a method, equipment and a storage medium under a self-adaptive cruise working condition, which belong to the technical field of automobiles, wherein the system and the method control a deceleration from driving to braking by changing a deceleration control method, namely, when a torque zero-crossing requirement exists, a self-adaptive cruise function control system controls a negative torque of-50 Nm-0Nm, before the VCU of a vehicle controller passes zero, the ESC is not sent with braking energy recovery capability, after the torque passes zero, the maximum recovery capability is sent to the ESC, so that the performance experience of the whole vehicle torque from driving to braking under the ACC working condition of the self-adaptive cruise function of a driver is improved, and meanwhile, the brake energy recovery of the ESC can be prevented from frequent intervention, the sliding energy is increased, and the deceleration effect is improved; the ESC performs closed-loop control of the deceleration request of the ACC throughout the process.

Description

Deceleration control system, method and equipment under self-adaptive cruise working condition and storage medium

Technical Field

The invention belongs to the technical field of automobiles, and particularly relates to a deceleration control system, method, equipment and storage medium under a self-adaptive cruise working condition.

Background

With the development of society, new energy automobiles are increasingly widely applied. The new energy is a concept generated to distinguish the conventional fossil energy. At present, new energy vehicles mainly include pure electric vehicles, hybrid plug-in vehicles, fuel cells and the like. With the popularization of concepts and the support of policies, new energy vehicles have become an immense amount of force in the automobile market. Among them, the research on energy recovery systems and methods is one of the core technologies. The energy recovery system is used for converting part of kinetic energy of the automobile into electric energy when the automobile is decelerated or braked, and the electric energy is stored and then is reused for driving the automobile to run.

The Adaptive Cruise Control (hereinafter, referred to as ACC) is to keep the vehicle still and activated under full speed conditions, keep safe following, and also stop and start following the preceding vehicle to release the feet of the driver, thereby better reducing the driving fatigue and stress of the driver.

Currently, an adaptive Cruise control (acc) function becomes a standard configuration of a medium-and high-end vehicle model, and the application rate of the acc function is also improved year by year, especially under a high-speed working condition, which is safe and convenient. In order to reduce oil consumption under the self-adaptive cruise function, the required deceleration under the braking condition can be provided through braking energy recovery, and energy conservation and emission reduction are realized. The high utilization rate of the ACC function enables the performance of a pure electric control or hybrid electric vehicle type ACC under a low deceleration to be exposed quickly, namely when the whole vehicle is driven to a braking working condition, the VCU always sends actual braking energy recovery capability, when the braking working condition is just entered, the ESC sends a braking energy recovery request to the VCU according to the deceleration request of the ACC, the VCU can control the motor to execute quickly, and impact is generated in the motor gear meshing process along with quick change of the motor rotation direction, namely zero crossing of the whole vehicle torque, so that a driver can feel bad experience of vehicle cocking.

In summary, the energy recovery of the existing automobile is not well utilized when the automobile is braked, and especially the kinetic energy loss of the automobile is not well utilized when the automobile is braked. The kinetic energy is converted into heat energy in the brake and dissipated to the atmosphere. In the daily running process of a large number of automobiles, particularly in the running process of a city with crowded traffic, the automobiles frequently start, accelerate, brake and decelerate to generate huge brake energy dissipation, and the efficiency of the motor is greatly reduced.

Disclosure of Invention

Aiming at the problems that the impact is generated in the meshing process of a motor gear caused by the rapid change of the rotation direction of a motor during the braking of an automobile in the prior art, so that a driver feels the poor experience of the vehicle rising and the like, the invention provides a deceleration control system, a method, equipment and a storage medium under the self-adaptive cruise working condition, the system and the method change the deceleration control method from driving to braking, namely, when the zero crossing requirement of the torque exists, the self-adaptive cruise function control system controls the negative torque of-50 Nm-0Nm, before the zero crossing of the torque of a whole automobile controller VCU, the braking energy recovery capability is not sent to an ESC (electronic stability control) system, after the zero crossing of the torque, the maximum recovery capability is sent to the ESC, so that the performance experience of the whole automobile torque under the ACC working condition of the self-adaptive cruise function of the driver from driving to braking is improved, and the frequent braking intervention of the energy recovery of the ESC can be prevented, the sliding energy is increased, and the deceleration effect is improved; the ESC closed-loop controls the deceleration request of the ACC throughout the process.

The invention is realized by the following technical scheme:

in a first aspect, the invention provides a deceleration control system under a self-adaptive cruise condition, which comprises a self-adaptive cruise control system, an automobile body electronic stability system ESC and a vehicle control unit VCU;

the self-adaptive cruise control system is used for controlling a VCU of the vehicle control unit to execute a torque zero-crossing request and controlling an ESC of the vehicle body electronic stabilization system to execute a deceleration request;

the vehicle body electronic stability system ESC is used for receiving a deceleration request under the self-adaptive cruise function and controlling the vehicle control unit VCU to recover braking energy;

the VCU is used for detecting the torque value of the whole vehicle in real time, controlling the ESC to recover braking energy when the torque exceeds zero, and controlling the motor of the driving unit to generate regenerative braking energy.

Further, the deceleration control system also comprises a driving unit motor, calipers and a pedal stroke sensor;

the driving unit motor is used for responding to a torque recovery command sent by the vehicle control unit and generating regenerative braking energy;

the caliper is used for generating an actuator for hydraulic braking;

the pedal travel sensor is used for detecting the braking intention of a driver, including whether the brake pedal is pressed down and the depth of the brake pedal.

In a second aspect, the invention provides a deceleration control method under an adaptive cruise condition, which specifically comprises the following steps:

step S1: activating the self-adaptive cruise function, and judging whether the whole vehicle is in a driving working condition to a braking working condition by the self-adaptive cruise control system;

if the vehicle is in the driving working condition to the braking working condition, the step S2 is carried out, and if the vehicle is not in the driving working condition to the braking working condition, the pure driving working condition or the braking working condition is executed;

step S2: the self-adaptive cruise control system controls a VCU (vehicle control unit) of the whole vehicle to execute a torque zero-crossing request, and controls an ESC (electronic stability control) of the vehicle body to execute a deceleration request according to the actual deceleration of a front vehicle;

step S3: when the torque controlled by the VCU of the vehicle controller exceeds zero, a recoverable maximum allowable torque signal is sent to an ESC of the vehicle body electronic stabilization system, and the ESC of the vehicle body electronic stabilization system controls the VCU of the vehicle controller to recover CRBS braking energy; meanwhile, according to the actual deceleration of the front vehicle, the adaptive cruise control system controls the vehicle body electronic stability system ESC to execute a deceleration request, and the vehicle body electronic stability system ESC performs PID closed-loop control.

Further, in step S1, it is determined whether the entire vehicle is in a driving condition to a braking condition, specifically as follows: and judging whether the acceleration of the front vehicle is changed from a positive value to a negative value, and if so, judging that the vehicle is in a driving working condition and a braking working condition.

Further, the torque zero-crossing in step S2 ranges from-50-0 Nm.

Further, in step S2, the electronic stability system ESC of the vehicle body executes the deceleration request, and the specific braking modes include the following three modes:

firstly, an electronic stability control system ESC of a vehicle body adopts hydraulic braking;

secondly, an ESC (electronic stability control) system of the vehicle body controls a VCU (vehicle control unit) to recover braking energy CRBS (regenerative braking system), so that the whole vehicle generates deceleration;

and thirdly, the vehicle body electronic stabilization system ESC controls the vehicle control unit VCU to recover braking energy CRBS by adopting hydraulic braking and the vehicle body electronic stabilization system ESC so as to combine the vehicle with deceleration.

Further, the maximum capability value T of braking energy recovery in step S2 _CRBS ＝0；

Maximum braking energy recovery capability value T in step S3 _CRBS Actual maximum recovery capacity.

In a third aspect, the invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of deceleration control under adaptive cruise conditions according to any of the embodiments of the invention when executing the program.

In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method of deceleration control under adaptive cruise conditions according to any of the embodiments of the present invention.

Compared with the prior art, the invention has the following advantages:

according to the deceleration control system and method under the self-adaptive cruise working condition, the-50 Nm when the VCU torque passes through zero is controlled through the ACC, so that the vehicle can be prevented from rising under the working condition, the driving smoothness of a client is guaranteed, the performance experience of the whole vehicle torque from driving to braking under the ACC working condition of a driver can be further improved, and the ESC is prevented from frequently entering and exiting under the driving-braking-driving-braking working condition; the braking energy recovery of the ESC is prevented from being frequently intervened, the sliding energy is increased, the deceleration effect of the whole vehicle is guaranteed, energy conservation and emission reduction can be realized to the maximum extent on the premise that the vehicle is smooth, and the vehicle endurance is increased.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic illustration of a deceleration control system of the present invention under an adaptive cruise condition;

FIG. 2 is a flow chart illustrating a method of deceleration control during adaptive cruise conditions in accordance with the present invention;

fig. 3 is a schematic structural diagram of a computer device in embodiment 4 of the present invention.

Detailed Description

For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the drawings in the specification:

in the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Example 1

As shown in fig. 1, the present embodiment provides a deceleration control system under an adaptive cruise condition, which includes an adaptive cruise control system, an electronic stability system ESC of a vehicle body, and a vehicle control unit VCU;

the self-adaptive cruise control system is used for controlling a vehicle control unit VCU to execute a torque zero-crossing request and controlling a vehicle body electronic stability system ESC to execute a deceleration request;

In this embodiment, the deceleration control system further includes a drive unit motor, calipers, and a pedal stroke sensor;

the caliper is used for generating an actuator for hydraulic braking;

Example 2

As shown in fig. 2, a schematic flow chart of a deceleration control method under an adaptive cruise condition specifically includes the following steps:

step S3: when the torque controlled by the VCU exceeds zero, a recoverable maximum allowable torque signal is sent to an ESC (electronic stability control) system of the vehicle body, and the ESC system of the vehicle body controls the VCU to recover CRBS braking energy; meanwhile, according to the actual deceleration of the front vehicle, the adaptive cruise control system controls the vehicle body electronic stability system ESC to execute a deceleration request, and the vehicle body electronic stability system ESC performs PID closed-loop control.

In this embodiment, in step S1, it is determined whether the entire vehicle is in the driving condition to the braking condition, specifically as follows: and judging whether the acceleration of the front vehicle is changed from a positive value to a negative value, and if so, judging that the vehicle is in a driving working condition and a braking working condition.

In the present embodiment, the zero crossing of the torque in step S2 ranges from-50-0 Nm.

In this embodiment, in step S2, the electronic stability system ESC of the vehicle body executes a deceleration request, and the specific braking manners include the following three manners:

and thirdly, the vehicle body electronic stabilization system ESC controls the vehicle control unit VCU to recover braking energy by adopting hydraulic braking and the vehicle body electronic stabilization system ESC so as to combine the deceleration generated by the vehicle.

In the present embodiment, the maximum capability value T of braking energy recovery in step S2 _CRBS ＝0；

Example 3

Further introduces the concrete technical proposal of the invention.

The deceleration control method under the self-adaptive cruise working condition of the embodiment specifically comprises the following steps:

1. the customer activates the ACC function, and the ACC function is normally enabled;

2. the ACC upper-layer system judges whether the whole vehicle is in a driving-to-braking working condition, and the judgment logic is as follows:

if the acceleration of the front vehicle is changed from a positive value to a negative value and the vehicle follows, the vehicle is judged to be in a driving-to-braking working condition;

3. the ACC requests the VCU to perform an over-torque-O request, in this embodiment, the torque range of ACC control is-50 Nm-0, and meanwhile, according to the actual deceleration of the leading vehicle, the ESC performs the deceleration request requested by ACC to perform hydraulic braking, and the ESC needs to perform closed-loop control on the deceleration of the entire vehicle, and the specific logic is as follows:

ACC requests-50 Nm of torque TVCU executed by the VCU;

ACC controls the deceleration of the vehicle according to the deceleration of the vehicle ahead, and requests are sent to ESC, namely R deceleration, and ESC controls the deceleration request sent by ACC in a closed loop mode;

the maximum capacity value TCRBS of the brake energy recovery sent by the VCU at the moment is 0;

4. after the VCU torque crosses zero, the maximum recoverable capacity is sent to the ESC, the ESC carries out CRBS braking energy recovery request on the VCU, and closed-loop control is carried out on the deceleration sent by the ACC, and the specific judgment logic is as follows:

the ACC requests the torque TVCU executed by the VCU to be 0;

the ACC controls the deceleration of the vehicle according to the deceleration of the front vehicle and sends a request to the ESC, namely R deceleration, and the ESC carries out closed-loop control on the deceleration request sent by the ACC;

the maximum capacity value TCRBS of the brake energy recovery sent by the VCU at the moment is equal to the actual maximum recovery capacity;

5. the ESC makes a CRBS braking energy recovery request for the VCU according to the maximum recoverable capacity sent by the VCU, the VCU executes the braking energy recovery request sent by the ESC, and the ESC performs closed-loop control on the target deceleration sent by the ACC;

6. the whole vehicle enters a pure braking working condition.

EXAMPLE 4

Fig. 3 is a schematic structural diagram of a computer device in embodiment 4 of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.

As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the computer device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes programs stored in the system memory 28 to perform various functional applications and data processing, such as implementing a method of deceleration control under adaptive cruise conditions as provided by embodiments of the present invention.

Example 4

Embodiment 4 of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method of deceleration control under adaptive cruise conditions as provided in all inventive embodiments of this application.

Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.

In addition, any combination of the various embodiments of the present invention can be made, and the same should be considered as the disclosure of the present invention as long as the idea of the present invention is not violated.

Claims

1. A deceleration control system under a self-adaptive cruise working condition is characterized by comprising a self-adaptive cruise control system, a vehicle body electronic stability system ESC and a vehicle control unit VCU;

2. A deceleration control system under adaptive cruise conditions according to claim 1, wherein said deceleration control system further comprises a drive unit motor, calipers and a pedal travel sensor;

the caliper is used for generating an actuator for hydraulic braking;

3. A method of controlling a deceleration control system in an adaptive cruise condition according to claim 1, comprising the steps of:

if the vehicle is in the driving working condition to braking working condition, the step S2 is carried out, and if the vehicle is not in the driving working condition to braking working condition, the pure driving working condition or the braking working condition is carried out;

4. The method for controlling deceleration under the adaptive cruise condition according to claim 3, wherein in step S1, it is determined whether the entire vehicle is in the driving-to-braking condition, specifically as follows: and judging whether the acceleration of the front vehicle is changed from a positive value to a negative value, and if so, judging that the vehicle is in a driving working condition and a braking working condition.

5. A method of deceleration control under adaptive cruise conditions according to claim 3, wherein the zero crossing of torque in step S2 is in the range-50-0 Nm.

6. The deceleration control method under the adaptive cruise condition according to claim 3, wherein the vehicle body electronic stability system ESC executes the deceleration request in step S2, and the specific braking modes are three types as follows:

7. The method for controlling deceleration under adaptive cruise conditions according to claim 3, wherein said maximum ability to recover braking energy value T in step S2 _CRBS ＝0；

Maximum braking energy recovery capability value T in step S3 _CRBS Best practiceLarge recovery capacity.

8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing a method of deceleration control under adaptive cruise conditions according to any of claims 3-7.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of deceleration control in an adaptive cruise condition according to any one of claims 3-7.