CN115685782A - Vehicle speed control method, device, equipment and storage medium - Google Patents

Abstract

The invention discloses a vehicle speed control method, a device, equipment and a storage medium, wherein the method runs a simulation model through an engine simulation platform, sends a sensor signal to an engine controller according to the simulation model and receives a control signal of an ECU controller; reading and writing control variables of an engine controller and simulation variables of an engine simulation platform by using a calibration measuring tool through an upper computer; the method has the advantages that the load box is controlled to perform corresponding actions according to the sensor signals and the control signals, the actuator state information is collected, the engine adjusting parameters are determined according to the actuator state information, the control variables and the simulation variables, the current vehicle is controlled according to the engine adjusting parameters, the vehicle speed control under different road working conditions can be realized, the test cost and the real vehicle test risk are reduced, the potential safety hazard is reduced, the accuracy of the vehicle speed control is improved, and the speed and the efficiency of the vehicle speed control are improved.

Description

Vehicle speed control method, device, equipment and storage medium

technical field

The invention relates to the technical field of electronic control testing, in particular to a vehicle speed control method, device, equipment and storage medium.

Background technique

With the sharp increase in the number of cars in the world, road safety has become a social issue that has been paid more and more attention. A series of studies at home and abroad have shown that the most important factor affecting road traffic safety is speeding; some studies have shown that with the speed of vehicles The probability of traffic accidents will increase rapidly; therefore, it is necessary to increase the function of limiting the speed of the vehicle; the electronic control unit must first accurately obtain the speed of the vehicle in order to limit the speed of the vehicle. Based on this, combined with other Factors strengthen the control of the engine oil supply system, more flexibly control the power output of the engine, so as to achieve the ideal effect of vehicle speed limit.

The existing vehicle speed electronic control method usually needs to verify the vehicle speed control on the actual vehicle, and it is necessary to verify whether the vehicle speed can be limited within the set range under different working conditions, which has the following disadvantages: the actual vehicle test limit vehicle speed In this case, the safety of the testers cannot be guaranteed; different road environments are required, which is inconvenient for testing; the vehicle speed control is more dangerous under the condition of simulated sensor failure.

Contents of the invention

The main purpose of the present invention is to provide a vehicle speed control method, device, equipment and storage medium, which aims to solve the problem that the actual test in the prior art cannot guarantee the safety of the testers, the test process is cumbersome, requires the cooperation of different road environments, and the sensor fails. When the speed control accuracy is low, the vehicle has dangerous technical problems.

In a first aspect, the present invention provides a vehicle speed control method, the vehicle speed control method comprising the following steps:

Run the simulation model through the engine simulation platform, send the sensor signal to the engine controller according to the simulation model, and receive the control signal of the ECU controller;

Utilize the calibration measurement tool to read and write the control variables of the engine controller and the simulation variables of the engine simulation platform through the host computer;

Control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, determine engine adjustment parameters according to the actuator state information, the control variable, and the simulation variable, and adjust according to the engine parameter to control the speed of the current vehicle.

Optionally, the operation of the simulation model through the engine simulation platform, sending sensor signals to the engine controller according to the simulation model, and receiving the control signal of the ECU controller includes:

Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform;

Collect sensor signals to the engine controller according to the engine model in the simulation model, and receive control signals from the ECU controller.

Optionally, the collecting sensor signals to the engine controller according to the engine model in the simulation model, and receiving the control signal of the ECU controller includes:

The engine model in the simulation model responds to the control command of the engine controller to work, and outputs the simulation speed to the vehicle model;

Using the vehicle model to calculate a simulated vehicle speed according to the simulated rotational speed and the environmental parameters of the environment model, using the simulated vehicle speed as a sensor signal, and receiving a control signal from an ECU controller.

Optionally, the reading and writing of the control variables of the engine controller and the simulation variables of the engine simulation platform by using the calibration measurement tool through the host computer includes:

Real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform;

The host computer uses a calibration measurement tool to read and write the observed control variables and simulation variables.

Optionally, controlling the load box to perform corresponding actions according to the sensor signal and the control signal, collecting actuator state information, and determining engine adjustment parameters according to the actuator state information, the control variable and the simulation variable , performing vehicle speed control on the current vehicle according to the engine adjustment parameters, including:

Control the fuel injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collect actuator status information;

adjusting the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain engine adjustment parameters;

The vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

Optionally, the controlling the vehicle speed of the current vehicle according to the engine adjustment parameters includes:

Judging whether the current vehicle is in a stable idling state, and obtaining the judgment result;

When the judgment result is that the current vehicle is in a stable idling state, the current vehicle speed is obtained, and it is judged whether the current vehicle speed meets the preset vehicle speed requirement;

When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed is controlled according to the engine adjustment parameter.

Optionally, when the current vehicle speed does not meet the preset vehicle speed requirement, controlling the vehicle speed of the current vehicle according to the engine adjustment parameters includes:

When the current vehicle speed does not meet the preset vehicle speed requirement, adjust the engine of the current vehicle according to the engine adjustment parameters to obtain adjusted engine output speed and engine output torque;

The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

In the second aspect, in order to achieve the above object, the present invention also proposes a vehicle speed control device, the vehicle speed control device comprising:

The simulation module is used to run the simulation model through the engine simulation platform, send sensor signals to the engine controller according to the simulation model, and receive the control signal of the ECU controller;

The variable reading module is used to read and write the control variables of the engine controller and the simulation variables of the engine simulation platform by using the calibration measurement tool through the host computer;

The vehicle speed control module is used to control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, and determine engine adjustment parameters according to the actuator state information, the control variable and the simulation variable , performing vehicle speed control on the current vehicle according to the engine adjustment parameter.

In the third aspect, in order to achieve the above object, the present invention also proposes a vehicle speed control device, which includes: a memory, a processor, and a vehicle speed control program stored in the memory and operable on the processor , the vehicle speed control program is configured to implement the steps of the vehicle speed control method as described above.

In the fourth aspect, in order to achieve the above object, the present invention also proposes a storage medium, on which a vehicle speed control program is stored, and when the vehicle speed control program is executed by a processor, the steps of the above-mentioned vehicle speed control method are realized .

The vehicle speed control method proposed by the present invention, runs the simulation model through the engine simulation platform, sends sensor signals to the engine controller according to the simulation model, and receives the control signal of the ECU controller; uses the calibration measurement tool to read and write the The control variable of the engine controller and the simulation variable of the engine simulation platform; according to the sensor signal and the control signal, the load box is controlled to perform corresponding actions, and the state information of the actuator is collected. According to the state information of the actuator, the control Variables and the simulation variables determine the engine adjustment parameters, and the vehicle speed of the current vehicle can be controlled according to the engine adjustment parameters, so that the power output of the engine can be controlled more flexibly, so as to achieve the ideal effect of vehicle speed limit, and can realize different road conditions. The vehicle speed control under working conditions reduces the test cost, realizes the test of the limit vehicle speed, reduces the risk of the real vehicle test, and realizes the vehicle speed control test under the failure state of the vehicle speed sensor, reduces safety hazards, and improves the accuracy of vehicle speed control It improves the speed and efficiency of vehicle speed control.

Description of drawings

FIG. 1 is a schematic diagram of the device structure of the hardware operating environment involved in the solution of the embodiment of the present invention;

2 is a schematic flow chart of the first embodiment of the vehicle speed control method of the present invention;

Fig. 3 is a schematic diagram of the test system in the vehicle speed control method of the present invention;

Fig. 4 is the structural representation of simulation platform in the vehicle speed control method of the present invention;

5 is a schematic flowchart of a second embodiment of the vehicle speed control method of the present invention;

6 is a schematic flowchart of a third embodiment of the vehicle speed control method of the present invention;

Fig. 7 is a schematic structural diagram of the simulation model in the vehicle speed control method;

8 is a schematic flow chart of a fourth embodiment of the vehicle speed control method of the present invention;

Fig. 9 is a schematic structural diagram of the upper computer in the vehicle speed control method of the present invention;

FIG. 10 is a schematic flowchart of a fifth embodiment of the vehicle speed control method of the present invention;

Fig. 11 is a schematic diagram of engine model signal transmission in the vehicle speed control method of the present invention;

Fig. 12 is a schematic flow chart of the sixth embodiment of the vehicle speed control method of the present invention;

Fig. 13 is a flow chart of the vehicle speed control test in the vehicle speed control method of the present invention;

Fig. 14 is a functional block diagram of the first embodiment of the vehicle speed control device of the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The solution of the embodiment of the present invention is mainly: run the simulation model through the engine simulation platform, send the sensor signal to the engine controller according to the simulation model, and receive the control signal of the ECU controller; Write the control variable of the engine controller and the simulation variable of the engine simulation platform; control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, and The control variable and the simulation variable determine the engine adjustment parameters, and the vehicle speed of the current vehicle can be controlled according to the engine adjustment parameters, so that the power output of the engine can be controlled more flexibly, so as to achieve the ideal effect of vehicle speed limitation, and can realize The vehicle speed control under different road conditions reduces the test cost, realizes the test of the limit vehicle speed, reduces the risk of the real vehicle test, and realizes the vehicle speed control test under the failure state of the vehicle speed sensor, reduces the safety hazard, and improves the vehicle speed control The accuracy of the vehicle speed control improves the speed and efficiency of the vehicle speed control, and solves the problem that the actual test in the prior art cannot guarantee the safety of the testers, the test process is cumbersome, requires the cooperation of different road environments, and the vehicle speed control accuracy is low when the sensor fails The vehicle has a dangerous technical problem.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of the device structure of the hardware operating environment involved in the solution of the embodiment of the present invention.

As shown in FIG. 1 , the device may include: a processor 1001 , such as a CPU, a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (Non-Volatile Memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the device structure shown in FIG. 1 does not constitute a limitation to the device, and may include more or less components than shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating device, a network communication module, a user interface module and a vehicle speed control program.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and performs the following operations:

Run the simulation model through the engine simulation platform, send the sensor signal to the engine controller according to the simulation model, and receive the control signal of the ECU controller;

Utilize the calibration measurement tool to read and write the control variables of the engine controller and the simulation variables of the engine simulation platform through the host computer;

Control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, determine engine adjustment parameters according to the actuator state information, the control variable, and the simulation variable, and adjust according to the engine parameter to control the speed of the current vehicle.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform;

Collect sensor signals to the engine controller according to the engine model in the simulation model, and receive control signals from the ECU controller.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

The engine model in the simulation model responds to the control command of the engine controller to work, and outputs the simulation speed to the vehicle model;

Using the vehicle model to calculate a simulated vehicle speed according to the simulated rotational speed and the environmental parameters of the environment model, using the simulated vehicle speed as a sensor signal, and receiving a control signal from an ECU controller.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

Real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform;

The host computer uses a calibration measurement tool to read and write the observed control variables and simulation variables.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

Control the fuel injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collect actuator status information;

adjusting the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain engine adjustment parameters;

The vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

Judging whether the current vehicle is in a stable idling state, and obtaining the judgment result;

When the judgment result is that the current vehicle is in a stable idling state, the current vehicle speed is obtained, and it is judged whether the current vehicle speed meets the preset vehicle speed requirement;

When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed is controlled according to the engine adjustment parameter.

The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

When the current vehicle speed does not meet the preset vehicle speed requirement, adjust the engine of the current vehicle according to the engine adjustment parameters to obtain adjusted engine output speed and engine output torque;

The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

In this embodiment, through the above scheme, the simulation model is run through the engine simulation platform, the sensor signal is sent to the engine controller according to the simulation model, and the control signal of the ECU controller is received; the host computer uses the calibration measurement tool to read and write the engine The control variable of the controller and the simulation variable of the engine simulation platform; according to the sensor signal and the control signal, the load box is controlled to perform corresponding actions, and the state information of the actuator is collected, and according to the state information of the actuator and the control variable Determine the engine adjustment parameters with the simulation variables, and control the vehicle speed of the current vehicle according to the engine adjustment parameters, so that the power output of the engine can be controlled more flexibly, so as to achieve the ideal effect of vehicle speed limit, and can realize different road construction. The vehicle speed control under the condition reduces the test cost, realizes the test of the limit vehicle speed, reduces the risk of the real vehicle test, and realizes the vehicle speed control test under the condition of the vehicle speed sensor failure, reduces the safety hazard, and improves the accuracy of the vehicle speed control , which improves the speed and efficiency of vehicle speed control.

Based on the above hardware structure, an embodiment of the vehicle speed control method of the present invention is proposed.

Referring to FIG. 2 , FIG. 2 is a schematic flowchart of the first embodiment of the vehicle speed control method of the present invention.

In the first embodiment, the vehicle speed control method includes the following steps:

Step S10, run the simulation model through the engine simulation platform, send sensor signals to the engine controller according to the simulation model, and receive control signals from the ECU controller.

It should be noted that the engine simulation platform can be used to run the simulation model, and then send sensor signals to the engine controller according to the simulation model, and receive control signals from the electronic control unit (Electronic Control Unit, ECU) controller.

Step S20, reading and writing the control variables of the engine controller and the simulation variables of the engine simulation platform through the host computer using the calibration measurement tool.

It can be understood that the control variables of the engine controller and the simulation variables of the engine simulation platform can be read and written by using the calibration measurement tool through the host computer.

Step S30, control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, determine engine adjustment parameters according to the actuator state information, the control variable and the simulation variable, and according to the The vehicle speed control of the current vehicle is performed according to the engine adjustment parameters.

It should be understood that the load box may include real loads, and perform corresponding actions according to the control signals of the engine simulation platform, and then collect feedback actuator state information; and the engine controller writes the control program, that is, through the sensor signals and The control signal controls the load box to perform corresponding actions, and the actuator state information can be collected, and then the engine adjustment parameters are determined according to the actuator state information, the control variable and the simulation variable, and the engine adjustment parameters are adjusted according to the engine adjustment parameters. The current vehicle speed control can reduce the risk of real vehicle testing, ensure test safety, reduce costs and shorten the development cycle.

In the specific implementation, as shown in Figure 3, Figure 3 is a schematic diagram of the test system in the vehicle speed control method of the present invention, the test system of the vehicle speed control is shown in Figure 3, the engine simulation platform is connected with the upper computer, the engine controller and the load box respectively Connection, the upper computer is connected with the controller through the calibration measurement tool.

As shown in Figure 4, Fig. 4 is the emulation platform structure schematic diagram in the vehicle speed control method of the present invention, referring to shown in Figure 4, this platform is based on DS1006 platform, and DS1006 platform is the hardware and software product that dSPACE company develops, by real-time processor, DS2211 IO board, programmable power supply, engine and vehicle model, DS2211 board is used to connect the input and output physical signals of the engine controller, the real-time processor is used for the operation of the physical model in the ds1006 platform, and the programmable power supply is used for the engine The controller supplies power to meet the power supply voltage requirements of the engine controller.

In this embodiment, through the above scheme, the simulation model is run through the engine simulation platform, the sensor signal is sent to the engine controller according to the simulation model, and the control signal of the ECU controller is received; the host computer uses the calibration measurement tool to read and write the engine The control variable of the controller and the simulation variable of the engine simulation platform; according to the sensor signal and the control signal, the load box is controlled to perform corresponding actions, and the state information of the actuator is collected, and according to the state information of the actuator and the control variable Determine the engine adjustment parameters with the simulation variables, and control the vehicle speed of the current vehicle according to the engine adjustment parameters, so that the power output of the engine can be controlled more flexibly, so as to achieve the ideal effect of vehicle speed limit, and can realize different road construction. The vehicle speed control under the condition reduces the test cost, realizes the test of the limit vehicle speed, reduces the risk of the real vehicle test, and realizes the vehicle speed control test under the condition of the vehicle speed sensor failure, reduces the safety hazard, and improves the accuracy of the vehicle speed control , which improves the speed and efficiency of vehicle speed control.

Further, FIG. 5 is a schematic flow chart of the second embodiment of the vehicle speed control method of the present invention. As shown in FIG. 5 , the second embodiment of the vehicle speed control method of the present invention is proposed based on the first embodiment. In this embodiment, the steps S10 specifically includes the following steps:

Step S11, run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform.

It should be noted that the simulation model includes an engine model, a vehicle model and an environment model, and the engine model, the vehicle model and the environment model in the simulation model can be run through the engine simulation platform.

In a specific implementation, the engine model includes an engine sub-model, a sensor signal processing sub-model, an actuator signal processing sub-model and a CAN communication sub-model, which can simulate the working process of the engine and calculate the engine speed; the environment model includes the driver model And the road model, which is used to simulate the driver's operation and set the road environment conditions. The vehicle model includes a transmission model and a vehicle speed calculation model, which can calculate the current vehicle speed.

Step S12, collecting sensor signals from the engine controller according to the engine model in the simulation model, and receiving control signals from the ECU controller.

It should be understood that, according to the engine model in the simulation model, sensor signals can be collected from the engine controller and control signals from the ECU controller can be received.

In this embodiment, the engine model, vehicle model and environment model in the simulation model are run through the engine simulation platform through the above scheme; according to the engine model in the simulation model, sensor signals are collected from the engine controller, and control signals of the ECU controller are received , can quickly obtain sensor signals and control signals, and can more flexibly control the power output of the engine, so as to achieve the ideal effect of vehicle speed limit.

Furthermore, FIG. 6 is a schematic flow chart of the third embodiment of the vehicle speed control method of the present invention. As shown in FIG. 6, the third embodiment of the vehicle speed control method of the present invention is proposed based on the second embodiment. In this embodiment, the steps S12 specifically includes the following steps:

Step S121 , the engine model in the simulation model responds to the control command of the engine controller to work, and outputs the simulated rotational speed to the vehicle model.

It should be noted that the engine model works according to the control command of the engine controller, and outputs the speed to the vehicle model, that is, the engine model in the simulation model responds to the control command of the engine controller to work, and outputs the simulation speed to the vehicle Model.

Step S122 , using the vehicle model to calculate a simulated vehicle speed according to the simulated rotational speed and the environmental parameters of the environment model, using the simulated vehicle speed as a sensor signal, and receiving a control signal from an ECU controller.

It can be understood that the vehicle model calculates the current vehicle speed according to the engine speed and environmental conditions, that is, obtains the simulated vehicle speed, and then uses the simulated vehicle speed as a sensor signal to receive a control signal from the ECU controller.

In the specific implementation, as shown in Figure 7, Figure 7 is a schematic structural diagram of the simulation model in the vehicle speed control method, referring to Figure 7, including the engine model, vehicle model and environment model, the engine model works according to the control command of the engine controller, and outputs The speed is given to the vehicle model, and the vehicle model calculates the current speed according to the engine speed and environmental conditions, and feeds the speed back to the engine controller to form a closed loop, in which the engine model is used to simulate the working process of the engine.

In this embodiment, through the above scheme, the engine model in the simulation model responds to the control command of the engine controller to work, and outputs the simulation speed to the vehicle model; through the vehicle model, according to the simulation speed and the environment model The simulated vehicle speed is calculated based on the environmental parameters, and the simulated vehicle speed is used as the sensor signal to receive the control signal of the ECU controller, so that the sensor signal and control signal can be quickly obtained, and the power output of the engine can be controlled more flexibly, so as to reach the vehicle speed limit ideal effect.

Further, FIG. 8 is a schematic flow chart of the fourth embodiment of the vehicle speed control method of the present invention. As shown in FIG. 8 , the fourth embodiment of the vehicle speed control method of the present invention is proposed based on the first embodiment. In this embodiment, the steps S20 specifically includes the following steps:

Step S21: Real-time observation of control variables of the engine controller and simulation variables of the engine simulation platform.

It should be noted that the control variables of the engine controller and the simulation variables of the engine simulation platform are observed in real time.

Step S22, reading and writing the observed control variables and simulation variables through the host computer using a calibration measurement tool.

It should be understood that the observed control variable and the simulated variable can be read and written by using a calibration measurement tool through the host computer.

In the specific implementation, as shown in Figure 9, Figure 9 is a schematic structural diagram of the upper computer in the vehicle speed control method of the present invention, referring to Figure 9, the ControlDesk software for changing model parameters and observed variables in real time, and the matlab for establishing modeling /simulink software, and INCA software for engine controller calibration and measurement; ControlDesk software is used to write values to the parameters of the engine and vehicle model and read variables of the engine and vehicle model for observation; matlab/simulink software is used to build The engine and vehicle model and its sub-models; the calibration and measurement software INCA software is used to observe the calibration variables and measurement variables in the engine controller, and to grasp the operating status of each variable in the controller in real time; the load box integrates all the main actuators of the engine including The fuel injector section, fuel metering unit, throttle and EGR valve are fixed in a box through brackets, and the pins of the solenoid valve are connected to the wiring harness, and then connected to the simulation platform platform through the ds2211 board.

The software running on the simulation platform is a model built by the software matlab/simulink, which is compiled and downloaded to the ds1006 board through the ControlDesk software. In this embodiment, through the above scheme, real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform; the host computer uses calibration measurement tools to read and write the observed control variables and the The simulation variable can control the power output of the engine more flexibly, so as to achieve the ideal effect of the vehicle speed limit, realize the speed control under different road conditions, reduce the test cost, and improve the accuracy of the speed control.

In this embodiment, through the above scheme, through real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform, the host computer uses calibration measurement tools to read and write the observed control variables and the The simulation variable can realize the speed control under different road conditions, reduce the test cost, realize the test of the limit speed, and reduce the risk of the real vehicle test.

Further, FIG. 10 is a schematic flow chart of the fifth embodiment of the vehicle speed control method of the present invention. As shown in FIG. 10 , the fifth embodiment of the vehicle speed control method of the present invention is proposed based on the first embodiment. In this embodiment, the steps S30 specifically includes the following steps:

Step S31 , controlling the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load tank to perform corresponding actions according to the sensor signal and the control signal, and collecting actuator status information.

It should be noted that the load tank generally includes the real load of the fuel injector, the fuel metering valve, the throttle valve (Throttle Valve, TVA) valve and the exhaust gas recirculation (Exhaust Gas Recirculation, EGR) valve, through the sensor signal and the The above control signals control the fuel injectors, fuel metering valves, TVA valves and EGR valves of the load tank to perform corresponding actions, so as to collect actuator status information.

Step S32 , adjusting the calibration value of the engine controller according to the state information of the actuator, the control variable and the simulation variable to obtain engine adjustment parameters.

It should be understood that the calibration value preset by the engine controller can be quickly adjusted through the actuator state information, the control variable and the simulation variable, so that adjusted engine adjustment parameters can be obtained.

Step S33, performing vehicle speed control on the current vehicle according to the engine adjustment parameters.

It can be understood that the vehicle speed of the current vehicle can be controlled through the engine adjustment parameter.

In the specific implementation, as shown in Figure 11, Figure 11 is a schematic diagram of engine model signal transmission in the vehicle speed control method of the present invention, referring to Figure 11, the engine sub-model receives the injector input from the actuator signal processing sub-model, the fuel metering unit, The control signal of EGR valve and throttle valve, the rail pressure, crankshaft, camshaft, temperature and pressure and other signals are output to the engine controller through the sensor signal processing sub-model, and the CAN signal processing sub-model realizes the communication between the engine controller and external equipment; The model includes a transmission system model and a vehicle dynamics model, where the transmission system model is a longitudinal vehicle transmission model, which is used to transmit the engine output torque to the wheels, and the vehicle dynamics model is used to calculate the external load torque and calculate the final vehicle speed, output To the engine controller; environment model, including road module and output driver model, where the road model is mainly used to set the road environment such as temperature, pressure and slope, as well as different altitude environments, output to the vehicle model, driver model It can simulate driving operations such as stepping on the accelerator and brake, etc. and output them to the engine model.

In this embodiment, through the above scheme, the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled to perform corresponding actions according to the sensor signal and the control signal, and the actuator state information is collected; according to the actuator The state information, the control variable and the simulation variable adjust the calibration value of the engine controller to obtain engine adjustment parameters; according to the engine adjustment parameters, the vehicle speed of the current vehicle can be controlled to more flexibly control the power output of the engine, thereby Achieve the ideal effect of vehicle speed limit, realize vehicle speed control under different road conditions, reduce test cost, realize limit vehicle speed test, reduce the risk of real vehicle test, and realize vehicle speed control under the condition of vehicle speed sensor failure The test has reduced safety hazards, improved the accuracy of vehicle speed control, and improved the speed and efficiency of vehicle speed control.

Further, Fig. 12 is a schematic flowchart of the sixth embodiment of the vehicle speed control method of the present invention. As shown in Fig. 12, the sixth embodiment of the vehicle speed control method of the present invention is proposed based on the fifth embodiment. In this embodiment, the steps S33 specifically includes the following steps:

Step S331 , judging whether the current vehicle is in a stable idling state, and obtaining a judging result.

It should be noted that, before controlling the vehicle speed of the current vehicle according to the engine adjustment parameters, it is necessary to judge the current state of the current vehicle, that is, judge whether the current vehicle is in a stable idle state, and obtain a corresponding judgment result.

Step S332, when the determination result is that the current vehicle is in a stable idle state, obtain the current vehicle speed, and determine whether the current vehicle speed meets the preset vehicle speed requirement.

It can be understood that, when the judgment result is that the current vehicle is in a stable idling state, the current vehicle speed can be obtained, that is, the vehicle speed can be accelerated after the judgment can be made at a stable idling speed, and then the vehicle speed can be read to further judge whether the current vehicle speed is stable. Meet the pre-set preset speed requirements.

Step S333, when the current vehicle speed does not meet the preset vehicle speed requirement, perform vehicle speed control on the current vehicle according to the engine adjustment parameters.

It should be understood that, when the current vehicle speed does not meet the preset vehicle speed requirement, the current vehicle speed may be controlled according to the engine adjustment parameters.

Further, the step S333 specifically includes the following steps:

When the current vehicle speed does not meet the preset vehicle speed requirement, adjust the engine of the current vehicle according to the engine adjustment parameters to obtain adjusted engine output speed and engine output torque;

The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

It can be understood that when the current vehicle speed does not meet the preset vehicle speed requirement, the engine of the current vehicle is adjusted according to the engine adjustment parameters to obtain the adjusted engine output speed and engine output torque, and then according to Output speed and torque for vehicle speed control.

In the specific implementation, as shown in Figure 13, Figure 13 is a flow chart of the vehicle speed control test in the vehicle speed control method of the present invention, referring to Figure 13, at first, power on the engine controller through the ControlDesk software in the host computer, and then turn the key Go to the ignition position of the engine and start the engine. If the speed cannot be stabilized, check whether the synchronization signal of EECU is correct through the INCA software in the host computer, otherwise check the camshaft crankshaft signal; if the speed can be stable, compare the fuel injection signal fed back in the ControlDesk of the host computer (including timing and pulse width) and idle speed and the target value of the EECU in the upper computer INCA, if they are consistent, the idle speed is normal, otherwise the fuel injection signal needs to be checked; when the idle speed is normal, the road and environmental conditions can be set through the ControlDesk software, such as Ambient temperature, pressure and slope etc. Then perform driving operations such as stepping on the accelerator and shifting into gear; after the engine controller receives the signal input from the sensor sub-module such as the accelerator, it calculates the required intake air and fuel injection volume according to the current working conditions, drives the real load to work, and then the ds2211 board The card collects the electrical signal of the load, passes through the sub-signal processing module of the actuator, and inputs it to the model to calculate the current vehicle speed. At the same time, the vehicle speed is fed back to the engine controller through the CAN signal module; the target of the controller is read in the upper computer INCA software Vehicle speed, and compare it with the vehicle speed fed back by the model. If the actual vehicle speed is inconsistent with the target vehicle speed, first check the observations related to the vehicle speed of the engine controller, and then check the actuator and sensor signals. If necessary, readjust the calibration value; and then repeat Test until the actual vehicle speed meets the target speed requirement, and the test ends.

After turning on the power, starting the engine, and entering the normal idling speed, any given road conditions, then shifting into gear, stepping on the accelerator, the vehicle enters the driving state, and the vehicle speed rapidly increases to the pre-speed limit threshold VH (VH≈Vmax-10), at this time it will enter Pre-speed limit state; in the pre-speed limit state, continue to step on the accelerator, and the vehicle speed continues to increase, but slowly, and gradually approaches the maximum speed Vmax. If the vehicle speed can be stabilized at the maximum speed, the test passes, otherwise it fails; re-enter the pre-speed limit state , step on the accelerator to make the vehicle speed greater than the maximum speed, release the accelerator immediately, and the vehicle speed drops. After it stabilizes, step on the accelerator to the end to make the vehicle speed greater than the maximum speed. If the vehicle speed is stable at the maximum speed, the test passes, otherwise it fails; pass the test platform , which can simulate different road environments, verify the vehicle speed control strategy, and reduce the number of real vehicle tests. In addition, extreme working conditions can be tested to reduce the risk of real vehicle testing and greatly improve safety; in actual use, the quality of the vehicle speed sensor is very important, once the sensor fails, it will affect the normal operation of the engine ECU , through the test platform, it is also possible to simulate the fault state of the sensor through the message, and test the control of the vehicle speed under the fault state.

In this embodiment, the judgment result is obtained by judging whether the current vehicle is in a stable idling state through the above scheme; when the judgment result is that the current vehicle is in a stable idling state, the current vehicle speed is obtained, and it is judged whether the current vehicle speed conforms to the preset Vehicle speed requirements; when the current vehicle speed does not meet the preset vehicle speed requirements, the current vehicle speed is controlled according to the engine adjustment parameters, which can realize vehicle speed control under different road conditions, reduce test costs, and realize The test of the limit vehicle speed reduces the risk of the real vehicle test, and realizes the vehicle speed control test under the condition of the vehicle speed sensor failure, reduces the safety hazard, improves the accuracy of the vehicle speed control, and improves the speed and efficiency of the vehicle speed control.

Correspondingly, the present invention further provides a vehicle speed control device.

Referring to Fig. 14, Fig. 14 is a functional block diagram of the first embodiment of the vehicle speed control device of the present invention.

In the first embodiment of the vehicle speed control device of the present invention, the vehicle speed control device includes:

The simulation module 10 is used to run the simulation model through the engine simulation platform, send sensor signals to the engine controller according to the simulation model, and receive control signals from the ECU controller.

The variable reading module 20 is used to read and write the control variables of the engine controller and the simulation variables of the engine simulation platform through the host computer using calibration measurement tools.

The vehicle speed control module 30 is used to control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, and determine engine adjustment according to the actuator state information, the control variable and the simulation variable parameters, and perform vehicle speed control on the current vehicle according to the engine adjustment parameters.

The simulation module 10 is also used to run the engine model, the vehicle model and the environment model in the simulation model through the engine simulation platform; collect sensor signals to the engine controller according to the engine model in the simulation model, and receive the ECU controller control signal.

The simulation module 10 is also used to respond to the control command of the engine controller through the engine model in the simulation model to work, and output the simulation speed to the vehicle model; through the vehicle model according to the simulation speed and the The environmental parameters of the environmental model calculate the simulated vehicle speed, use the simulated vehicle speed as a sensor signal, and receive the control signal of the ECU controller.

The variable reading module 20 is also used for real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform; the host computer utilizes a calibration measurement tool to read and write the observed control variables and the simulation variables.

The vehicle speed control module 30 is also used to control the fuel injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collect actuator status information; according to the The state information of the actuator, the control variable and the simulation variable adjust the calibration value of the engine controller to obtain engine adjustment parameters; and the vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

The vehicle speed control module 30 is also used to judge whether the current vehicle is in a stable idle state, and obtain a judgment result; when the judgment result is that the current vehicle is in a stable idle state, obtain the current vehicle speed, and judge whether the current vehicle speed conforms to Preset vehicle speed requirements: when the current vehicle speed does not meet the preset vehicle speed requirements, perform vehicle speed control on the current vehicle according to the engine adjustment parameters.

The vehicle speed control module 30 is also used to adjust the engine of the current vehicle according to the engine adjustment parameters when the current vehicle speed does not meet the preset vehicle speed requirement, so as to obtain the adjusted engine output speed and engine speed. Output torque: controlling the vehicle speed of the current vehicle according to the engine output speed and the engine output torque.

The steps implemented by each functional module of the vehicle speed control device can refer to the various embodiments of the vehicle speed control method of the present invention, and will not be repeated here.

In addition, the embodiment of the present invention also proposes a storage medium, on which a vehicle speed control program is stored, and when the vehicle speed control program is executed by a processor, the following operations are realized:

Run the simulation model through the engine simulation platform, send the sensor signal to the engine controller according to the simulation model, and receive the control signal of the ECU controller;

Utilize the calibration measurement tool to read and write the control variables of the engine controller and the simulation variables of the engine simulation platform through the host computer;

Control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, determine engine adjustment parameters according to the actuator state information, the control variable, and the simulation variable, and adjust according to the engine parameter to control the speed of the current vehicle.

Further, when the vehicle speed control program is executed by the processor, the following operations are also realized:

Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform;

Collect sensor signals to the engine controller according to the engine model in the simulation model, and receive control signals from the ECU controller.

Further, when the vehicle speed control program is executed by the processor, the following operations are also realized:

The engine model in the simulation model responds to the control command of the engine controller to work, and outputs the simulation speed to the vehicle model;

Using the vehicle model to calculate a simulated vehicle speed according to the simulated rotational speed and the environmental parameters of the environment model, using the simulated vehicle speed as a sensor signal, and receiving a control signal from an ECU controller.

Further, when the vehicle speed control program is executed by the processor, the following operations are also realized:

Real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform;

The host computer uses a calibration measurement tool to read and write the observed control variables and simulation variables.

Further, when the vehicle speed control program is executed by the processor, the following operations are also realized:

Control the fuel injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collect actuator status information;

adjusting the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain engine adjustment parameters;

The vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

Further, when the vehicle speed control program is executed by the processor, the following operations are also realized:

Judging whether the current vehicle is in a stable idling state, and obtaining the judgment result;

When the judgment result is that the current vehicle is in a stable idling state, the current vehicle speed is obtained, and it is judged whether the current vehicle speed meets the preset vehicle speed requirement;

When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed is controlled according to the engine adjustment parameter.

Further, when the vehicle speed control program is executed by the processor, the following operations are also realized:

When the current vehicle speed does not meet the preset vehicle speed requirement, adjust the engine of the current vehicle according to the engine adjustment parameters to obtain adjusted engine output speed and engine output torque;

The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

In this embodiment, through the above scheme, the simulation model is run through the engine simulation platform, the sensor signal is sent to the engine controller according to the simulation model, and the control signal of the ECU controller is received; the host computer uses the calibration measurement tool to read and write the engine The control variable of the controller and the simulation variable of the engine simulation platform; according to the sensor signal and the control signal, the load box is controlled to perform corresponding actions, and the state information of the actuator is collected, and according to the state information of the actuator and the control variable Determine the engine adjustment parameters with the simulation variables, and control the vehicle speed of the current vehicle according to the engine adjustment parameters, so that the power output of the engine can be controlled more flexibly, so as to achieve the ideal effect of vehicle speed limit, and can realize different road construction. The vehicle speed control under the condition reduces the test cost, realizes the test of the limit vehicle speed, reduces the risk of the real vehicle test, and realizes the vehicle speed control test under the condition of the vehicle speed sensor failure, reduces the safety hazard, and improves the accuracy of the vehicle speed control , which improves the speed and efficiency of vehicle speed control.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. A vehicle speed control method, characterized by comprising:

running a simulation model through an engine simulation platform, sending a sensor signal to an engine controller according to the simulation model, and receiving a control signal of an ECU (electronic control unit) controller;

reading and writing a control variable of an engine controller and a simulation variable of the engine simulation platform by using a calibration measuring tool through an upper computer;

controlling a load box to perform corresponding actions according to the sensor signals and the control signals, acquiring actuator state information, determining engine adjustment parameters according to the actuator state information, the control variables and the simulation variables, and controlling the speed of the current vehicle according to the engine adjustment parameters.

2. The vehicle speed control method of claim 1, wherein the operating a simulation model via an engine simulation platform, sending sensor signals to an engine controller based on the simulation model, and receiving control signals from an ECU controller, comprises:

running an engine model, a vehicle model and an environment model in the simulation model through an engine simulation platform;

and acquiring sensor signals from an engine controller according to the engine model in the simulation model, and receiving control signals of an ECU controller.

3. The vehicle speed control method according to claim 2, wherein the collecting sensor signals to an engine controller according to an engine model in the simulation model and receiving control signals of an ECU controller includes:

responding to a control command of an engine controller to work through an engine model in the simulation model, and outputting a simulation rotating speed to the vehicle model;

and calculating a simulation vehicle speed through the vehicle model according to the simulation rotating speed and the environmental parameters of the environmental model, taking the simulation vehicle speed as a sensor signal, and receiving a control signal of an ECU controller.

4. The vehicle speed control method according to claim 1, wherein the reading and writing of the control variables of the engine controller and the simulation variables of the engine simulation platform by the upper computer using a calibration measurement tool comprises:

observing a control variable of an engine controller and a simulation variable of the engine simulation platform in real time;

and reading and writing the observed control variables and the observed simulation variables by using a calibration measuring tool through an upper computer.

5. The vehicle speed control method according to claim 1, wherein the controlling a load box to perform corresponding actions according to the sensor signal and the control signal, collecting actuator state information, determining an engine adjustment parameter according to the actuator state information, the control variable and the simulation variable, and performing vehicle speed control on the current vehicle according to the engine adjustment parameter comprises:

controlling a fuel injector, a fuel metering valve, a TVA valve and an EGR valve of a load box to perform corresponding actions according to the sensor signal and the control signal, and acquiring state information of an actuator;

adjusting the calibration quantity of an engine controller according to the state information of the actuator, the control variable and the simulation variable to obtain an engine adjustment parameter;

and controlling the speed of the current vehicle according to the engine adjustment parameters.

6. The vehicle speed control method of claim 5, wherein said vehicle speed controlling the current vehicle in accordance with the engine tuning parameter comprises:

judging whether the current vehicle is in a stable idling state or not, and obtaining a judgment result;

when the judgment result is that the current vehicle is in a stable idling state, acquiring the current vehicle speed, and judging whether the current vehicle speed meets the preset vehicle speed requirement or not;

and when the current vehicle speed does not accord with the preset vehicle speed requirement, performing vehicle speed control on the current vehicle according to the engine adjustment parameter.

7. The vehicle speed control method according to claim 6, wherein the performing vehicle speed control on the current vehicle according to the engine adjustment parameter when the current vehicle speed does not meet the preset vehicle speed requirement includes:

when the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain the adjusted engine output rotating speed and the adjusted engine output torque;

and controlling the speed of the current vehicle according to the engine output rotating speed and the engine output torque.

8. A vehicle speed control device, characterized by comprising:

the simulation module is used for operating a simulation model through an engine simulation platform, sending a sensor signal to an engine controller according to the simulation model and receiving a control signal of an ECU controller;

the variable reading module is used for reading and writing control variables of an engine controller and simulation variables of the engine simulation platform by using a calibration measuring tool through an upper computer;

and the vehicle speed control module is used for controlling a load box to perform corresponding actions according to the sensor signals and the control signals, acquiring the state information of an actuator, determining an engine adjustment parameter according to the state information of the actuator, the control variable and the simulation variable, and controlling the vehicle speed of the current vehicle according to the engine adjustment parameter.

9. A vehicle speed control apparatus characterized by comprising: a memory, a processor and a vehicle speed control program stored on the memory and executable on the processor, the vehicle speed control program being configured to implement the steps of the vehicle speed control method as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that a vehicle speed control program is stored thereon, which when executed by a processor implements the steps of the vehicle speed control method according to any one of claims 1 to 7.

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