CN115685782A - Vehicle speed control method, device, equipment and storage medium - Google Patents
Vehicle speed control method, device, equipment and storage medium Download PDFInfo
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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
Technical Field
The invention relates to the technical field of electronic control tests, in particular to a vehicle speed control method, a vehicle speed control device, vehicle speed control equipment and a storage medium.
Background
With the dramatic increase of the number of global automobiles, road driving safety becomes a social problem which is more and more concerned, and a series of researches at home and abroad show that the most important factor influencing the road traffic safety is overspeed driving; research shows that the probability of traffic accidents is increased rapidly along with the increase of the running speed of the vehicle; therefore, it is necessary to add a function of limiting the vehicle speed; the electric control unit needs to accurately acquire the running speed of the vehicle to limit the vehicle speed, and then combines other factors to strengthen the control of an engine oil supply system and more flexibly control the power output of the engine on the basis of accurately acquiring the running speed of the vehicle, so that the ideal effect of limiting the vehicle speed of the whole vehicle is achieved.
The existing vehicle speed electric control mode usually needs to verify vehicle speed control on a real vehicle, and needs to verify whether the vehicle speed of the vehicle can be limited within a set range under different working conditions, and the existing vehicle speed electric control mode has the following defects: when the real vehicle tests the limit vehicle speed, the safety of testing personnel cannot be ensured; different road environments are needed, and the test is inconvenient; vehicle speed control is dangerous under the condition of simulating sensor failure.
Disclosure of Invention
The invention mainly aims to provide a vehicle speed control method, a device, equipment and a storage medium, and aims to solve the technical problems that in the prior art, actual measurement and test cannot ensure the safety of testers, the test process is complicated, different road environments are required to be matched, and the vehicle speed control precision is low when a sensor fails, so that the vehicle is dangerous.
In a first aspect, the present invention provides a vehicle speed control method including the steps of:
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 control variables of an engine controller and simulation variables 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.
Optionally, the 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 controller includes:
running an engine model, a vehicle model and an environment model in the simulation model through an engine simulation platform;
and acquiring sensor signals to an engine controller according to the engine model in the simulation model, and receiving control signals of an ECU (electronic control unit) controller.
Optionally, the acquiring 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.
Optionally, 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 by using a calibration measurement tool includes:
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 variable and the simulation variable by using a calibration measuring tool through an upper computer.
Optionally, the controlling a load box to perform corresponding actions according to the sensor signal and the control signal, acquiring 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 performing vehicle speed control on the current vehicle according to the engine adjustment parameter includes:
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.
Optionally, the controlling the speed of the current vehicle according to the engine adjustment parameter includes:
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 meet the preset vehicle speed requirement, controlling the current vehicle speed according to the engine adjustment parameter.
Optionally, when the current vehicle speed does not meet the preset vehicle speed requirement, performing vehicle speed control on the current vehicle according to the engine adjustment parameter 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.
In a second aspect, to achieve the above object, the present invention further provides a vehicle speed control device, including:
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 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;
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.
In a third aspect, to achieve the above object, the present invention also proposes a vehicle speed control apparatus 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 described above.
In a fourth aspect, to achieve the above object, the present invention further proposes a storage medium having a vehicle speed control program stored thereon, the vehicle speed control program, when executed by a processor, implementing the steps of the vehicle speed control method as described above.
The vehicle speed control method provided by the invention 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 (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; the method comprises the steps of controlling a load box to perform corresponding actions according to a sensor signal and a control signal, acquiring actuator state information, determining an engine adjusting parameter according to the actuator state information, a control variable and a simulation variable, controlling the speed of the current vehicle according to the engine adjusting parameter, and controlling the power output of the engine more flexibly, so that the ideal effect of limiting the speed of the whole vehicle is achieved, the speed control under different road conditions can be realized, the test cost is reduced, the test of the limit speed of the vehicle is realized, the test risk of the real vehicle is reduced, the speed control test under the fault state of a speed sensor is realized, the potential safety hazard is reduced, the accuracy of the speed control is improved, and the speed and the efficiency of the speed control are improved.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a vehicle speed control method according to the present invention;
FIG. 3 is a schematic diagram of a test system in the vehicle speed control method of the present invention;
FIG. 4 is a schematic diagram of a simulation platform in the vehicle speed control method according to the present invention;
FIG. 5 is a flowchart illustrating a second embodiment of a vehicle speed control method according to the present invention;
FIG. 6 is a flowchart illustrating a third embodiment of a vehicle speed control method according to the present invention;
FIG. 7 is a schematic diagram of a simulation model in the vehicle speed control method;
FIG. 8 is a flowchart illustrating a fourth embodiment of the vehicle speed control method of the present invention;
FIG. 9 is a schematic diagram of the upper computer in the vehicle speed control method according to the present invention;
FIG. 10 is a flowchart illustrating a fifth embodiment of the vehicle speed control method of the present invention;
FIG. 11 is a schematic representation of engine model signal transmission in the vehicle speed control method of the present invention;
FIG. 12 is a flowchart illustrating a sixth embodiment of a vehicle speed control method according to the present invention;
FIG. 13 is a flowchart of a vehicle speed control test performed by the vehicle speed control method of the present invention;
fig. 14 is a functional block diagram of the vehicle speed control apparatus according to the first embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The solution of the embodiment of the invention is mainly as follows: 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; the method comprises the steps of controlling a load box to perform corresponding actions according to a sensor signal and a control signal, acquiring actuator state information, determining an engine adjusting parameter according to the actuator state information, a control variable and a simulation variable, controlling the speed of the current vehicle according to the engine adjusting parameter, and more flexibly controlling the power output of the engine, so that the ideal effect of limiting the speed of the whole vehicle is achieved, the speed control under different road conditions can be realized, the test cost is reduced, the test of the limit speed of the vehicle is realized, the test risk of the real vehicle is reduced, the speed control test under the fault state of a speed sensor is realized, the potential safety hazard is reduced, the accuracy of the speed control is improved, the speed and the efficiency of the speed control are improved, and the technical problems that the safety of testers cannot be guaranteed by actual test in the prior art, the test process is complicated, the matching of different road environments is needed, the speed control precision is lower when the sensor fails, and the vehicle is dangerous are solved.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus 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. The communication bus 1002 is used to implement connection communication among 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, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating device, a network communication module, a user interface module, and a vehicle speed control program.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and performs the following operations:
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.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and further performs the following operations:
running an engine model, a vehicle model and an environment model in the simulation model through an engine simulation platform;
and acquiring sensor signals to an engine controller according to the engine model in the simulation model, and receiving control signals of an ECU (electronic control unit) controller.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
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 simulated vehicle speed through the vehicle model according to the simulated rotating speed and the environmental parameters of the environmental model, taking the simulated vehicle speed as a sensor signal, and receiving a control signal of an ECU (electronic control unit) controller.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
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.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and further performs the following operations:
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.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and further performs the following operations:
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 a preset vehicle speed requirement or not;
and when the current vehicle speed does not meet the preset vehicle speed requirement, controlling the current vehicle speed according to the engine adjustment parameter.
The apparatus of the present invention calls a vehicle speed control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
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.
According to the scheme, the simulation model is operated 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; 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; the method comprises the steps of controlling a load box to perform corresponding actions according to a sensor signal and a control signal, collecting actuator state information, determining an engine adjustment parameter according to the actuator state information, a control variable and a simulation variable, and performing speed control on the current vehicle according to the engine adjustment parameter, so that the power output of the engine can be more flexibly controlled, the ideal effect of limiting the speed of the whole vehicle is achieved, speed control under different road conditions can be achieved, the test cost is reduced, the test of the limit speed is achieved, the test risk of the real vehicle is reduced, the speed control test under the fault state of a speed sensor is achieved, potential safety hazards are reduced, the accuracy of speed control is improved, and the speed and the efficiency of speed control are improved.
Based on the hardware structure, the embodiment of the vehicle speed control method is provided.
Referring to fig. 2, fig. 2 is a flow chart illustrating a vehicle speed control method according to a first embodiment of the present invention.
In the first embodiment, the vehicle speed control method includes the steps of:
and S10, 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 (electronic control unit) controller.
It should be noted that the engine simulation platform may be configured to run a simulation model, and further send a sensor signal to an engine controller according to the simulation model, and receive a Control signal of an Electronic Control Unit (ECU) controller.
And S20, reading and writing the control variables of the engine controller and the simulation variables of the engine simulation platform by using a calibration measuring tool through the upper computer.
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 the upper computer through a calibration measurement tool.
And S30, 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.
It should be understood that the load box may include a real load, and corresponding actions are performed according to the control signal of the engine simulation platform, so that the state information of the feedback actuator may be collected; and the engine controller writes in a control program, namely controls a load box to perform corresponding actions through the sensor signal and the control signal, can acquire the state information of the actuator, further determines the adjustment parameter of the engine according to the state information of the actuator, the control variable and the simulation variable, and controls the speed of the current vehicle according to the adjustment parameter of the engine, so that the test risk of the actual vehicle can be reduced, the test safety is ensured, and meanwhile, the cost is reduced and the development period is shortened.
In a specific implementation, as shown in fig. 3, fig. 3 is a schematic diagram of a test system in the vehicle speed control method of the present invention, and the test system for vehicle speed control is shown in fig. 3, wherein an engine simulation platform is respectively connected with an upper computer, an engine controller and a load box, and the upper computer is connected with the controller through a calibration measurement tool.
As shown in fig. 4, fig. 4 is a schematic structural diagram of a simulation platform in the vehicle speed control method of the present invention, and is shown in fig. 4, the platform is based on a DS1006 platform, the DS1006 platform is a hardware and software product developed by dSPACE corporation, and is composed of a real-time processor, a DS2211 IO board, a programmable power supply, an engine, and a vehicle model, the DS2211 board is used for connecting with an input and output physical signal of an engine controller, the real-time processor is used for running the physical model in the DS1006 platform, and the programmable power supply is used for supplying power to the engine controller, so as to meet the power supply voltage requirement of the engine controller.
According to the scheme, the simulation model is operated 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; 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; the method comprises the steps of controlling a load box to perform corresponding actions according to a sensor signal and a control signal, collecting actuator state information, determining an engine adjustment parameter according to the actuator state information, a control variable and a simulation variable, and performing speed control on the current vehicle according to the engine adjustment parameter, so that the power output of the engine can be more flexibly controlled, the ideal effect of limiting the speed of the whole vehicle is achieved, speed control under different road conditions can be achieved, the test cost is reduced, the test of the limit speed is achieved, the test risk of the real vehicle is reduced, the speed control test under the fault state of a speed sensor is achieved, potential safety hazards are reduced, the accuracy of speed control is improved, and the speed and the efficiency of speed control are improved.
Further, fig. 5 is a flowchart illustrating a second embodiment of the vehicle speed control method according to the present invention, and as shown in fig. 5, the second embodiment of the vehicle speed control method according to the present invention is proposed based on the first embodiment, and in this embodiment, the step S10 specifically includes the following steps:
and S11, operating an engine model, a vehicle model and an 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 specific implementation, the engine model comprises an engine submodel, a sensor signal processing submodel, an actuator signal processing submodel and a CAN communication submodel, and CAN simulate the working process of the engine and calculate the rotating speed of the engine; the environment model comprises a driver model and a road model and is used for simulating the operation of a driver and setting road environment conditions, and the vehicle model comprises a transmission model and a vehicle speed calculation model and can calculate the vehicle speed of the current vehicle.
And S12, acquiring sensor signals to an engine controller according to the engine model in the simulation model, and receiving control signals of an ECU (electronic control unit) controller.
It should be understood that the sensor signals may be collected from the engine controller and control signals from the ECU controller may be received according to an engine model in the simulation model.
According to the scheme, the engine model, the vehicle model and the environment model in the simulation model are operated through the engine simulation platform; the sensor signals are acquired to the engine controller according to the engine model in the simulation model, the control signals of the ECU controller are received, the sensor signals and the control signals can be rapidly obtained, the power output of the engine can be more flexibly controlled, and therefore the ideal effect of limiting the speed of the whole vehicle is achieved.
Further, fig. 6 is a flowchart illustrating a third embodiment of the vehicle speed control method according to the present invention, and as shown in fig. 6, the third embodiment of the vehicle speed control method according to the present invention is proposed based on the second embodiment, in this embodiment, the step S12 specifically includes the following steps:
and S121, responding to a control command of an engine controller through an engine model in the simulation model to work, and outputting a simulation rotating speed to the vehicle model.
It should be noted that the engine model operates according to a control command of the engine controller and outputs the rotating speed to the vehicle model, that is, the engine model in the simulation model operates in response to the control command of the engine controller and outputs the simulated rotating speed to the vehicle model.
And S122, 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 (electronic control unit) controller.
It can be understood that the vehicle model calculates the current vehicle speed according to the engine speed and the environmental conditions, that is, obtains the simulated vehicle speed, and then uses the simulated vehicle speed as a sensor signal and receives a control signal of the ECU controller.
In a specific implementation, as shown in fig. 7, fig. 7 is a schematic structural diagram of a simulation model in a vehicle speed control method, and referring to fig. 7, the simulation model includes an engine model, a vehicle model and an environment model, the engine model operates according to a control command of an engine controller, outputs a rotation speed to the vehicle model, and the vehicle model calculates a current vehicle speed according to the engine rotation speed and an environment condition and feeds the vehicle speed back to the engine controller to form a closed loop, wherein the engine model is used for simulating an engine operating process.
According to the scheme, the engine model in the simulation model responds to a control command of an engine controller to work, and the simulation rotating speed is output to the vehicle model; the vehicle model calculates the simulated vehicle speed according to the simulated rotating speed and the environmental parameters of the environmental model, the simulated vehicle speed is used as a sensor signal, and a control signal of an ECU (electronic control unit) controller is received, so that the sensor signal and the control signal can be quickly obtained, the power output of an engine can be more flexibly controlled, and the ideal effect of limiting the vehicle speed of the whole vehicle is achieved.
Further, fig. 8 is a flowchart illustrating a fourth embodiment of the vehicle speed control method according to the present invention, and as shown in fig. 8, the fourth embodiment of the vehicle speed control method according to the present invention is proposed based on the first embodiment, in the present embodiment, the step S20 specifically includes the following steps:
and S21, carrying out real-time observation on the control variable of the engine controller and the simulation variable 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.
And S22, reading and writing the observed control variable and the simulation variable by using a calibration measuring tool through an upper computer.
It should be understood that the observed control variables and the simulation variables may be read and written by the host computer using a calibration measurement tool.
In a specific implementation, as shown in fig. 9, fig. 9 is a schematic structural diagram of an upper computer in the vehicle speed control method of the present invention, referring to fig. 9, a ControlDesk software for changing model parameters and observation variables in real time, a matlab/simulink software for establishing a model, and an INCA software for calibrating and measuring an engine controller; the ControlDesk software is used for writing numerical values into parameters of the engine and the vehicle model and reading variables of the engine and the vehicle model for observation; matlab/simulink software is used for building an engine and vehicle model and submodels thereof; the calibration and measurement software INCA is used for observing calibration variables and measurement variables in the engine controller and mastering the running state of each variable in the controller in real time; the load box fixes all main actuators of the engine, including a fuel injector section, a fuel metering unit, a throttle valve and an EGR valve, in a box through a support, pins of the electromagnetic valve are connected with a wire harness, and the main actuators are connected to a simulation platform through a ds2211 board card.
The software running on the simulation platform is compiled through a model built by the software matlab/simulink and then downloaded to the ds1006 board card through the ControlDesk software. According to the scheme, the control variable of the engine controller and the simulation variable of the engine simulation platform are observed in real time; the upper computer reads and writes the observed control variable and the simulation variable by using the calibration measuring tool, and the power output of the engine can be more flexibly controlled, so that the ideal effect of limiting the speed of the whole vehicle is achieved, the speed control under different road working conditions can be realized, the test cost is reduced, and the accuracy of the speed control is improved.
According to the scheme, the control variable of the engine controller and the simulation variable of the engine simulation platform are observed in real time, the control variable and the simulation variable are read and written in by the upper computer through the calibration measuring tool, vehicle speed control under different road working conditions can be achieved, testing cost is reduced, testing of the limit vehicle speed is achieved, and real vehicle testing risks are reduced.
Further, fig. 10 is a schematic flowchart of a fifth embodiment of the vehicle speed control method according to the present invention, and as shown in fig. 10, the fifth embodiment of the vehicle speed control method according to the present invention is proposed based on the first embodiment, and in the present embodiment, the step S30 specifically includes the following steps:
and S31, controlling a fuel injector, a fuel metering valve, a TVA valve and an EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and acquiring the state information of the actuator.
It should be noted that the load box generally includes real loads of an injector, a fuel metering Valve, a Throttle Valve (TVA) and an Exhaust Gas Recirculation (EGR) Valve, and the injector, the fuel metering Valve, the TVA and the EGR Valve of the load box are controlled to perform corresponding actions by the sensor signal and the control signal, so as to acquire state information of the actuator.
And S32, adjusting the calibration quantity of the engine controller according to the actuator state information, the control variable and the simulation variable to obtain an engine adjustment parameter.
It should be understood that the calibration quantity preset by the engine controller can be quickly adjusted by the actuator state information, the control variable and the simulation variable, so that the adjusted engine adjustment parameter can be obtained.
And S33, controlling the speed of the current vehicle according to the engine adjusting parameter.
It will be appreciated that the speed of the current vehicle may be controlled by the engine tuning parameters.
In a specific implementation, as shown in fig. 11, fig. 11 is a schematic diagram of signal transmission of an engine model in the vehicle speed control method of the present invention, referring to fig. 11, an engine sub-model receives control signals of an injector, a fuel metering unit, an EGR valve, and a throttle valve input by an actuator signal processing sub-model, and outputs signals of rail pressure, a crankshaft, a camshaft, temperature pressure, and the like to an engine controller through a sensor signal processing sub-model, and a CAN signal processing sub-model realizes communication between the engine controller and an external device; the vehicle model comprises a transmission system model and a vehicle dynamic model, wherein the transmission system model is a longitudinal vehicle transmission model and is used for transmitting the output torque of the engine to wheels, and the vehicle dynamic model is used for calculating the external load torque, calculating the final vehicle speed and outputting the final vehicle speed to the engine controller; the environment model comprises a road module and an output driver model, wherein the road model is mainly used for setting road environments such as temperature, pressure and gradient and different altitude environments and outputting the road environments to the vehicle model, and the driver model can simulate driving operations such as stepping on an accelerator and a brake and output the driving operations to the engine model.
According to the 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 state information of the actuator is acquired; 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; the current vehicle is controlled according to the engine adjustment parameters, and the power output of the engine can be controlled more flexibly, so that the ideal effect of limiting the vehicle speed of the whole vehicle is achieved, the vehicle speed control under different road working conditions can be realized, the test cost is reduced, the test of the limit vehicle speed is realized, the real vehicle test risk is reduced, the vehicle speed control test under the fault state of the vehicle speed sensor is realized, the potential safety hazard is reduced, the accuracy of vehicle speed control is improved, and the speed and the efficiency of vehicle speed control are improved.
Further, fig. 12 is a flowchart illustrating a sixth embodiment of the vehicle speed control method according to the present invention, and as shown in fig. 12, the sixth embodiment of the vehicle speed control method according to the present invention is proposed based on the fifth embodiment, in the present embodiment, the step S33 specifically includes the following steps:
and step S331, judging whether the current vehicle is in a stable idling state or not, and obtaining a judgment result.
It should be noted that, before the vehicle speed control of the current vehicle is performed according to the engine adjustment parameter, the current state of the current vehicle needs to be determined, that is, whether the current vehicle is in a stable idle state is determined, and a corresponding determination result is obtained.
And S332, 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.
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 acquired, that is, acceleration is performed only after whether the current vehicle is in a stable idling state is judged, and then the vehicle speed is read, so as to further judge whether the current vehicle speed meets a preset vehicle speed requirement.
And S333, when the current vehicle speed does not accord with the preset vehicle speed requirement, controlling the current vehicle speed according to the engine adjustment parameter.
It should be appreciated 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 parameter.
Further, the step S333 specifically includes the following steps:
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.
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 parameter to obtain the adjusted engine output rotating speed and engine output torque, and then vehicle speed control is performed according to the output rotating speed and the engine output torque.
In a specific implementation, as shown in fig. 13, fig. 13 is a vehicle speed control test flow chart in the vehicle speed control method of the present invention, and referring to fig. 13, first, a controller of an engine is powered up through ControlDesk software in an upper computer, then a key is screwed to an ignition position of the engine, the engine is started, if the rotating speed cannot be stabilized, whether a synchronization signal of an EECU is correct is checked through INCA software in the upper computer, otherwise, a camshaft crankshaft signal is checked; if the rotating speed can be stable, comparing the oil injection signal (including timing and pulse width) fed back from the upper computer ControlDesk and the idle rotating speed with the target value of the EECU in the upper computer INCA, if the idle rotating speed is consistent with the target value, the idle rotating speed is normal, otherwise, the oil injection signal needs to be checked; after normal idling, road and environmental conditions, such as ambient temperature, pressure, gradient and the like, can be set through the ControlDesk software. Then, driving operations such as stepping on an accelerator, engaging gears and the like are carried out; after receiving signals input by sensor submodules such as an accelerator and the like, the engine controller calculates required air inlet and oil injection quantity according to the current working condition to drive a real load to work, then a ds2211 board card collects load electric signals, the load electric signals are input to a model through an actuator sub-signal processing module to calculate the current vehicle speed, and meanwhile, the vehicle speed is fed back to the engine controller through a CAN signal module; reading a target vehicle speed of a controller in INCA software of the upper computer, comparing the target vehicle speed with a vehicle speed fed back by a model, if the actual vehicle speed is inconsistent with the target vehicle speed, checking observed quantity related to the vehicle speed of the engine controller, checking signals of an actuator and a sensor, and if necessary, readjusting the calibration quantity; and testing again until the actual vehicle speed meets the target vehicle speed requirement, and finishing the test.
After the engine is powered on, the engine is started, after the engine enters normal idling, the road condition is randomly given, then the gear is put into, the accelerator is stepped on, the vehicle enters a running state, the vehicle speed is rapidly increased to a speed pre-limiting threshold VH (VH is approximately equal to Vmax-10), and at the moment, the vehicle enters a speed pre-limiting state; in a pre-speed limit state, continuously stepping on the accelerator, continuously increasing the speed of the vehicle, slowly increasing the speed of the vehicle to gradually approach the maximum speed Vmax, if the speed of the vehicle can be stabilized at the maximum speed, the test is passed, otherwise, the test is not passed; re-entering a pre-speed limiting state, stepping on the accelerator to enable the vehicle speed to be larger than the highest vehicle speed, immediately loosening the accelerator, reducing the vehicle speed, stepping on the accelerator to the bottom after the vehicle speed is stabilized to enable the vehicle speed to be larger than the highest vehicle speed, if the vehicle speed is stabilized at the highest vehicle speed, the test is passed, otherwise, the test is not passed; through the test platform, different road environments can be simulated, the speed control strategy can be verified, and the real vehicle test times can be reduced. In addition, the test of the limit working condition can be carried out, the risk of the real vehicle test is reduced, and the safety is greatly improved; in the practical use, the quality of the vehicle speed sensor is crucial, once the sensor fails, the normal work of the engine ECU can be influenced, and the control of the vehicle speed in the failure state can be tested by simulating the failure state of the sensor through messages through the test platform.
According to the scheme, the judgment result is obtained by judging whether the current vehicle is in the stable idling state; 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 a preset vehicle speed requirement or not; when the current vehicle speed does not accord with the preset vehicle speed requirement, the current vehicle is subjected to vehicle speed control according to the engine adjustment parameters, vehicle speed control under different road working conditions can be realized, the test cost is reduced, the test of the limit vehicle speed is realized, the real vehicle test risk is reduced, the vehicle speed control test under the fault state of a vehicle speed sensor is realized, 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.
Accordingly, the invention further provides a vehicle speed control device.
Referring to fig. 14, fig. 14 is a functional block diagram of the vehicle speed control device according to the first embodiment of the present invention.
In a first embodiment of the vehicle speed control device of the present invention, the vehicle speed control device includes:
the simulation module 10 is configured to run a simulation model through an engine simulation platform, send a sensor signal to an engine controller according to the simulation model, and receive a control signal of the ECU controller.
And the variable reading module 20 is used for reading and writing the control variables of the engine controller and the simulation variables of the engine simulation platform by using a calibration measuring tool through the upper computer.
And the vehicle speed control module 30 is used for controlling the load box to perform corresponding actions according to the sensor signal and the control signal, acquiring the state information of the 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.
The simulation module 10 is further configured to run an engine model, a vehicle model and an environment model in the simulation model through the 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.
The simulation module 10 is further configured to respond to a control command of an engine controller through an engine model in the simulation model to operate, and output a simulation rotation speed to the vehicle model; and calculating a simulated vehicle speed through the vehicle model according to the simulated rotating speed and the environmental parameters of the environmental model, taking the simulated vehicle speed as a sensor signal, and receiving a control signal of an ECU (electronic control unit) controller.
The variable reading module 20 is further configured to perform real-time observation on the control variable of the engine controller and the simulation variable of the engine simulation platform; and reading and writing the observed control variable and the simulation variable by using a calibration measuring tool through an upper computer.
The vehicle speed control module 30 is further configured to control a fuel injector, a fuel metering valve, a TVA valve and an EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and acquire 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.
The vehicle speed control module 30 is further configured to determine whether the current vehicle is in a stable idle state, and obtain a determination 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 meet the preset vehicle speed requirement, controlling the current vehicle speed according to the engine adjustment parameter.
The vehicle speed control module 30 is further configured to adjust an engine of the current vehicle according to the engine adjustment parameter when the current vehicle speed does not meet the preset vehicle speed requirement, so as to obtain an adjusted engine output rotation speed and an adjusted engine output torque; and controlling the speed of the current vehicle according to the engine output rotating speed and the engine output torque.
The steps implemented by the functional modules of the vehicle speed control device can refer to the embodiments of the vehicle speed control method of the present invention, and are not described herein again.
Furthermore, an embodiment of the present invention further provides a storage medium having a vehicle speed control program stored thereon, where the vehicle speed control program, when executed by a processor, implements the following operations:
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 signal and the control signal, acquiring 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 performing speed control on the current vehicle according to the engine adjustment parameter.
Further, the vehicle speed control program when executed by the processor further performs the operations of:
running an engine model, a vehicle model and an environment model in the simulation model through an engine simulation platform;
and acquiring sensor signals to an engine controller according to the engine model in the simulation model, and receiving control signals of an ECU (electronic control unit) controller.
Further, the vehicle speed control program when executed by the processor further performs the operations of:
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 simulated vehicle speed through the vehicle model according to the simulated rotating speed and the environmental parameters of the environmental model, taking the simulated vehicle speed as a sensor signal, and receiving a control signal of an ECU (electronic control unit) controller.
Further, the vehicle speed control program when executed by the processor further performs the operations of:
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 variable and the simulation variable by using a calibration measuring tool through an upper computer.
Further, the vehicle speed control program when executed by the processor further performs the operations of:
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 adjusting parameter.
Further, the vehicle speed control program when executed by the processor further performs the operations of:
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 meet the preset vehicle speed requirement, controlling the current vehicle speed according to the engine adjustment parameter.
Further, the vehicle speed control program when executed by the processor further performs the operations of:
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.
According to the scheme, the simulation model is operated 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; 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; the method comprises the steps of controlling a load box to perform corresponding actions according to a sensor signal and a control signal, collecting actuator state information, determining an engine adjustment parameter according to the actuator state information, a control variable and a simulation variable, and performing speed control on the current vehicle according to the engine adjustment parameter, so that the power output of the engine can be more flexibly controlled, the ideal effect of limiting the speed of the whole vehicle is achieved, speed control under different road conditions can be achieved, the test cost is reduced, the test of the limit speed is achieved, the test risk of the real vehicle is reduced, the speed control test under the fault state of a speed sensor is achieved, potential safety hazards are reduced, the accuracy of speed control is improved, and the speed and the efficiency of speed control are improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
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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