CN116588064A - Control working system for pre-aiming type driver of automobile - Google Patents

Control working system for pre-aiming type driver of automobile Download PDF

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Publication number
CN116588064A
CN116588064A CN202310557928.9A CN202310557928A CN116588064A CN 116588064 A CN116588064 A CN 116588064A CN 202310557928 A CN202310557928 A CN 202310557928A CN 116588064 A CN116588064 A CN 116588064A
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China
Prior art keywords
vehicle
pretightening
torque
aiming
module
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Pending
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CN202310557928.9A
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Chinese (zh)
Inventor
王伟
曲辅凡
吴利广
李文博
李鑫
梅铮
方茂东
雷斌
吴淑霞
石攀
王辉
陈小辰
王云川
孟庆宇
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CATARC Automotive Test Center Tianjin Co Ltd
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CATARC Automotive Test Center Tianjin Co Ltd
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Priority to CN202310557928.9A priority Critical patent/CN116588064A/en
Publication of CN116588064A publication Critical patent/CN116588064A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0605—Throttle position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a control work system for a pre-aiming driver of an automobile, which comprises the following components: the pretightening input module is used for calculating and obtaining pretightening time, pretightening speed and pretightening gradient of a vehicle from a pretightening point according to the current speed of the vehicle, and outputting the pretightening time, the pretightening speed and the pretightening gradient to the pretightening torque calculation module; the pre-aiming torque calculation module is connected with the pre-aiming input module and is used for calculating the whole vehicle required torque of the vehicle and then sending the calculated whole vehicle required torque to the accelerator pedal signal module and the brake pedal signal module; the accelerator pedal signal module is used for obtaining a corresponding accelerator pedal signal and outputting the accelerator pedal signal to an accelerator pedal on a vehicle; and the brake pedal signal module is used for obtaining a corresponding brake pedal signal and outputting the corresponding brake pedal signal to a brake pedal on the vehicle. The invention has scientific design, can predict the whole vehicle required torque of the vehicle when the vehicle runs to the pre-aiming point according to the current running state of the vehicle, and further obtains corresponding acceleration signals and braking signals, thereby safely and reliably realizing the adjustment of the actual running path of the vehicle.

Description

Control working system for pre-aiming type driver of automobile
Technical Field
The invention relates to the technical field of automobile driving, in particular to an automobile pre-aiming type driver control working system.
Background
The driver model is a mathematical model describing the behavior of the driver, and it can describe the driving behavior of the real driver under various driving conditions.
The running of the automobile is limited by three factors, namely the command action of the driver, the response of the automobile and the influence of the road on the driver. The safety of the driver driving the vehicle is related not only to the performance quality of the vehicle itself, but also to the operational behavior characteristics of the driver of the vehicle. The process of driving the automobile by the driver is the process of interaction of the automobile, the driver and the road traffic environment.
Therefore, whether the optimization design of the performance quality of the automobile itself or the research of a closed loop system consisting of a 'man-car-road' and the safety of the automobile and the reliability of other systems are required to construct a scientific and accurate driver model at present.
However, at present, no technology exists, and a scientific and accurate driver model can be constructed, so that real-time adjustment of the actual running path of the vehicle can be safely and reliably realized in the running process of the vehicle.
Disclosure of Invention
The invention aims at providing a control work system for a driver of an automobile pre-aiming type aiming at the technical defects existing in the prior art.
The invention provides an automobile pre-aiming driver control working system, which is characterized by comprising a pre-aiming input module, a pre-aiming torque calculation module, an accelerator pedal signal module and a brake pedal signal module, wherein:
the pretightening input module is used for calculating pretightening time, pretightening speed and pretightening gradient of a vehicle from a pretightening point according to the current speed of the vehicle input from the outside, and outputting the pretightening time, the pretightening speed and the pretightening gradient to the pretightening torque calculation module;
the pretightening torque calculation module is connected with the pretightening input module and is used for calculating the whole vehicle demand torque of the vehicle according to the pretightening time, the pretightening speed and the pretightening gradient sent by the pretightening input module and the current speed of the externally input vehicle and then sending the whole vehicle demand torque to the accelerator pedal signal module and the brake pedal signal module;
the accelerator pedal signal module is connected with the pretightening torque calculation module and is used for obtaining a corresponding accelerator pedal signal according to the whole vehicle required torque of the vehicle sent by the pretightening torque calculation module and the current speed of the vehicle input from the outside and outputting the corresponding accelerator pedal signal to an accelerator pedal on the vehicle;
the brake pedal signal module is connected with the pretightening torque calculation module and is used for obtaining a corresponding brake pedal signal according to the whole vehicle required torque of the vehicle sent by the pretightening torque calculation module and the current speed of the vehicle input from the outside and outputting the corresponding brake pedal signal to a brake pedal on the vehicle.
Compared with the prior art, the technical scheme provided by the invention provides the control working system for the driver of the automobile pre-aiming, which is scientific in design, can effectively predict the whole vehicle required torque of the automobile when the automobile runs to the pre-aiming point according to the current running state of the automobile, further obtains corresponding acceleration signals and braking signals, and can construct a scientific and accurate driver pre-aiming model, so that the actual running path of the automobile can be safely and reliably regulated in the running process of the automobile, and the control working system has great practical significance.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a pre-aiming type driver control work system for an automobile;
FIG. 2 is a schematic diagram of a pre-aiming input module in an automotive pre-aiming driver control system provided by the invention;
FIG. 3 is an overall schematic diagram of a pre-aiming torque calculation module in an automotive pre-aiming driver control system provided by the invention;
FIG. 4 is a schematic diagram of the calculation principle of the rolling resistance moment calculation module in the control work system of the pre-aiming type driver of the automobile;
fig. 5 is a schematic diagram of a calculation principle of an air resistance moment calculation module in an automobile pre-aiming type driver control working system;
FIG. 6 is a schematic diagram of the calculation principle of the ramp resistance moment calculation module in the control work system of the pre-aiming type driver of the automobile;
FIG. 7 is a schematic diagram of the calculation principle of the acceleration resistance moment calculation module of the pre-aiming type driver control working system of the automobile;
FIG. 8 is a schematic diagram of the working principle of the accelerator pedal signal module in the pre-aiming type driver control working system of the automobile;
fig. 9 is a schematic diagram of the working principle of a brake pedal signal module in a pre-aiming type driver control working system of an automobile.
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the drawings and embodiments.
Referring to fig. 1 to 9, the invention provides an automobile pre-aiming driver control working system, which is used for controlling the current running state of a vehicle by constructing a driver pre-aiming model, and specifically comprises a pre-aiming input module, a pre-aiming torque calculation module, an accelerator pedal signal module and a brake pedal signal module, wherein:
a pre-aiming input module for inputting the current speed v of the vehicle according to the outside 0 Calculating and obtaining pretightening time t, pretightening speed v and pretightening gradient theta of a vehicle from a pretightening point, and outputting the pretightening time t, the pretightening speed v and the pretightening gradient theta to a pretightening torque calculation module;
the pre-aiming time t is the time required for the current position of the vehicle to reach a pre-aiming point, and is mainly used for calculating the acceleration resistance moment from the vehicle to the pre-aiming point; the pretightening speed v is the speed of the process that the current position of the vehicle reaches a pretightening point, and is mainly used for calculating the rolling resistance moment, the air resistance moment and the acceleration resistance moment of the vehicle to the pretightening point; the pre-aiming gradient theta is the gradient of the road in the process that the current position of the vehicle reaches a pre-aiming point, and is mainly used for calculating the rolling resistance moment and the gradient resistance moment from the vehicle to the pre-aiming point.
The pretightening torque calculation module is connected with the pretightening input module and is used for calculating the pretightening torque according to the pretightening time t, the pretightening speed v, the pretightening gradient theta sent by the pretightening input module and the current speed v of the externally input vehicle 0 Calculating the whole vehicle required torque T of the vehicle Req Then sending the signals to an accelerator pedal signal module and a brake pedal signal module;
in which the vehicle demand torque T of the vehicle is to be described Req Is a vehicleThe torque required by the whole vehicle in the process of running from the current position to the pre-aiming point mainly reflects the power demand of the vehicle.
The accelerator pedal signal module is connected with the pretightening torque calculation module and is used for calculating the required torque T of the whole vehicle according to the pretightening torque sent by the pretightening torque calculation module Req And according to the current speed v of the externally input vehicle 0 Obtaining a corresponding accelerator pedal signal A and outputting the signal A to an accelerator pedal (namely an accelerator pedal) on a vehicle;
it should be noted that, the accelerator pedal signal a is an acceleration signal input to the accelerator pedal by an Electronic Control Unit (ECU) of the vehicle when the vehicle has an acceleration demand during running, and mainly reflects the acceleration demand of the vehicle.
It should be noted that, the accelerator pedal (i.e. accelerator pedal) specifically executes the accelerator pedal signal a to control the power output of the automobile engine;
the brake pedal signal module is connected with the pretightening torque calculation module and is used for calculating the required torque T of the whole vehicle according to the pretightening torque sent by the pretightening torque calculation module Req And according to the current speed v of the externally input vehicle 0 The corresponding brake pedal signal B is obtained and output to a brake pedal (i.e., a brake pedal) on the vehicle.
The brake pedal signal B is a brake deceleration signal input to the brake pedal by an Electronic Control Unit (ECU) of the vehicle when the vehicle has a brake deceleration demand during running, and mainly reflects the brake demand of the vehicle.
The brake pedal (i.e., brake pedal) is used to execute the brake pedal signal B, limit the power output of the vehicle, and control the deceleration and stopping of the vehicle.
In the invention, the accelerator pedal signal module and the brake pedal signal module respectively output an accelerator pedal signal to an accelerator pedal (namely an accelerator pedal) on the vehicle and output a brake pedal signal to a brake pedal (namely a brake pedal) on the vehicle, so that the running state of the vehicle can be controlled in real time, and the adjustment of the actual running path of the vehicle can be realized.
In the invention, a pretightening input module, a pretightening torque calculation module, an accelerator pedal signal module and a brake pedal signal module are respectively connected with an Electronic Control Unit (ECU) of a vehicle;
an Electronic Control Unit (ECU) of the vehicle is used for inputting the current speed v of the vehicle to the pre-aiming input module, the pre-aiming torque calculation module, the accelerator pedal signal module and the brake pedal signal module respectively 0 。
In the invention, a pretightening input module comprises a pretightening time acquisition module, a pretightening speed acquisition module and a pretightening gradient acquisition module;
the pre-aiming time acquisition module is used for acquiring the pre-aiming time according to the current speed v of the vehicle 0 Judging the working state of the vehicle at the moment, wherein the working state of the vehicle is a running state or a stopping state, taking the minimum value of a plurality of pretightening times input by a driver aiming at the working state as pretightening time t of the vehicle from a pretightening point in the current state, and sending the pretightening time t to a pretightening vehicle speed acquisition module;
it should be noted that, for the pre-aiming time acquisition module, when the current speed v of the vehicle 0 When the vehicle is greater than zero, judging that the vehicle is in a running state, and then selecting the minimum value of a plurality of running state pretightening times (namely a plurality of pretightening times input by a driver aiming at the working state) manually input by the driver as pretightening time t of the vehicle from a pretightening point in the running state; when the current speed v of the vehicle 0 When the vehicle is equal to zero, judging that the vehicle is in a parking state, and then selecting the minimum value of a plurality of parking state pre-aiming times (namely a plurality of pre-aiming times input by a driver aiming at the working state) manually input by the driver as the pre-aiming time t of the vehicle from a pre-aiming point in the parking state.
The pre-aiming time of the running state is pre-aiming time manually input by a driver aiming at the running state when the vehicle is in the running state; the parking state pre-aiming time is pre-aiming time manually input by a driver aiming at a parking state when the vehicle is in the parking state;
the minimum value of the plurality of running state pre-aiming time and the plurality of parking state pre-aiming time is selected as the pre-aiming time t of the vehicle from the pre-aiming point in the running state or the parking state (namely the current state). Because the plurality of travel state pre-aiming times and the plurality of parking state pre-aiming times are manually input in advance by the driver during the driver pre-aiming. In the driver pre-aiming model established by the system, the vehicle is continuously driven until reaching the next pre-aiming point from one pre-aiming point, and then the vehicle can continuously and smoothly drive. Therefore, in order to reduce the response time of the system for the continuity and smoothness of the vehicle during running, it is necessary to select the smaller value of the plurality of running state pretightening times and the plurality of parking state pretightening times as the pretightening time t of the vehicle from the pretightening point in the running state or the parking state (i.e., the current state), respectively.
The pretightening speed acquisition module is connected with the pretightening time acquisition module and is used for inquiring and acquiring the pretightening speed v of the vehicle from the pretightening point under the current pretightening time t from a pre-established pretightening speed table according to the pretightening time t sent by the pretightening time acquisition module;
it should be noted that, the pretightening speedometer mainly includes a correspondence (specifically, a one-to-one correspondence) between pretightening time t and pretightening speed v, and the pretightening speed v of the vehicle at different pretightening time t from the pretightening point can be obtained by looking up the meter, for example, when the pretightening time is 0.3s, the pretightening speed is 4.7m/s; the table is mainly obtained by obtaining corresponding data through experiments in advance, for example, the table is obtained by carrying out the road running experiments in advance on other automobiles of the same type as the automobile to be controlled by the system.
The pretightening gradient acquisition module is connected with the pretightening time acquisition module and is used for inquiring and acquiring the pretightening gradient theta of the vehicle from the pretightening point under the current pretightening time t from a pre-established pretightening gradient table according to the pretightening time t sent by the pretightening time acquisition module.
It should be noted that, the pre-aiming gradient table mainly includes a corresponding relationship (specifically, a one-to-one correspondence relationship) between the pre-aiming time t and the pre-aiming gradient θ, and the pre-aiming gradient θ of the vehicle from the pre-aiming point at different pre-aiming time t can be obtained by looking up the table, for example, when the pre-aiming time is 0.15s, the pre-aiming gradient is 0 °; the table is mainly obtained by obtaining corresponding data through experiments in advance, for example, the table is obtained by carrying out the road running experiments in advance on other automobiles of the same type as the automobile to be controlled by the system.
In the present invention, it is to be noted that in order to calculate the vehicle-whole required torque T of the vehicle Req The input signal of the pretightening torque calculation module is the current vehicle speed v 0 The vehicle is from the pre-aiming time t, the pre-aiming speed v and the pre-aiming gradient theta of the pre-aiming point. The output signal is the whole vehicle demand torque T of the vehicle Req . Wherein the demand torque T is pre-addressed preview The calculation mainly comprises four parts, namely rolling resistance moment T Roll Calculating the air resistance moment T Air Calculating the gradient resistance moment T Grade Calculating and accelerating the resistance moment T Acc Calculating, further calculating a torque calibration coefficient f by using the pre-aiming time t T Thereby obtaining the required torque T of the whole vehicle Req 。
The pre-aiming torque calculation module comprises a rolling resistance moment calculation module, an air resistance moment calculation module, a gradient resistance moment calculation module, an acceleration resistance moment calculation module and a whole vehicle demand torque calculation module;
the rolling resistance moment calculation module is used for calculating and obtaining the rolling resistance moment T according to a preset formula Roll The method comprises the steps of carrying out a first treatment on the surface of the See fig. 4;
preferably, the rolling resistance moment T Roll The calculation formula of (2) is as follows:
T Roll =mgfcos θr, formula (1);
wherein T is Roll The rolling resistance moment is the mass of the whole vehicle, g is the gravity acceleration, f is the rolling resistance coefficient, theta is the pre-aiming gradient, and R is the wheel radius;
preferably, the rolling resistance coefficient f is calculated as follows:
f＝min(f 0 ,20vf 0 )+vf 1 +v 2 f 2 +v 3 f 3 formula (2);
wherein f 0 Is the rolling resistance coefficient of 0 order, f 1 Is a rolling resistance coefficient of 1 st order, f 2 For the rolling resistance coefficient of order 2, f 3 Is a rolling resistance coefficient of 3 rd order; v is the pretightening speed (i.e. the pretightening speed v of the vehicle from the pretightening point at the current pretightening time t).
The rolling resistance coefficient f is a rolling resistance coefficient of rolling resistance to which the vehicle is subjected during running, and is calculated by the formula (2). f (f) 0 The rolling resistance coefficient is a 0-order rolling resistance coefficient of rolling resistance applied to the vehicle during running, and is obtained through experiments and is input from the outside. f (f) 1 The rolling resistance coefficient is a 1 st order rolling resistance coefficient of rolling resistance applied to the vehicle during running, and is obtained through experiments and is input from the outside. f (f) 2 The rolling resistance coefficient is a 2-order rolling resistance coefficient of rolling resistance applied to the vehicle during running, and is obtained through experiments and is input from the outside. f (f) 3 The rolling resistance coefficient is a 3-order rolling resistance coefficient of rolling resistance applied to the vehicle during running, and is obtained through experiments and is input from the outside. v is the pretightening speed (i.e. the pretightening speed v of the vehicle from the pretightening point at the current pretightening time t), and is input by the pretightening input module.
The air resistance moment calculation module is used for calculating and obtaining the air resistance moment T according to a preset formula Air The method comprises the steps of carrying out a first treatment on the surface of the As shown in fig. 5;
preferably, the air resistance moment T Air The calculation formula of (2) is as follows:
wherein T is Air Is the air resistance moment, C D The vehicle is characterized in that the vehicle is an air resistance coefficient, ρ is air density, A is windward area, v is pretightening speed (i.e. pretightening speed v of the vehicle from a pretightening point at the current pretightening time t), and R is wheel radius.
In which the air resistance moment T is Air The resistance moment caused by the air resistance of the vehicle during running is calculated by the formula (3). C (C) D Is the resistance of air resistance of the vehicle during runningThe force coefficient is obtained through experiments and is input from the outside. ρ is the density of the surrounding air of the vehicle during running, and is measured and inputted from the outside. A is a contact area between the air resistance applied to the vehicle during running and the vehicle, and is measured and externally input. v is the pretightening speed (i.e. the pretightening speed v of the vehicle from the pretightening point at the current pretightening time t), and is input by the pretightening input module. R is the wheel radius, obtained in advance by measurement and input from the outside.
The gradient resistance moment calculation module is used for calculating and obtaining gradient resistance moment T according to a preset formula Grade The method comprises the steps of carrying out a first treatment on the surface of the See fig. 6;
preferably, the gradient moment of resistance T Grade The calculation formula of (2) is as follows:
T Grade =mgsin θr, equation (4);
wherein T is Grade The gradient resistance moment, M is the mass of the whole vehicle, g is the gravity acceleration, θ is the pretightening gradient, and R is the wheel radius.
Wherein, the gradient resistance moment T Grade The resistance moment caused by gradient resistance of the vehicle when the vehicle encounters a road with gradient during running is calculated by the formula (4). M is the mass of the whole vehicle, and is obtained through measurement and input from the outside. g is the gravitational acceleration of the earth in the current region, 9.8m/s is taken 2 . θ is the pre-aiming gradient, and is input by a pre-aiming input module.
The acceleration resistance moment calculation module is used for calculating and obtaining an acceleration resistance moment T according to a preset formula ACC The method comprises the steps of carrying out a first treatment on the surface of the As shown in fig. 7;
preferably, the acceleration resistance torque T ACC The calculation formula of (2) is as follows:
T ACC ＝T ACC1 +T ACC2 equation (5);
wherein T is ACC The acceleration resistance moment is the resistance moment caused by acceleration resistance generated by acceleration of the vehicle;
T ACC1 the acceleration resistance moment generated for reaching the pretightening speed v from rest is resistance caused by acceleration resistance generated by the vehicle accelerating from rest to the pretightening speed vMoment;
T ACC2 the acceleration resistance moment generated from the current vehicle speed to the pretightening vehicle speed v is the resistance moment caused by the acceleration resistance generated from the current vehicle speed to the pretightening vehicle speed v;
the calculation of the acceleration resistance torque is divided into two parts, namely, the acceleration resistance torque T generated by reaching the pre-aiming speed when the vehicle is stationary ACC1 And an acceleration resistance torque T generated from the acceleration of the current vehicle speed to the pre-aiming vehicle speed v ACC2 。
Preferably, the acceleration resistance torque T generated from reaching the pre-aiming speed at rest ACC1 The calculation formula of (2) is as follows:
T ACC1 = MaR, equation (6);
wherein T is ACC1 Acceleration resistance moment generated for reaching the pretightening vehicle speed v from rest;
m is the mass of the whole vehicle, a is the acceleration reaching the pretightening speed v from rest, and the vehicle acceleration is obtained by deriving the pretightening speed v. R is the radius of the wheel;
preferably, the acceleration resistance torque T generated from the acceleration of the current vehicle speed to the pre-aiming vehicle speed v ACC2 The calculation formula of (2) is as follows:
T ACC2 an acceleration resistance moment generated from the current vehicle speed to the pre-aiming vehicle speed v;
m is the mass of the whole vehicle, v is the pre-aiming speed, and the pre-aiming speed is input by a pre-aiming input module. v 0 Is the initial speed of the vehicle (i.e. the current speed of the vehicle) and is obtained by measurement. t is the pre-aiming time and is input by a pre-aiming input module. R is the radius of the wheel.
The vehicle demand torque calculation module is respectively connected with the rolling resistance torque calculation module, the air resistance torque calculation module, the gradient resistance torque calculation module and the acceleration resistance torque calculation module and is used for calculating and obtaining the vehicle demand torque T according to a preset formula Req The method comprises the steps of carrying out a first treatment on the surface of the See fig. 3;
vehicle demand torque T Req The calculation formula of (2) is as follows:
T Req ＝∑T preview f T equation (8);
wherein T is Req Torque is required for the whole vehicle. T (T) preview The torque required for pre-aiming, i.e. the torque required for pre-aiming the model vehicle by the driver, is used. f (f) T For torque calibration coefficient, i.e. pre-aiming demand torque T is applied by adopting a driver pre-aiming model preview Calibration is carried out to obtain the required torque T of the whole vehicle Req 。
Preferably, in particular implementation, the pre-aiming demand torque T preview The calculation formula of (2) is as follows:
T preview ＝T Roll +T Air +T Grade +T ACC equation (9);
wherein T is preview To pretarge the required torque, T Roll For rolling resistance moment, T Air Is the air resistance moment, T Grade Is gradient resistance moment, T ACC To accelerate the moment of resistance.
Preferably, in particular implementation, the torque calibration factor f T The calculation formula of (2) is as follows:
wherein f T The torque calibration coefficient is used, and t is the pretightening time;
f preview for the pretightening time coefficient, i.e. for the torque calibration weight index u and the torque calibration coefficient f in the driver pretightening model T Calculated pre-aiming time coefficient is obtained and input through experimentsAnd (5) entering. u is the torque calibration weight index, i.e. is used to calculate the torque calibration coefficient f T By a pretightening time coefficient f preview And (5) calculating to obtain the product.
In the present invention, an accelerator pedal signal module is used for detecting the current speed v of the vehicle 0 From a pre-established vehicle speed-wheel maximum torque table, the maximum torque T at the wheels at this speed is queried max Then calculating to obtain the current required torque T of the whole vehicle Req And the stroke z of the lower accelerator pedal is used for inquiring and obtaining an accelerator pedal signal A from a pre-established accelerator pedal stroke-accelerator demand signal table according to the stroke z. See fig. 8.
The vehicle speed-wheel maximum torque table mainly comprises a corresponding relation (specifically, a one-to-one corresponding relation) between the vehicle speed and the wheel maximum torque, and the maximum torque which can be provided by the wheels under different vehicle speeds can be obtained by looking up the table. For example, when the vehicle speed is 21.6km/h, the wheel torque capacity is 3330.8N.m; the table is mainly obtained by obtaining corresponding data through experiments in advance, for example, the table is obtained by carrying out the road running experiments in advance on other automobiles of the same type as the automobile to be controlled by the system.
It should be noted that the accelerator pedal stroke-accelerator demand signal table mainly includes a correspondence (specifically, a one-to-one correspondence) between accelerator pedal strokes and accelerator demand signals, and the accelerator demand signals under different accelerator pedal strokes may be obtained by looking up the table. For example, when the accelerator pedal stroke is 10%, the acceleration demand signal is 0.1; the table is mainly obtained by obtaining corresponding data through experiments in advance, for example, the table is obtained by carrying out the road running experiments in advance on other automobiles of the same type as the automobile to be controlled by the system.
Preferably, the calculation formula of the stroke z is as follows:
wherein z is the stroke of the accelerator pedal, T Req For the whole vehicle to demand torque, T max Is the maximum torque at the wheels.
In the present invention, a brake pedal signal module is used for controlling the vehicle according to the current speed v of the vehicle 0 Judging whether the vehicle is in a parking state at the moment, acquiring a brake pedal stroke, and inquiring and acquiring a brake pedal signal B from a pre-established brake pedal stroke-brake demand signal table according to the brake pedal stroke. See fig. 9.
It should be noted that the brake pedal travel-brake demand signal table mainly includes a correspondence (specifically, a one-to-one correspondence) between brake pedal travel and brake demand signals, and the brake demand signals under different brake pedal travel may be obtained by looking up the table. For example, when the brake pedal stroke is 20%, the brake demand signal is 0.2; the table is mainly obtained by obtaining corresponding data through experiments in advance, for example, the table is obtained by carrying out the road running experiments in advance on other automobiles of the same type as the automobile to be controlled by the system.
Preferably, the brake pedal signal module is used for controlling the vehicle according to the current speed v of the vehicle 0 Judging whether the vehicle is in a parking state at the moment, and then acquiring a brake pedal stroke, wherein the method specifically comprises the following operations:
according to the current speed v of the vehicle 0 Judging whether the vehicle is in a parking state at the moment;
if the current speed v of the vehicle 0 When the brake pedal stroke is equal to zero and the vehicle is in a parking state, setting the brake pedal stroke to a preset value (for example, 1 millimeter);
if the current speed v of the vehicle 0 If the torque is larger than zero, judging that the vehicle is in a running state, and according to the whole vehicle required torque T of the vehicle Req The brake pedal opening is obtained from a query from a pre-established brake torque-brake pedal opening table.
It should be noted that, the brake torque-brake pedal opening degree table mainly includes a correspondence (specifically, a one-to-one correspondence) between brake torque and brake pedal opening degrees, and the brake pedal opening degrees under different brake torques can be obtained by looking up the table, for example, when the brake torque is 200n.m, the brake pedal opening degree is 5%; the table is mainly obtained by obtaining corresponding data through experiments in advance, for example, the table is obtained by carrying out the road running experiments in advance on other automobiles of the same type as the automobile to be controlled by the system.
Based on the technical scheme of the invention, the pre-aiming driver model of the automobile is designed and formed, and the vehicle demand torque of the vehicle when the vehicle runs to a pre-aiming point can be effectively predicted according to the current running state of the vehicle, so that corresponding acceleration signals and braking signals are obtained, and the running path of the vehicle is adjusted.
Based on the technical scheme, the system can calculate the rolling resistance moment, the air resistance moment, the gradient resistance moment and the acceleration resistance moment which are required to be overcome when the vehicle runs from the current position to the pre-aiming point, further obtain the pre-aiming required torque which is required when the vehicle runs from the current position to the pre-aiming point, further calculate the whole vehicle required torque of the vehicle through a torque calibration weight coefficient, and further obtain corresponding acceleration or brake signals (namely an accelerator pedal signal or a brake pedal signal), thereby realizing the adjustment of the actual running path of the vehicle.
Compared with the prior art, the control working system for the automobile pre-aiming type driver has the following beneficial effects:
1. according to the automobile pre-aiming type driver control working system, the influence of the dynamics of a vehicle system and the running state of the vehicle is comprehensively considered, a relatively accurate driver model is built, and real-time adjustment of the running path of the vehicle is realized.
2. According to the method, the influence of the motion state and the surrounding environment of the vehicle is fully considered, the calculated pretightening torque is added with the torque calibration coefficient, and the actual required torque of the vehicle is calculated more accurately.
3. According to the invention, a large number of experiments are performed in advance, relatively accurate vehicle running data are obtained in advance, and an accurate pre-aiming speedometer, a pre-aiming gradient meter, an accelerator pedal stroke-acceleration demand signal meter and a brake pedal stroke-brake demand signal meter are established in advance.
4. The driver model established by the automobile pre-aiming type driver control working system has high simulation precision and accurate result, can reflect the motion state of the vehicle from a pre-aiming point in real time, has high practical value and has wide application prospect.
In summary, compared with the prior art, the control working system for the driver of the automobile pre-aiming type provided by the invention has scientific design, can effectively predict the whole vehicle required torque of the automobile when the automobile runs to the pre-aiming point according to the current running state of the automobile, further obtain corresponding acceleration signals and braking signals, and can construct a scientific and accurate driver pre-aiming model, thereby safely and reliably realizing the adjustment of the actual running path of the automobile in the running process of the automobile, and having great practical significance.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. The utility model provides a car presbyopic driver control work system which characterized in that includes presbyopic input module, presbyopic torque calculation module, accelerator pedal signal module and brake pedal signal module, wherein:
a pre-aiming input module for inputting the current speed v of the vehicle according to the outside 0 Calculating and obtaining pretightening time t, pretightening speed v and pretightening gradient theta of a vehicle from a pretightening point, and outputting the pretightening time t, the pretightening speed v and the pretightening gradient theta to a pretightening torque calculation module;
the pretightening torque calculation module is connected with the pretightening input module and is used for calculating the pretightening torque according to the pretightening time t, the pretightening speed v, the pretightening gradient theta sent by the pretightening input module and the current speed v of the externally input vehicle 0 Calculating the whole vehicle required torque T of the vehicle Req Then sending the signals to an accelerator pedal signal module and a brake pedal signal module;
the accelerator pedal signal module is connected with the pretightening torque calculation module and is used for sending according to the pretightening torque calculation moduleVehicle demand torque T of a vehicle Req And according to the current speed v of the externally input vehicle 0 Obtaining a corresponding accelerator pedal signal A and outputting the accelerator pedal signal A to an accelerator pedal on a vehicle;
the brake pedal signal module is connected with the pretightening torque calculation module and is used for calculating the required torque T of the whole vehicle according to the pretightening torque sent by the pretightening torque calculation module Req And according to the current speed v of the externally input vehicle 0 A corresponding brake pedal signal B is obtained and output to a brake pedal on the vehicle.
2. The vehicle pre-sight type driver control work system according to claim 1, wherein the pre-sight input module, the pre-sight torque calculation module, the accelerator pedal signal module and the brake pedal signal module are respectively connected with an electronic control unit ECU of the vehicle;
an electronic control unit ECU of the vehicle is used for inputting the current speed v of the vehicle to a pre-aiming input module, a pre-aiming torque calculation module, an accelerator pedal signal module and a brake pedal signal module respectively 0 。
3. The vehicle pre-aiming driver control work system according to claim 1, wherein the pre-aiming input module comprises a pre-aiming time acquisition module, a pre-aiming vehicle speed acquisition module and a pre-aiming gradient acquisition module;
the pre-aiming time acquisition module is used for acquiring the pre-aiming time according to the current speed v of the vehicle 0 Judging the working state of the vehicle at the moment, wherein the working state of the vehicle is a running state or a stopping state, taking the minimum value of a plurality of pretightening times input by a driver aiming at the working state as pretightening time t of the vehicle from a pretightening point in the current state, and sending the pretightening time t to a pretightening vehicle speed acquisition module;
the pretightening speed acquisition module is connected with the pretightening time acquisition module and is used for inquiring and acquiring the pretightening speed v of the vehicle from the pretightening point under the current pretightening time t from a pre-established pretightening speed table according to the pretightening time t sent by the pretightening time acquisition module;
the pretightening speedometer comprises a corresponding relation between pretightening time t and pretightening speed v;
the pretightening gradient acquisition module is connected with the pretightening time acquisition module and is used for inquiring and acquiring the pretightening gradient theta of the vehicle from the pretightening point at the current pretightening time t from a pre-established pretightening gradient table according to the pretightening time t sent by the pretightening time acquisition module;
the pretightening gradient table comprises a corresponding relation between pretightening time t and pretightening gradient theta.
4. The vehicle pre-aiming driver control work system according to claim 1, wherein the pre-aiming torque calculation module includes a rolling resistance torque calculation module, an air resistance torque calculation module, a gradient resistance torque calculation module, and an acceleration resistance torque calculation module, and includes a vehicle demand torque calculation module;
the rolling resistance moment calculation module is used for calculating and obtaining the rolling resistance moment T according to a preset formula Roll ；
The air resistance moment calculation module is used for calculating and obtaining the air resistance moment T according to a preset formula Air ；
The gradient resistance moment calculation module is used for calculating and obtaining gradient resistance moment T according to a preset formula Grade ；
The accelerating resistance moment calculating module is used for calculating and obtaining the accelerating resistance moment T according to a preset formula ACC ；
The whole vehicle demand torque calculation module is respectively connected with the rolling resistance torque calculation module, the air resistance torque calculation module, the gradient resistance torque calculation module and the acceleration resistance torque calculation module and is used for calculating and obtaining the whole vehicle demand torque T according to a preset formula Req 。
5. The vehicle pre-aiming driver control operating system according to claim 4, wherein the roll drag torque T Roll The calculation formula of (2) is as follows:
T Roll =mgfcos θr, formula (1);
wherein T is Roll The rolling resistance moment is the mass of the whole vehicle, g is the gravity acceleration, f is the rolling resistance coefficient, theta is the pre-aiming gradient, and R is the wheel radius;
the rolling resistance coefficient f is calculated as follows:
f＝min(f 0 ,20vf 0 )+vf 1 +v 2 f 2 +v 3 f 3 formula (2);
wherein f 0 Is the rolling resistance coefficient of 0 order, f 1 Is a rolling resistance coefficient of 1 st order, f 2 For the rolling resistance coefficient of order 2, f 3 Is a rolling resistance coefficient of 3 rd order; v is the pre-aiming speed;
and/or air resistance moment T Air The calculation formula of (2) is as follows:
wherein T is Air Is the air resistance moment, C D The wind resistance coefficient is the air resistance coefficient, ρ is the air density, A is the windward area, v is the pretightening speed, and R is the wheel radius;
and/or gradient moment of resistance T Grade The calculation formula of (2) is as follows:
T Grade =mgsin θr, equation (4);
wherein T is Grade The weight acceleration is g, theta is the pre-aiming gradient, and R is the radius of the wheel;
and/or acceleration resistance torque T ACC The calculation formula of (2) is as follows:
T ACC ＝T ACC1 +T ACC2 equation (5);
wherein T is ACC Is acceleration resistance moment;
T ACC1 acceleration resistance moment generated for reaching the pretightening vehicle speed v from rest;
T ACC2 an acceleration resistance moment generated for accelerating from the current vehicle speed to the pretightening vehicle speed v.
6. The vehicle pre-aiming driver control operating system according to claim 5, characterized in that the acceleration resistance torque T resulting from reaching the pre-aiming vehicle speed at rest ACC1 The calculation formula of (2) is as follows:
T ACC1 = MaR, equation (6);
wherein T is ACC1 Acceleration resistance moment generated for reaching the pretightening vehicle speed v from rest;
m is the mass of the whole vehicle, a is the acceleration reaching the pretightening speed v from rest, and R is the radius of the wheel;
acceleration resistance torque T generated from current vehicle speed acceleration to pretightening vehicle speed v ACC2 The calculation formula of (2) is as follows:
T ACC2 an acceleration resistance moment generated from the current vehicle speed to the pre-aiming vehicle speed v;
m is the mass of the whole vehicle, v is the pre-aiming vehicle speed, v 0 The vehicle is at an initial speed, t is the pre-aiming time, and R is the radius of the wheel.
7. The vehicle pre-aiming driver control operating system according to claim 4, wherein the vehicle demand torque T Req The calculation formula of (2) is as follows:
T Req ＝∑T preview f T equation (8);
wherein T is Req For the whole vehicle to demand torque, T preview To pretighten the required torque, f T A torque calibration coefficient;
pretightening required torque T preview The calculation formula of (2) is as follows:
T preview ＝T Roll +T Air +T Grade +T ACC equation (9);
wherein T is preview To pretarge the required torque, T Roll For rolling resistance moment, T Air Is the air resistance moment, T Grade Is gradient resistance moment, T ACC Is acceleration resistance moment;
wherein the torque calibration coefficient f T The calculation formula of (2) is as follows:
wherein f T Is a torque calibration coefficient, t is a pretightening time, f preview For the pretightening time coefficient, u is the torque calibration weight index.
8. The vehicle pre-sight type driver control operating system of claim 1, wherein the accelerator pedal signal module is configured to respond to a current vehicle speed v of the vehicle 0 From a pre-established vehicle speed-wheel maximum torque table, the maximum torque T at the wheels at this speed is queried max Then calculating to obtain the current required torque T of the whole vehicle Req The stroke z of the lower accelerator pedal is used for inquiring and obtaining an accelerator pedal signal A from a pre-established accelerator pedal stroke-accelerator demand signal table according to the stroke z;
wherein the vehicle speed-wheel maximum torque table contains a correspondence between vehicle speed and wheel maximum torque;
the accelerator pedal stroke-acceleration demand signal table contains a correspondence between an accelerator pedal stroke and an acceleration demand signal;
wherein, the calculation formula of the stroke z is as follows:
wherein z is the stroke of the accelerator pedal, T Req For the whole vehicle to demand torque, T max Is the maximum torque at the wheels.
9. A vehicle pre-sight driver control operating system according to any one of claims 1 to 8, wherein the brake pedal signal module is arranged to be responsive to a current vehicle speed v of the vehicle 0 Judging whether the vehicle is in a parking state at the moment, acquiring a brake pedal stroke, and inquiring and acquiring a brake pedal signal B from a pre-established brake pedal stroke-brake demand signal table according to the brake pedal stroke;
wherein the brake pedal travel-brake demand signal table contains a correspondence between the brake pedal travel and the brake demand signal.
10. The vehicle pre-sight type driver control operating system of claim 9, wherein the brake pedal signal module is configured to respond to a current vehicle speed v of the vehicle 0 Judging whether the vehicle is in a parking state at the moment, and then acquiring a brake pedal stroke, wherein the method specifically comprises the following operations:
according to the current speed v of the vehicle 0 Judging whether the vehicle is in a parking state at the moment;
if the current speed v of the vehicle 0 When the brake pedal stroke is equal to zero, judging that the vehicle is in a parking state, and setting the brake pedal stroke to be a preset value at the moment;
if the current speed v of the vehicle 0 If the torque is larger than zero, judging that the vehicle is in a running state, and according to the whole vehicle required torque T of the vehicle Req Inquiring and obtaining the opening degree of a brake pedal from a pre-established brake torque-brake pedal opening degree table;
wherein the brake torque-brake pedal opening degree table contains a correspondence relationship between the brake torque and the brake pedal opening degree.
CN202310557928.9A 2023-05-17 2023-05-17 Control working system for pre-aiming type driver of automobile Pending CN116588064A (en)

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Application Number Priority Date Filing Date Title
CN202310557928.9A CN116588064A (en) 2023-05-17 2023-05-17 Control working system for pre-aiming type driver of automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310557928.9A CN116588064A (en) 2023-05-17 2023-05-17 Control working system for pre-aiming type driver of automobile

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CN116588064A true CN116588064A (en) 2023-08-15

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