CN117508147A - Vehicle and speed limiting control method and device thereof - Google Patents

Vehicle and speed limiting control method and device thereof Download PDF

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Publication number
CN117508147A
CN117508147A CN202210901257.9A CN202210901257A CN117508147A CN 117508147 A CN117508147 A CN 117508147A CN 202210901257 A CN202210901257 A CN 202210901257A CN 117508147 A CN117508147 A CN 117508147A
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China
Prior art keywords
vehicle
speed
driving
determining
stage
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Chinese (zh)
Inventor
熊明利
陈启元
梁丰收
邱千
颜年华
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN202210901257.9A priority Critical patent/CN117508147A/en
Publication of CN117508147A publication Critical patent/CN117508147A/en
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present disclosure provides a vehicle and a speed limit control method and device thereof, wherein the method comprises: acquiring the current speed of the vehicle and limiting the speed of the vehicle; determining a speed control stage of the vehicle according to the current vehicle speed and the limited vehicle speed, wherein the speed control stage comprises a driving stage, a driving buffer stage, a braking stage and a braking buffer stage; determining a driving torque or a braking deceleration of the vehicle according to the speed control phase; the vehicle is controlled according to the driving torque or the braking deceleration. The method can enable the vehicle to stably run under the condition of limiting the vehicle speed, enable the vehicle to stably transition between driving and braking, reduce the vehicle clamping condition caused by frequent switching of driving and braking, and ensure the smoothness of running of the vehicle.

Description

Vehicle and speed limiting control method and device thereof
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a speed limiting control method of a vehicle, a speed limiting control device of the vehicle and the vehicle.
Background
In the related art, the setting of the demarcation point between the driving mode and the downhill speed limiting mode is not clear, and in actual running, the driving braking of the vehicle is easy to be frequently switched because the vehicle speed jumps near the demarcation point, so that the vehicle is blocked in the running process, and the running smoothness of the vehicle is affected.
Disclosure of Invention
The present disclosure aims to solve, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present disclosure is to provide a speed limit control method for a vehicle, which can make the vehicle stably run at a limited speed, and make the vehicle smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching of driving braking, and ensure the smoothness of the running of the vehicle.
A second object of the present disclosure is to provide a speed limit control device for a vehicle.
A third object of the present disclosure is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present disclosure provides a speed limit control method for a vehicle, including: acquiring the current speed of the vehicle and limiting the speed of the vehicle; determining a speed control stage of the vehicle according to the current vehicle speed and the limited vehicle speed, wherein the speed control stage comprises a driving stage, a driving buffer stage, a braking stage and a braking buffer stage; determining a driving torque or a braking deceleration of the vehicle according to the speed control phase; the vehicle is controlled according to the driving torque or the braking deceleration.
According to the speed limit control method of the vehicle, firstly, the current speed and the limited speed of the vehicle are obtained, then the speed control stage of the vehicle is determined according to the current speed and the limited speed, finally the driving torque or the braking deceleration of the vehicle is determined according to the speed control stage, and the vehicle is controlled according to the driving torque or the braking deceleration. Therefore, the method can enable the vehicle to stably run at the limited speed, and can enable the vehicle to stably transition between driving and braking, reduce the vehicle clamping condition caused by frequent switching of driving and braking, and ensure the running smoothness of the vehicle.
In addition, the speed limit control method of the vehicle according to the above embodiment of the present disclosure may further have the following additional technical features:
according to one embodiment of the present disclosure, determining a speed control phase of a vehicle from a current vehicle speed and a limited vehicle speed includes: determining a preset minimum buffer speed and a preset maximum buffer speed of the vehicle according to the limited speed; when the vehicle is in an accelerating state and the current vehicle speed is smaller than a preset minimum buffer vehicle speed, determining a speed control stage of the vehicle as a driving stage; when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to a preset minimum buffer vehicle speed and less than or equal to a preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as a driving buffer stage; when the current speed is greater than the preset maximum buffer speed, determining a speed control stage of the vehicle as a braking stage; when the vehicle is in a decelerating state and the current vehicle speed is smaller than or equal to the maximum buffer vehicle speed, determining that the speed control stage of the vehicle is a braking buffer stage.
According to one embodiment of the present disclosure, determining a driving torque or a braking deceleration of a vehicle includes: when the vehicle is in a driving stage, acquiring a first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and the current request torque; when the vehicle is in a driving buffer stage, determining a second driving compensation torque according to a preset maximum buffer vehicle speed and a current vehicle speed, and determining a driving torque of the vehicle according to the second driving compensation torque and the current request torque; when the vehicle is in a braking stage, determining the braking deceleration of the vehicle according to a preset maximum buffer vehicle speed and a current vehicle speed; when the vehicle is in a braking buffer stage, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed.
According to one embodiment of the present disclosure, obtaining a first drive compensation torque includes: determining a feedforward compensation value; determining a first driving compensation torque according to the feedforward compensation value and the current vehicle speed; the calculation mode for determining the feedforward compensation value is as follows:
V - ＝k*T q +b
wherein V is - For feedforward compensation value, T q For the requested driving torque, k is a linear slope obtained by calibrating a speed difference between the current vehicle speed and a preset minimum buffer vehicle speed when the vehicle is not compensated under different requested driving torques, and b is an offset obtained by calibrating a speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle is not compensated under different requested driving torques.
According to one embodiment of the present disclosure, determining a first drive compensation torque from a feedforward compensation value and a current vehicle speed includes: acquiring a speed difference value between a preset minimum buffer vehicle speed and a feedforward compensation value; taking the difference between the speed difference and the current vehicle speed as the input of the driving PID (Proportional Integral Derivative ) closed-loop operation, and taking the output of the driving PID closed-loop operation as the first compensation acceleration; a first drive compensation torque is determined based on the first compensation acceleration.
According to one embodiment of the present disclosure, determining a second driving compensation torque according to a preset maximum buffer vehicle speed and a current vehicle speed includes: taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the driving PID closed-loop operation, and taking the output of the driving PID closed-loop operation as the second compensation acceleration; a second drive compensation torque is determined based on the second compensation acceleration.
According to one embodiment of the present disclosure, determining a braking deceleration of a vehicle from a preset maximum buffered vehicle speed and a current vehicle speed includes: and taking the difference value between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the brake PID closed-loop operation, and taking the output of the brake PID closed-loop operation as the brake deceleration of the vehicle.
According to one embodiment of the present disclosure, determining a braking deceleration of a vehicle from a preset minimum buffered vehicle speed and a current vehicle speed includes: and taking the difference value between the preset minimum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle.
According to an embodiment of the present disclosure, the speed limit control method of a vehicle further includes: when a deceleration instruction is received, controlling the current request torque of the vehicle to be zero; the vehicle is controlled according to the deceleration instruction.
To achieve the above object, a second aspect of the present disclosure provides a speed limit control device for a vehicle, including: the acquisition module is used for acquiring the current speed of the vehicle and limiting the speed of the vehicle; the first determining module is used for determining a speed control stage of the vehicle according to the current vehicle speed and the limited vehicle speed, wherein the speed control stage comprises a driving stage, a driving buffering stage, a braking stage and a braking buffering stage; a second determining module for determining a driving torque or a braking deceleration of the vehicle according to the speed control phase; and the control module is used for controlling the vehicle according to the driving torque or the braking deceleration.
According to the speed limiting control device of the vehicle, the obtaining module obtains the current speed and the limited speed of the vehicle, the first determining module determines the speed control stage of the vehicle according to the current speed and the limited speed, the second determining module determines the driving torque or the braking deceleration of the vehicle according to the speed control stage, and the control module controls the vehicle according to the driving torque or the braking deceleration. Therefore, the device can enable the vehicle to stably run at the limited speed, can enable the vehicle to stably transition between driving and braking, reduces the vehicle clamping condition caused by frequent switching of driving and braking, and ensures the running smoothness of the vehicle.
In order to achieve the above object, an embodiment of a third aspect of the present disclosure provides a vehicle, including a memory, a processor, and a speed limit control program of the vehicle stored in the memory and capable of running on the processor, where the speed limit control program of the vehicle is executed by the processor, to implement the speed limit control method of the vehicle.
According to the vehicle disclosed by the embodiment of the disclosure, by executing the speed limit control method of the vehicle, the vehicle can stably run under the limited speed, the vehicle can stably transition between driving and braking, the vehicle clamping condition caused by frequent switching of driving and braking of the vehicle is reduced, and the running smoothness of the vehicle is ensured.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
FIG. 1 is a flow chart of a speed limit control method of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a speed limit PID closed loop control flow of a vehicle according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a speed limit PID closed loop control flow of a vehicle according to another embodiment of the disclosure;
FIG. 4 is a flow chart of a method of speed limit control of a vehicle according to one embodiment of the present disclosure;
FIG. 5 is a block schematic diagram of a speed limit control device of a vehicle according to an embodiment of the present disclosure;
fig. 6 is a block schematic diagram of a vehicle according to an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.
A speed limit control method of a vehicle, a speed limit control device of a vehicle, and a vehicle according to embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a speed limit control method of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the speed limit control method of the vehicle according to the embodiment of the present disclosure may include the steps of:
s1, acquiring the current speed of the vehicle and limiting the speed of the vehicle.
In an embodiment of the present disclosure, a vehicle has an ADAS (Advanced Driving Assistance System ) system and a sensor platform, wherein the sensor platform is a fusion of multiple sensors, such as: a front view camera, a forward radar, a front angle radar, a rear angle radar, a round view camera, a side camera, a laser radar, a torque sensor and other sensors. The ADAS system can monitor the information such as the wheel speed information, the transverse and longitudinal acceleration, the yaw rate, the accelerator opening, the brake pedal information and the like of the vehicle in real time. In the running process of the vehicle, the current request driving torque, the limited speed and the current speed of the vehicle can be obtained through the ADAS system and the sensor platform, and are transmitted to the whole vehicle controller through a vehicle body bus signal. The vehicle speed limit may be obtained by a speed limit sign on the road, or may be obtained by other means, which is not limited herein. For example, the speed limit sign on the road displays that the current road speed limit is 80Km/h, and the speed limit is 80Km/h; or, the vehicle owner limits the highest running speed of the vehicle to be not more than 130Km/h through the vehicle-mounted host, and the limiting speed is 130Km/h.
S2, determining a speed control stage of the vehicle according to the current vehicle speed and the limited vehicle speed, wherein the speed control stage comprises a driving stage, a driving buffering stage, a braking stage and a braking buffering stage.
According to one embodiment of the present disclosure, determining a speed control phase of a vehicle includes: when the vehicle is in an accelerating state and the current vehicle speed is smaller than a preset minimum buffer vehicle speed, determining a speed control stage of the vehicle as a driving stage; when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to a preset minimum buffer vehicle speed and less than or equal to a preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as a driving buffer stage; when the current speed is greater than the preset maximum buffer speed, determining a speed control stage of the vehicle as a braking stage; when the vehicle is in a decelerating state and the current vehicle speed is smaller than or equal to the maximum buffer vehicle speed, determining that the speed control stage of the vehicle is a braking buffer stage.
Specifically, in embodiments of the present disclosure, the vehicle includes the following phases in total during traveling: a driving phase, a buffering phase and a braking phase. The buffer stage has a preset minimum buffer speed and a preset maximum buffer speed, that is, when the vehicle is in the buffer stage, the speed range of the vehicle is between the preset minimum buffer speed and the preset maximum buffer speed, a buffer interval is formed, and the minimum buffer speed and the maximum buffer speed can be set according to specific parameters of the vehicle. When the vehicle is in an accelerating state and the current speed of the vehicle is smaller than the preset minimum buffer speed, the speed control stage of the vehicle is a driving stage, and the speed of the vehicle needs to be increased; when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to a preset minimum buffer vehicle speed and less than or equal to a preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as a driving buffer stage, and converting the speed control stage of the vehicle from the driving stage to the driving buffer stage at the moment, wherein the acceleration of the vehicle needs to be controlled so as to avoid overspeed of the vehicle; when the vehicle speed rises due to the conditions of downhill slope and the like and the current speed of the vehicle is larger than the preset maximum buffer speed, the vehicle is required to be controlled to be decelerated so as to reduce the speed of the vehicle, so that overspeed of the vehicle is avoided, and at the moment, the speed control stage of the vehicle is a braking stage; when the vehicle is in a decelerating state and the current vehicle speed is less than or equal to the maximum buffer vehicle speed, determining that the speed control stage of the vehicle is a braking buffer stage, and at the moment, converting the speed control stage of the vehicle from the braking stage to the braking buffer stage. Therefore, the problem that the setting of the demarcation point between the driving mode and the downhill speed limiting mode is ambiguous can be effectively solved through the buffer section, the vehicle speed can be buffered in the buffer section, and the frequent switching of the driving braking of the vehicle caused by the fact that the vehicle speed jumps near the demarcation point is prevented.
And S3, determining the driving torque or braking deceleration of the vehicle according to the speed control stage.
And S4, controlling the vehicle according to the driving torque or the braking deceleration.
Specifically, after the speed control stage of the vehicle is determined through the above-described step S2, the overall vehicle controller may determine the driving torque or the braking deceleration of the vehicle according to the speed control stage of the vehicle to control the vehicle according to the driving torque or the braking deceleration. For example, when the speed control phase of the vehicle is a driving phase or a driving buffer phase, the whole vehicle controller may compensate the driving torque of the vehicle to increase the output torque of the vehicle, and control the vehicle to accelerate according to the driving torque; when the speed control stage of the vehicle is a braking stage or a braking buffer stage, the whole vehicle controller can determine corresponding braking deceleration and control the vehicle to run at a reduced speed according to the braking deceleration, so that overspeed of the vehicle is avoided.
Therefore, the method can enable the vehicle to stably run under the limited speed, enable the vehicle to stably transition between driving and braking, reduce the vehicle clamping condition caused by frequent switching of driving and braking, and ensure the running smoothness of the vehicle.
The following describes in detail, in connection with specific embodiments, a specific procedure in which the overall vehicle controller determines the driving torque or braking deceleration of the vehicle in accordance with the speed control phase.
According to one embodiment of the present disclosure, determining a driving torque or a braking deceleration of a vehicle from a current vehicle speed and a limited vehicle speed includes: determining a preset minimum buffer speed and a preset maximum buffer speed of the vehicle according to the limited speed; when the vehicle is in a driving stage, acquiring a first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and the current request torque; when the vehicle is in a driving buffer stage, determining a second driving compensation value according to a preset maximum buffer vehicle speed and a current vehicle speed, and determining the driving torque of the vehicle according to the second driving compensation value and the current request torque; when the vehicle is in a braking stage, determining the braking deceleration of the vehicle according to a preset maximum buffer vehicle speed and a current vehicle speed; when the vehicle is in a braking buffer stage, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed.
According to one embodiment of the present disclosure, a preset minimum buffer vehicle speed and a preset maximum buffer vehicle speed of a vehicle may be determined according to a vehicle speed limit. For example, when the current road speed limit is recognized to be 80Km/h, the preset minimum buffer speed and the preset maximum buffer speed of the vehicle can be set to be 75Km/h and 85Km/h respectively; when it is recognized that the highest running speed limit set by the vehicle is 130Km/h, a preset minimum buffer vehicle speed and a preset maximum buffer vehicle speed of the vehicle may be set to 120Km/h and 140Km/h, respectively.
According to one embodiment of the present disclosure, obtaining a first drive compensation torque includes: determining a feedforward compensation value; determining a first driving compensation torque according to the feedforward compensation value and the current vehicle speed; the calculation mode for determining the feedforward compensation value is as follows:
V - ＝k*T q +b (1)
wherein V is - For feedforward compensation value, T q For the requested driving torque, k is a linear slope obtained by calibrating a speed difference between the current vehicle speed and a preset minimum buffer vehicle speed when the vehicle is not compensated under different requested driving torques, and b is an offset obtained by calibrating a speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle is not compensated under different requested driving torques.
Specifically, as shown in fig. 3, when the vehicle is in an accelerating state and the current speed of the vehicle is less than the preset minimum buffer speed, the speed control stage of the vehicle is a driving stage, and the feedforward compensation value can be obtained by calculating the current requested driving torque through the feedforward compensation link. Wherein the correspondence between the requested drive torque and the feedforward compensation value is as shown in the above formula (1).
When the current speed of the vehicle is smaller than the preset minimum buffer speed, the whole vehicle controller can acquire the required driving torque T of the vehicle according to the torque sensor q And driving the torque T according to the request q Determining a linear slope k and an offset b according to a speed difference between the current vehicle speed and a preset minimum buffer vehicle speed, and driving a current request torque T of the vehicle q The feedforward compensation value V can be obtained by taking the slope k of the straight line and the offset b into the formula (1) - 。
According to one embodiment of the present disclosure, determining a first drive compensation torque from a feedforward compensation value and a current vehicle speed includes: acquiring a speed difference value between a preset minimum buffer vehicle speed and a feedforward compensation value; taking the difference between the speed difference and the current vehicle speed as the input of the driving PID closed-loop operation, and taking the output of the driving PID closed-loop operation as the first compensation acceleration; a first drive compensation torque is determined based on the first compensation acceleration.
Specifically, with continued reference to fig. 3, after the feedforward compensation value is obtained, the preset minimum buffer vehicle speed is taken as the reference vehicle speed, the reference vehicle speed and the feedforward compensation value are subjected to difference, the difference between the reference vehicle speed and the feedforward compensation value is taken as an input item for driving the PID closed loop operation link, and the first compensation acceleration can be obtained after the PID operation. Wherein, the PID output calculation formula is:
wherein u (K) is the output quantity of the PID closed loop operation link at the moment K, K p Is a proportionality coefficient, K i As integral coefficient, K d Is a differential coefficient.
And taking the first compensation acceleration as input of an acceleration and torque conversion link, and outputting first driving compensation torque after calculation of the acceleration and torque conversion link. Because the first driving compensation torque is a negative value, the first driving compensation torque needs to be inverted, and after the inversion, the first driving compensation torque is summed with the current required driving torque, and the driving torque of the vehicle is obtained. The vehicle controller controls the vehicle to drive the vehicle with the driving torque so as to drive the vehicle to run in an accelerating way.
According to one embodiment of the present disclosure, determining a second drive compensation value according to a preset maximum buffer vehicle speed and a current vehicle speed includes: taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the driving PID closed-loop operation, and taking the output of the driving PID closed-loop operation as the second compensation acceleration; a second drive compensation torque is determined based on the second compensation acceleration.
Specifically, when the vehicle is switched from the driving stage to the buffering stage, the current speed of the vehicle just enters the buffering section, the vehicle is in an accelerating state, the current speed is greater than or equal to the preset minimum buffering speed and less than or equal to the preset maximum buffering speed, and the vehicle is in the driving buffering stage, so that the vehicle can be controlled to accelerate and the preset maximum buffering speed is taken as a reference speed, and the current speed of the vehicle is in the buffering section. As shown in fig. 2, the vehicle controller uses a preset maximum buffer vehicle speed as a reference vehicle speed, makes a difference between the preset maximum buffer vehicle speed and a current vehicle speed, uses the difference between the preset maximum buffer vehicle speed and the current vehicle speed as an input item for driving a PID closed loop operation link, performs PID operation, and uses an output item as a second compensation acceleration. And taking the second compensation acceleration as input of an acceleration and torque conversion link, and outputting second driving compensation torque after calculation of the acceleration and torque conversion link. Because the second driving compensation torque is a negative value, the second driving compensation torque needs to be inverted, and after the inversion, the second driving compensation torque is summed with the current required driving torque, and the driving torque of the vehicle is obtained. The vehicle controller controls the vehicle to drive the vehicle with the driving torque so as to drive the vehicle to run in an accelerating way.
According to one embodiment of the present disclosure, determining a braking deceleration of a vehicle from a preset maximum buffered vehicle speed and a current vehicle speed includes: and taking the difference value between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the brake PID closed-loop operation, and taking the output of the brake PID closed-loop operation as the brake deceleration of the vehicle.
Specifically, when the vehicle speed rises due to a downhill condition or the like, and the current vehicle speed of the vehicle is greater than the preset maximum buffer vehicle speed, the vehicle is in a braking stage, the speed of the vehicle needs to be reduced so as to avoid overspeed, and the whole vehicle controller can determine the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed and control the vehicle to reduce the speed according to the braking deceleration by taking the preset maximum buffer vehicle speed as a reference vehicle speed so as to avoid overspeed running of the vehicle.
When the current speed of the vehicle is greater than the preset maximum buffer speed, the whole vehicle controller performs difference between the preset maximum buffer speed and the current speed, and performs PID operation by taking the difference between the preset maximum buffer speed and the current speed as input of braking PID closed-loop operation. After PID closed-loop operation is performed on the difference between the preset maximum buffer speed and the current speed, the output term is the braking deceleration of the vehicle, and the vehicle controller can control the vehicle to run at a reduced speed according to the braking deceleration and by taking the preset maximum buffer speed as the reference speed.
According to one embodiment of the present disclosure, determining a braking deceleration of a vehicle from a preset minimum buffered vehicle speed and a current vehicle speed includes: and taking the difference value between the preset minimum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle.
Specifically, when the vehicle is switched from the braking stage to the buffering stage in the downhill running process, the current vehicle speed of the vehicle just enters the buffering section, the vehicle is in a decelerating state, the current vehicle speed is smaller than or equal to the preset maximum buffering vehicle speed, and the vehicle is in the braking buffering stage, so that the vehicle can be controlled to decelerate and the current vehicle speed of the vehicle is in the buffering section by taking the preset minimum buffering vehicle speed as a reference vehicle speed. The vehicle controller makes a difference between a preset minimum buffer vehicle speed and a current vehicle speed, takes the difference value of the preset minimum buffer vehicle speed and the current vehicle speed as input of braking PID closed-loop operation, and the output value after PID operation is the braking deceleration of the vehicle. The whole vehicle controller can control the vehicle to run at a reduced speed according to the braking deceleration, so that the speed of the vehicle is kept in a buffer zone to avoid overspeed running of the vehicle.
It should be noted that in some embodiments of the present disclosure, the coefficients of the proportional-integral-derivative terms in the brake PID closed loop operation and the drive PID closed loop operation may be the same or different.
According to an embodiment of the present disclosure, the speed limit control method of a vehicle further includes: when a deceleration instruction is received, controlling the current request torque of the vehicle to be zero; the vehicle is controlled according to the deceleration instruction.
Specifically, during automatic driving of the vehicle, when the vehicle encounters an obstacle or the like, an emergency stop is required, the vehicle issues a deceleration instruction to bring the vehicle into emergency stop so as to avoid a collision accident. When the whole vehicle controller receives the deceleration instruction, the current torque request moment of the vehicle is controlled to be zero, and the vehicle is controlled to be decelerated according to the deceleration instruction until the speed of the vehicle is zero, so that the vehicle is enabled to complete emergency stop, collision accidents are avoided, and the safety of the vehicle is improved.
It should be noted that, whether the vehicle is in a braking, driving or buffering stage, after receiving the deceleration command, the vehicle responds to the deceleration command to make the vehicle stop emergently so as to avoid collision accident.
As a specific example, as shown in fig. 4, the speed limit control method of the vehicle may include the steps of:
step S101, a current vehicle speed and a limited vehicle speed of the vehicle are acquired.
Step S102, it is determined whether a deceleration instruction is received. If yes, step S103 is performed; if not, step S104 is performed.
Step S103, controlling the current request torque of the vehicle to be zero, and controlling the vehicle according to the deceleration instruction.
Step S104, determining a speed control stage of the vehicle according to the current speed and the limited speed of the vehicle.
Step S105, when the vehicle is in an accelerating state and the current speed of the vehicle is less than the preset minimum buffer speed, determining the speed control stage of the vehicle as the driving stage.
Step S106, a feedforward compensation value is acquired.
Step S107, obtaining a speed difference value between a preset minimum buffer vehicle speed and a feedforward compensation value.
And S108, performing PID closed-loop operation on the difference between the speed difference and the current vehicle speed to obtain a first compensation acceleration.
Step S109, determining a first driving compensation torque according to the first compensation acceleration.
And S110, inverting the first driving compensation torque, and summing the inverted first driving compensation torque with the current requested driving torque to obtain a sum which is the driving torque of the vehicle.
In step S111, when the vehicle is in an accelerating state and the current speed of the vehicle is greater than or equal to the preset minimum buffer speed and less than or equal to the preset maximum buffer speed, the speed control stage of the vehicle is determined to be a driving buffer stage.
And S112, performing PID closed-loop operation on the difference between the preset maximum buffer vehicle speed and the current vehicle speed to obtain a second compensation acceleration.
Step S113, determining a second driving compensation torque according to the second compensation acceleration.
And step S114, the second driving compensation torque is inverted, and then summed with the current requested driving torque, and the sum is the driving torque of the vehicle.
In step S115, when the vehicle is in a decelerating state and the current vehicle speed is less than or equal to the preset maximum buffered vehicle speed, the speed control stage of the vehicle is determined to be a braking buffer stage.
And S116, performing PID closed-loop operation on the difference between the preset minimum buffer vehicle speed and the current vehicle speed to obtain the braking deceleration of the vehicle.
Step S117 controls the vehicle to decelerate in accordance with the braking deceleration.
In step S118, when the current speed of the vehicle is greater than the preset maximum buffered speed, it is determined that the speed control phase of the vehicle is a braking phase.
Step S119, PID closed loop operation is carried out on the difference value between the preset maximum buffer vehicle speed and the current vehicle speed, and the braking deceleration of the vehicle is obtained.
Step S120, controlling the vehicle to decelerate according to the braking deceleration.
Therefore, the speed limiting control method of the vehicle can determine the speed control stage of the vehicle according to the current speed of the vehicle, and respond to different control strategies according to the speed control stage of the vehicle, so that the vehicle is accelerated or is controlled to run in a decelerating mode, the vehicle can be stably driven at the limited speed, the vehicle can be stably transited between driving and braking, the vehicle jam condition caused by frequent switching of driving braking of the vehicle is reduced, and the smoothness of vehicle driving is ensured.
In summary, according to the speed limit control method of the vehicle in the embodiment of the present disclosure, the current vehicle speed and the limited vehicle speed of the vehicle are obtained first, then the speed control stage of the vehicle is determined according to the current vehicle speed and the limited vehicle speed, finally the driving torque or the braking deceleration of the vehicle is determined according to the speed control stage, and the vehicle is controlled according to the driving torque and the braking deceleration. Therefore, the method can enable the vehicle to stably run at the limited speed, and can enable the vehicle to stably transition between driving and braking, reduce the vehicle clamping condition caused by frequent switching of driving and braking, and ensure the running smoothness of the vehicle.
Corresponding to the embodiment, the disclosure further provides a speed limiting control device of the vehicle.
Fig. 5 is a block schematic diagram of a speed limit control device of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 5, a speed limit control device 100 of a vehicle according to an embodiment of the present disclosure may include: the acquisition module 110, the first determination module 120, the second determination module 130, and the control module 140.
The acquiring module 110 is configured to acquire a current vehicle speed of the vehicle and a limited vehicle speed. The first determining module 120 is configured to determine a speed control phase of the vehicle according to the current vehicle speed and the limited vehicle speed, where the speed control phase includes a driving phase, a driving buffer phase, a braking phase, and a braking buffer phase. The second determination module 130 is configured to determine a driving torque or a braking deceleration of the vehicle based on the speed control phase. The control module 140 is used for controlling the vehicle according to the driving torque or the braking deceleration.
According to one embodiment of the present disclosure, the first determining module 120 determines a speed control phase of the vehicle according to the current vehicle speed and the limited vehicle speed, and specifically, determines a preset minimum buffer vehicle speed and a preset maximum buffer vehicle speed of the vehicle according to the limited vehicle speed; when the vehicle is in an accelerating state and the current vehicle speed is smaller than a preset minimum buffer vehicle speed, determining a speed control stage of the vehicle as a driving stage; when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to a preset minimum buffer vehicle speed and less than or equal to a preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as a driving buffer stage; when the current speed is greater than the preset maximum buffer speed, determining a speed control stage of the vehicle as a braking stage; when the vehicle is in a decelerating state and the current vehicle speed is smaller than or equal to the maximum buffer vehicle speed, determining that the speed control stage of the vehicle is a braking buffer stage.
According to one embodiment of the present disclosure, the second determining module 130 determines a driving torque or a braking deceleration of the vehicle, specifically, is used for obtaining a first driving compensation torque when the vehicle is in a driving stage, and determining the driving torque of the vehicle according to the first driving compensation torque and the current request torque; when the vehicle is in a driving buffer stage, determining a second driving compensation torque according to a preset maximum buffer vehicle speed and a current vehicle speed, and determining a driving torque of the vehicle according to the second driving compensation torque and the current request torque; when the vehicle is in a braking stage, determining the braking deceleration of the vehicle according to a preset maximum buffer vehicle speed and a current vehicle speed; when the vehicle is in a braking buffer stage, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed.
According to one embodiment of the present disclosure, the second determination module 130 obtains the first drive compensation torque, specifically for determining a feedforward compensation value; determining a first driving compensation torque according to the feedforward compensation value and the current vehicle speed; the calculation mode for determining the feedforward compensation value is as follows:
V - ＝k*T q +b
wherein V is - For feedforward compensation value, T q For the requested driving torque, k is a linear slope obtained by calibrating a speed difference between the current vehicle speed and a preset minimum buffer vehicle speed when the vehicle is not compensated under different requested driving torques, and b is an offset obtained by calibrating a speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle is not compensated under different requested driving torques.
According to one embodiment of the present disclosure, the second determining module 130 determines a first driving compensation torque according to the feedforward compensation value and the current vehicle speed, and is specifically configured to obtain a speed difference between a preset minimum buffer vehicle speed and the feedforward compensation value; taking the difference between the speed difference and the current vehicle speed as the input of the driving PID closed-loop operation, and taking the output of the driving PID closed-loop operation as the first compensation acceleration; a first drive compensation torque is determined based on the first compensation acceleration.
According to one embodiment of the present disclosure, the second determining module 130 determines a second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed, specifically, is configured to take a difference between the preset maximum buffer vehicle speed and the current vehicle speed as an input of the driving PID closed-loop operation, and take an output of the driving PID closed-loop operation as a second compensation acceleration; a second drive compensation torque is determined based on the second compensation acceleration.
According to one embodiment of the present disclosure, the second determining module 130 determines a braking deceleration of the vehicle according to the preset maximum buffered vehicle speed and the current vehicle speed, specifically, uses a difference between the preset maximum buffered vehicle speed and the current vehicle speed as an input of a braking PID closed-loop operation, and uses an output of the braking PID closed-loop operation as the braking deceleration of the vehicle.
According to one embodiment of the present disclosure, the second determining module 130 determines a braking deceleration of the vehicle according to a preset minimum buffer vehicle speed and a current vehicle speed, including: and taking the difference value between the preset minimum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle. According to one embodiment of the present disclosure, the control module 140 is further configured to control the current requested torque of the vehicle to be zero upon receiving the deceleration command; the vehicle is controlled according to the deceleration instruction.
It should be noted that, for details not disclosed in the speed limit control device of the vehicle in the embodiment of the disclosure, please refer to details disclosed in the speed limit control method of the vehicle in the embodiment of the disclosure, and details are not described herein again.
According to the speed limiting control device of the vehicle, the obtaining module obtains the current speed and the limited speed of the vehicle, the first determining module determines the speed control stage of the vehicle according to the current speed and the limited speed, the second determining module determines the driving torque or the braking deceleration of the vehicle according to the speed control stage, and the control module controls the vehicle according to the driving torque or the braking deceleration. Therefore, the device can enable the vehicle to stably run at the limited speed, can enable the vehicle to stably transition between driving and braking, reduces the vehicle clamping condition caused by frequent switching of driving and braking, and ensures the running smoothness of the vehicle.
Corresponding to the above embodiments, the present disclosure also proposes a computer-readable storage medium.
The computer-readable storage medium of the embodiment of the present disclosure has stored thereon a speed limit control program of a vehicle, which when executed by a processor, implements the speed limit control method of the vehicle described above.
According to the computer readable storage medium of the embodiment of the disclosure, by executing the speed limit control method of the vehicle, the vehicle can stably run under the limited speed, the vehicle can stably transition between driving and braking, the vehicle jam condition caused by frequent switching of driving braking is reduced, and the running smoothness of the vehicle is ensured.
Corresponding to the above embodiment, the present disclosure also proposes a vehicle.
Fig. 6 is a block schematic diagram of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 6, a vehicle 200 according to an embodiment of the present disclosure includes a memory 210, a processor 220, and a speed limit control program of the vehicle stored in the memory 210 and capable of running on the processor 220, where the speed limit control program of the vehicle is executed by the processor 220, to implement the speed limit control method of the vehicle.
According to the vehicle disclosed by the embodiment of the disclosure, by executing the speed limit control method of the vehicle, the vehicle can stably run under the limited speed, the vehicle can stably transition between driving and braking, the vehicle clamping condition caused by frequent switching of driving and braking of the vehicle is reduced, and the running smoothness of the vehicle is ensured.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise.
In the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
Although embodiments of the present disclosure have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the present disclosure, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present disclosure.

Claims (11)

1. A speed limit control method of a vehicle, comprising:
acquiring the current speed of the vehicle and limiting the speed;
determining a speed control stage of the vehicle according to the current vehicle speed and the limited vehicle speed, wherein the speed control stage comprises a driving stage, a driving buffer stage, a braking stage and a braking buffer stage;
determining a driving torque or braking deceleration of the vehicle according to the speed control phase;
the vehicle is controlled according to the driving torque or braking deceleration.
2. The method of claim 1, wherein determining a speed control phase of the vehicle based on the current vehicle speed and the limited vehicle speed comprises:
determining a preset minimum buffer speed and a preset maximum buffer speed of the vehicle according to the limited speed;
when the vehicle is in an accelerating state and the current vehicle speed is smaller than the preset minimum buffer vehicle speed, determining a speed control stage of the vehicle as the driving stage;
when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to the preset minimum buffer vehicle speed and less than or equal to the preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as the driving buffer stage;
When the current vehicle speed is greater than the preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as the braking stage;
and when the vehicle is in a deceleration state and the current vehicle speed is smaller than or equal to the preset maximum buffer vehicle speed, determining a speed control stage of the vehicle as the braking buffer stage.
3. The method of claim 1, wherein determining the driving torque or braking deceleration of the vehicle comprises:
when the vehicle is in the driving stage, acquiring a first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and the current request torque;
when the vehicle is in the driving buffer stage, determining a second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed, and determining the driving torque of the vehicle according to the second driving compensation torque and the current request torque;
when the vehicle is in the braking stage, determining the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed;
and when the vehicle is in the braking buffering stage, determining the braking deceleration of the vehicle according to the preset minimum buffering vehicle speed and the current vehicle speed.
4. A method according to claim 3, wherein said obtaining a first drive compensation torque comprises:
determining a feedforward compensation value;
determining the first drive compensation torque according to the feedforward compensation value and the current vehicle speed;
the calculation mode for determining the feedforward compensation value is as follows:
V - ＝k*T q +b；
wherein V is - For the feedforward compensation value, T q And k is a linear slope obtained by calibrating the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed according to the condition that the vehicle is not compensated under different request driving torques, and b is an offset obtained by calibrating the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed according to the condition that the vehicle is not compensated under different request driving torques.
5. The method of claim 4, wherein determining a first drive compensation torque based on the feedforward compensation value and the current vehicle speed comprises:
acquiring a speed difference value between the preset minimum buffer vehicle speed and the feedforward compensation value;
taking the difference between the speed difference and the current vehicle speed as the input of driving PID closed-loop operation, and taking the output of driving PID closed-loop operation as a first compensation acceleration;
And determining the first driving compensation torque according to the first compensation acceleration.
6. A method according to claim 3, wherein determining a second drive compensation torque based on the preset maximum buffer vehicle speed and the current vehicle speed comprises:
taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as input of driving PID closed-loop operation, and taking the output of the driving PID closed-loop operation as second compensation acceleration;
and determining the second driving compensation torque according to the second compensation acceleration.
7. A method according to claim 3, wherein determining the braking deceleration of the vehicle from the preset maximum buffered vehicle speed and the current vehicle speed comprises:
and taking the difference value between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle.
8. A method according to claim 3, wherein determining the braking deceleration of the vehicle from the preset minimum buffer vehicle speed and the current vehicle speed comprises:
and taking the difference value between the preset minimum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle.
9. The method as recited in claim 1, further comprising:
controlling a current requested torque of the vehicle to be zero upon receiving a deceleration command;
and controlling the vehicle according to the deceleration instruction.
10. A speed limit control device for a vehicle, comprising:
the acquisition module is used for acquiring the current speed of the vehicle and the limited speed;
the first determining module is used for determining a speed control stage of the vehicle according to the current vehicle speed and the limited vehicle speed, wherein the speed control stage comprises a driving stage, a driving buffering stage, a braking stage and a braking buffering stage;
a second determination module for determining a driving torque or a braking deceleration of the vehicle according to the speed control phase;
and the control module is used for controlling the vehicle according to the driving torque or the braking deceleration.
11. A vehicle comprising a memory, a processor and a speed limit control program of the vehicle stored on the memory and operable on the processor, the processor implementing a speed limit control method of the vehicle according to any one of claims 1-9 when executing the speed limit control program of the vehicle.
CN202210901257.9A 2022-07-28 2022-07-28 Vehicle and speed limiting control method and device thereof Pending CN117508147A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210901257.9A CN117508147A (en) 2022-07-28 2022-07-28 Vehicle and speed limiting control method and device thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210901257.9A CN117508147A (en) 2022-07-28 2022-07-28 Vehicle and speed limiting control method and device thereof

Publications (1)

Publication Number Publication Date
CN117508147A true CN117508147A (en) 2024-02-06

Family

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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