CN117549739A - Fault triggered vehicle speed limiting method, speed limiting device, vehicle and medium - Google Patents
Fault triggered vehicle speed limiting method, speed limiting device, vehicle and medium Download PDFInfo
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- CN117549739A CN117549739A CN202311863683.9A CN202311863683A CN117549739A CN 117549739 A CN117549739 A CN 117549739A CN 202311863683 A CN202311863683 A CN 202311863683A CN 117549739 A CN117549739 A CN 117549739A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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- 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
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Abstract
The application provides a fault triggering vehicle speed limiting method, a speed limiting device, a vehicle and a medium, comprising the following steps: acquiring a current torque limiting factor and a current speed of a vehicle in real time; when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed; filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor; limiting throttle demand torque of the vehicle according to the first actual torque limiting factor. Therefore, the throttle demand torque of the vehicle can be gradually limited, the torque is prevented from being suddenly changed greatly, the purpose of stable speed limitation is achieved, and further the problems that sudden power is completely lost to cause panic of drivers and passengers, and even overtaking or danger avoiding failure is caused, so that personal injury or property loss is caused are avoided.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a fault triggering vehicle speed limiting method, a fault triggering vehicle speed limiting device, a vehicle and a medium.
Background
With the development of the automobile industry, the electrification and intelligent levels of automobiles are continuously improved, fault monitoring is more and more perfect, and the treatment measures after faults lead to safer vehicles and personnel. When some faults occur, the speed limiting function of the vehicle is triggered based on safety consideration, and the rotating speed or torque of the power source is directly limited, so that the purpose of limiting the vehicle speed to protect the safety of the vehicle is achieved.
However, in the prior art, the sudden speed limiting mode is performed in the actual running process of the vehicle, so that the power of the vehicle is suddenly and completely lost, and the driving experience of drivers is affected; operation failure in emergency situations may also be caused, which poses a threat to vehicle and personal safety.
Disclosure of Invention
In view of this, the present application aims to provide a fault triggered vehicle speed limiting method, a speed limiting device, a vehicle and a medium, which are to obtain a first actual torque limiting factor by filtering the current torque limiting factor and the first target torque limiting factor, so as to gradually limit the throttle demand torque of the vehicle, avoid the torque from suddenly changing to a great extent, achieve the purpose of stable speed limitation, and further avoid the problem that sudden power is completely lost to cause panic of drivers and passengers, even cause overtaking or danger avoidance failure, and cause personal injury or property loss.
The embodiment of the application provides a fault triggered vehicle speed limiting method, which comprises the following steps:
acquiring a current torque limiting factor and a current speed of a vehicle in real time;
when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed;
filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor;
limiting throttle demand torque of the vehicle according to the first actual torque limiting factor.
Further, when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed, including:
determining a target vehicle speed to which the vehicle should be limited according to the fault type;
and according to the target vehicle speed and the current vehicle speed, determining the first target torque limiting factor by searching a pre-calibrated torque limiting factor table.
Further, filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor, including:
filtering the current torque limiting factor and the first target torque limiting factor with at least one order to obtain a first actual torque limiting factor;
when the order is two, the filtering processing method for the current torque limiting factor and the first target torque limiting factor comprises the following steps:
performing first-order filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first torque limiting factor;
and carrying out first-order filtering processing on the current torque limiting factor and the first torque limiting factor again to obtain the first actual torque limiting factor.
Further, when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed, including:
when various speed limiting faults of the vehicle are monitored, determining a first target torque limiting factor corresponding to each speed limiting fault;
filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor, wherein the filtering comprises the following steps:
filtering the current torque limiting factor and the first target torque limiting factor corresponding to each speed limiting fault respectively to obtain an actual torque limiting factor corresponding to each speed limiting fault;
and determining the smallest torque limiting factor in the actual torque limiting factors corresponding to each speed limiting fault as the first actual torque limiting factor.
Further, limiting the throttle demand torque of the vehicle according to the first actual torque limiting factor includes:
acquiring the current accelerator pedal opening of the vehicle in real time, and determining the accelerator demand torque of the vehicle based on the current accelerator pedal opening; wherein the throttle demand torque is positively correlated to the current throttle pedal opening;
multiplying the first actual torque limiting factor by the accelerator demand torque to obtain a first target torque, so as to control a driving motor through the first target torque;
wherein a first filter parameter when the current torque limiting factor and the first target torque limiting factor are subjected to filter processing satisfies the following condition:
when the current accelerator pedal opening is kept unchanged, the first target torque is in a descending trend by the first actual torque limiting factor obtained after the first filtering parameter is subjected to filtering treatment;
when the opening of the current accelerator pedal is increased, the first target torque is in a trend of rising and then falling after the first actual torque limiting factor obtained by filtering the first filtering parameter.
Further, the method further comprises:
when the speed limiting fault is detected to be relieved, determining an expected torque limiting factor in real time according to the current accelerator pedal opening;
filtering the current torque limiting factor and the expected torque limiting factor to obtain a second actual torque limiting factor;
and limiting the throttle demand torque of the vehicle according to the second actual torque limiting factor to obtain a second target torque, so as to control the driving motor through the second target torque.
Further, a second filter parameter when filtering the current torque limiting factor and the desired torque limiting factor satisfies the following condition:
when the current accelerator pedal opening is kept unchanged, the second target torque is in an ascending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing;
and when the current accelerator pedal opening is reduced, the second target torque is in a descending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing.
The embodiment of the application also provides a fault triggered vehicle speed limiting device, which comprises:
the acquisition module is used for acquiring the current accelerator pedal opening and the current torque limiting factor of the vehicle in real time;
the determining module is used for determining a first target torque limiting factor according to the fault type of the fault when the fault of the vehicle is detected;
the filtering module is used for filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor;
and the limiting module is used for limiting the throttle demand torque of the vehicle according to the first actual torque limiting factor.
The embodiment of the application also provides a vehicle, which comprises: the system comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory are communicated through the bus when the vehicle runs, and the machine-readable instructions are executed by the processor to perform the steps of a fault triggered vehicle speed limiting method.
Embodiments of the present application also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a fault triggered vehicle speed limiting method as described above.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates a flow chart of a fault triggered vehicle speed limiting method provided by an embodiment of the present application;
FIG. 2 illustrates a schematic diagram of a torque limiting factor table provided by an embodiment of the present application;
FIG. 3 is a schematic diagram showing a comparison of actual torque limiting factors obtained by first-order filtering and second-order filtering according to an embodiment of the present application;
FIG. 4 is a schematic diagram showing the effect of a fault triggered vehicle speed limiting method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a fault triggered vehicle speed limiter according to an embodiment of the present disclosure;
fig. 6 shows a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, every other embodiment that a person skilled in the art would obtain without making any inventive effort is within the scope of protection of the present application.
According to research, with the development of the automobile industry, the electrification and intelligent level of the automobile are continuously improved, fault monitoring is more and more perfect, and the treatment measures after the faults lead the automobile and personnel to be safer. When some faults occur, the speed limiting function of the vehicle is triggered based on safety consideration, and the rotating speed or torque of the power source is directly limited, so that the purpose of limiting the vehicle speed to protect the safety of the vehicle is achieved.
However, in the prior art, the sudden speed limiting mode is performed in the actual running process of the vehicle, so that the power of the vehicle is suddenly and completely lost, and the driving experience of drivers is affected; operation failure in emergency situations may also be caused, which poses a threat to vehicle and personal safety.
Based on the above, the embodiment of the application provides a fault triggering vehicle speed limiting method, which is to filter a current torque limiting factor and a first target torque limiting factor to obtain a first actual torque limiting factor so as to gradually limit the throttle required torque of a vehicle, avoid the great abrupt change of the torque and achieve the purpose of stable speed limiting, thereby avoiding the problems of personal injury or property loss caused by panic of drivers and passengers and even caused by overtaking or danger avoidance failure caused by abrupt complete power loss.
Referring to fig. 1, fig. 1 is a flowchart of a fault triggered vehicle speed limiting method according to an embodiment of the present application. The method provided by the embodiment of the application can be applied to controllers in vehicles, such as a whole vehicle controller or a power domain controller. As shown in fig. 1, the vehicle speed limiting method includes:
s101, acquiring a current torque limiting factor and a current speed of the vehicle in real time.
Taking a power domain controller as an example, the current speed of the vehicle can be obtained in real time through a sensor and the like; and the related algorithm in the prior art can be used for integrating other vehicle state information to determine the current torque limiting factors, such as the vehicle state information of brake signal priority, vehicle speed, rotational speed overspeed protection and the like.
S102, when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed.
In this step, various faults may occur in the running process of the vehicle, some faults are relatively slight and do not relate to the problem of driving safety, some faults are serious faults related to driving safety, and the speed limiting function of the vehicle is required to be triggered to ensure driving safety, so that the speed of the vehicle is limited. Thus, the embodiments of the present application set such serious faults, which are related to driving safety and require triggering of a speed limiting function, as speed limiting faults.
As one example, when a vehicle failure is monitored, it may be determined whether the failure is a speed limit failure according to the type of failure. When it is determined that a speed limit fault has occurred, a first target torque limiting factor may be determined according to a fault type of the speed limit fault and a current vehicle speed. In the technical realization, the torque of the motor can be limited by the target torque limiting factor, and then the motor is controlled to drive the motor to perform power response by the torque of the motor, so that the purpose of limiting the speed is achieved. For example, the fault triggering the speed limit of the vehicle in the embodiment of the application may include: motor failure, accelerator pedal failure, low voltage power failure, etc.
The first target torque limiting factor is related to the fault type and the current vehicle speed, and when the fault type belongs to serious faults, the target vehicle speed for limiting the speed of the vehicle is limited to be lower so as to fully limit the driving speed and ensure the driving safety of the vehicle; or when the current vehicle speed is higher, the proper time length for limiting the vehicle speed to the target vehicle speed is ensured, and the running safety cannot be ensured in time due to overlong time length. Thus, the appropriate first target torque limiting factor can be determined by integrating the fault type and the current vehicle speed. In specific implementation, the corresponding target torque limiting factor can be determined by searching historical experience data and the like.
In one possible implementation, step S102 may include:
determining a target vehicle speed to which the vehicle should be limited according to the fault type; and determining the first target torque limiting factor by searching a pre-calibrated torque limiting factor table according to the target vehicle speed and the current vehicle speed of the vehicle.
Here, the map relationship between the different types of faults and the different vehicle speeds to which the vehicle should be limited may be constructed in advance; therefore, the target vehicle speed to which the vehicle should be limited can be determined according to the type of the current failure and the map. And then searching a torque limiting factor table calibrated in advance by experimental data through the target speed and the current speed of the vehicle, and determining a first target torque limiting factor. Referring to fig. 2, fig. 2 is a schematic diagram of a torque limiting factor table according to an embodiment of the present application. As shown in fig. 2, the target torque limiting factor may be determined using a look-up torque limiting factor table, based on the target vehicle speed (i.e., the desired speed limit after the fault) and the current vehicle speed of the vehicle at the time of the fault occurrence.
S103, filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor.
In the step, the current torque limiting factor and the first target torque limiting factor are filtered, so that the obtained first actual torque limiting factor can realize smooth transition from the current torque limiting factor to the first target torque limiting factor, and the problem that the power of a vehicle is suddenly lost, a driver is panicked, and even overtaking or danger avoiding failure is caused due to abrupt change of the current torque limiting factor to the first target torque limiting factor is avoided.
Specifically, filtering processing with an order of at least one may be performed on the current torque limiting factor and the first target torque limiting factor, so as to obtain a first actual torque limiting factor, which is used for limiting the torque of the vehicle. Thereafter, the first actual torque limiting factor may be redetermined as the current torque limiting factor; in this way, in the next control period, the current torque limiter is filtered again with the first target torque limiter, and a smooth transition from the initial current torque limiter (torque limiter at the time of occurrence of a failure) to the first target torque limiter is achieved through a plurality of control periods.
When the order is two, step S103 may include:
performing first-order filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first torque limiting factor; and carrying out first-order filtering processing on the current torque limiting factor and the first torque limiting factor again to obtain the first actual torque limiting factor.
The formula is:
Tq_Factor 1fltnew ＝(1-k 1 )*Tq_Factor 2fltpre +k 1 *Tq_Factor Target
Tq_Factor 2fltnew ＝(1-k 2 )*Tq_Factor 2fltpre +k 2 *Tq_Factor 1fltnew
in the formula, tq_factor 2fltpre Is the current torque limiting factor; tq_factor Target Is a first target torque limiting factor; tq_factor 1fltnew Is a first torque limiting factor; tq_factor 2fltnew Is a first actual torque limiting factor; k (k) 1 And k 2 Respectively, a first filtering sub-parameter of the first filtering parameters.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating comparison of actual torque limiting factors obtained by first-order filtering and second-order filtering according to an embodiment of the present application. As shown in fig. 3, the actual torque limiting factor obtained after the second-order filtering reduces the peak of the torque limiting factor variation compared to the first-order filtering, and a smoother transition can be achieved, thereby achieving a smoother speed limiting effect.
Further, if various speed limit faults may occur in the running process of the vehicle, when it is monitored that the various speed limit faults occur in the vehicle, step S102 may include: and determining a first target torque limiting factor according to the fault type of the speed limiting fault and the current vehicle speed. At this time, the corresponding first target torque limiting factor may be determined for each fault in the foregoing manner.
Accordingly, step S103 may include: filtering the current torque limiting factor and the first target torque limiting factor corresponding to each speed limiting fault respectively to obtain an actual torque limiting factor corresponding to each speed limiting fault; and determining the smallest torque limiting factor in the actual torque limiting factors corresponding to each speed limiting fault as the first actual torque limiting factor. The formula can be expressed as:
in the method, in the process of the invention,representing the actual torque limiting factor for each speed limit fault.
S104, limiting the accelerator demand torque of the vehicle according to the first actual torque limiting factor.
In this step, the first actual torque limiting factor may be multiplied by the accelerator demand torque to obtain a first target torque. The first target torque is transmitted to the driving motor, so that the driving motor can be controlled to execute a driving instruction, and the power response of the vehicle is realized; vehicle speed may be limited by limiting throttle demand torque.
When the method is specifically implemented, firstly, the current accelerator pedal opening of the vehicle is obtained in real time, and the accelerator demand torque of the vehicle is determined based on the current accelerator pedal opening; when a driver steps on the accelerator pedal, the power domain controller can analyze the current accelerator pedal opening in real time according to the accelerator pedal signal; and the throttle demand torque is positively correlated with the current throttle pedal opening. That is, when the current accelerator pedal opening increases, the accelerator demand torque increases accordingly. And multiplying the first actual torque limiting factor by the accelerator demand torque to obtain a first target torque. The formula is:
in the formula, requestTq toMot Representing a first target torque; requestTq frDrv Indicating throttle demand torque.
Here, the first filter parameter when the current torque limiting factor and the first target torque limiting factor are subjected to the filter processing satisfies the following condition:
when the current accelerator pedal opening remains unchanged, the first target torque is enabled to be in a descending trend by the first actual torque limiting factor obtained after the first filtering parameter is subjected to filtering processing.
Namely, after the vehicle fails, if the vehicle runs at a constant speed, the current accelerator pedal opening is kept unchanged, and the accelerator demand torque can be kept unchanged; at this time, the first actual torque limiting factor obtained after the filtering processing is carried out on the first filtering parameter, the first target torque obtained by multiplying the first actual torque limiting factor and the accelerator required torque is in a stable descending trend, the torque capacity of the vehicle is gradually limited, the power and the speed of the vehicle are gradually reduced, and the user cannot generate a sudden power loss sense.
When the opening of the current accelerator pedal is increased, the first target torque is in a trend of rising and then falling after the first actual torque limiting factor obtained by filtering the first filtering parameter.
Namely, after the vehicle fails, if a driver has driving intentions such as overtaking or emergency avoidance, the current accelerator pedal opening is increased, so that the accelerator demand torque is correspondingly increased; at the moment, a first actual torque limiting factor obtained after filtering processing is carried out on the first filtering parameter, and a first target torque obtained by multiplying the first actual torque limiting factor and the gradually increased accelerator demand torque is in a trend of ascending and descending firstly, so that the vehicle can finish driving intentions such as overtaking or emergency avoidance of a driver demand, and the problem of personal injury or property loss caused by overtaking or danger avoidance failure is avoided; thereafter, the power and speed of the vehicle gradually decrease, and the user does not feel a sudden loss of power.
In this way, according to the vehicle speed limiting method provided by the embodiment of the application, after the vehicle fails, the target torque and the speed in uniform running are in a stable descending trend, and no power loss sense is realized; and the target torque during acceleration overtaking or danger avoiding is in a trend of rising and then falling, so that the vehicle is ensured to continue to stably limit the speed after the necessary acceleration is completed. The method is realized by using the same control strategy, and the complexity and the concussion caused by switching the control strategy are further avoided.
Further, the method further comprises:
when the speed limiting fault is detected to be relieved, determining an expected torque limiting factor in real time according to the current accelerator pedal opening; filtering the current torque limiting factor and the expected torque limiting factor to obtain a second actual torque limiting factor; and limiting the throttle demand torque of the vehicle according to the second actual torque limiting factor to obtain a second target torque, and controlling a driving motor through the second target torque.
Further, after the speed limit fault of the vehicle is detected to be relieved, a desired torque limiting factor of the user can be determined by using a related algorithm in the prior art based on the current accelerator pedal opening, and filtering processing is performed on the current torque limiting factor and the desired torque limiting factor in a similar manner as in the step S103, so as to obtain a second actual torque limiting factor; in this way, the torque capacity of the vehicle can be gradually restored by the second actual torque limiting factor, smooth acceleration is achieved, and the problem of sudden acceleration feeling and danger is avoided.
Wherein a second filter parameter when the current torque limiting factor and the desired torque limiting factor are subjected to filter processing satisfies the following condition:
and when the current accelerator pedal opening remains unchanged, the second target torque is in an ascending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing.
After the speed limiting fault of the vehicle is relieved, if the vehicle runs at a constant speed, the current accelerator pedal opening is kept unchanged; and the second actual torque limiting factor obtained after the filtering processing is carried out on the second filtering parameter, so that the second target torque is in an ascending trend, the ascending trend is stable, the torque capacity, the speed and the power of the vehicle are gradually recovered, the abrupt acceleration feeling is avoided, and the driving safety is ensured.
And when the current accelerator pedal opening is reduced, the second target torque is in a descending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing.
After the fault of the vehicle is relieved, if a driver has driving intention such as deceleration or sudden braking, the current accelerator pedal opening is reduced, so that the accelerator demand torque is correspondingly reduced; at this time, the second actual torque limiting factor obtained after the filtering processing is performed by the second filtering parameter, so that the second target torque is in a descending trend, the vehicle can complete the driving intention such as the deceleration or sudden braking required by a driver, normal deceleration is realized, and the problem of personal injury or property loss caused by deceleration or sudden braking failure is avoided.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an effect of a fault triggered vehicle speed limiting method according to an embodiment of the present application. After the fault triggering the speed limit occurs, the instrument prompts a vehicle fault and drives the speed limit; as shown in fig. 4, a second order filter control is performed based on the current torque limiting factor and the target torque limiting factor, and the actual torque limiting factor is gently decreased to gradually limit the torque capacity and the vehicle speed, avoiding a sudden power loss feeling. After triggering the fault restoration of the speed limit, the instrument prompts 'speed limit fault restoration, please drive safely'; as shown in fig. 4, based on the current torque limiting factor and the desired torque limiting factor, a second order filtering is performed, and the actual torque limiting factor is gently increased to gradually restore the vehicle torque capacity and speed, avoiding unintended acceleration.
The vehicle speed limiting method triggered by the faults, provided by the embodiment of the application, comprises the following steps: acquiring the current accelerator pedal opening, the current torque limiting factor and the current speed of the vehicle in real time; when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed; filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor; limiting throttle demand torque of the vehicle according to the first actual torque limiting factor.
In this way, the current torque limiting factor and the first target torque limiting factor are filtered to obtain the first actual torque limiting factor so as to gradually limit the throttle demand torque of the vehicle, avoid the torque from suddenly changing greatly, achieve the purpose of stable speed limitation, and further avoid the problem that sudden power loss completely causes panic of drivers and passengers, even causes overtaking or danger avoidance failure, and causes personal injury or property loss.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a fault triggered vehicle speed limiting device according to an embodiment of the present application. As shown in fig. 5, the vehicle speed limiting device 500 includes:
an obtaining module 510, configured to obtain, in real time, a current torque limiting factor and a current vehicle speed of a vehicle;
a determining module 520, configured to determine a first target torque limiting factor according to a fault type of a speed limit fault and the current vehicle speed when the speed limit fault of the vehicle is detected;
the filtering module 530 is configured to perform filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor;
a limiting module 540 is configured to limit a throttle demand torque of the vehicle according to the first actual torque limiting factor.
Further, when the determining module 520 determines, when it detects that the vehicle has a speed limit fault, a first target torque limiting factor according to a fault type of the speed limit fault and the current vehicle speed, the determining module 520 is configured to:
determining a target vehicle speed to which the vehicle should be limited according to the fault type;
and according to the target vehicle speed and the current vehicle speed, determining the first target torque limiting factor by searching a pre-calibrated torque limiting factor table.
Further, when the filtering module 530 is configured to perform filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor, the filtering module 530 is configured to:
filtering the current torque limiting factor and the first target torque limiting factor with at least one order to obtain a first actual torque limiting factor;
when the order is two, the filtering processing method for the current torque limiting factor and the first target torque limiting factor comprises the following steps:
performing first-order filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first torque limiting factor;
and carrying out first-order filtering processing on the current torque limiting factor and the first torque limiting factor again to obtain the first actual torque limiting factor.
Further, when the vehicle is monitored to fail, the determining module 520 is configured to, when the vehicle is monitored to fail at a speed limit, determine a first target torque limiting factor according to a failure type of the speed limit failure and the current vehicle speed, where the determining module 520 is configured to:
when various speed limiting faults of the vehicle are monitored, determining a first target torque limiting factor corresponding to each speed limiting fault;
the filtering module 530 is configured to, when performing filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor, the filtering module 530 is configured to:
filtering the current torque limiting factor and the first target torque limiting factor corresponding to each speed limiting fault respectively to obtain an actual torque limiting factor corresponding to each speed limiting fault;
and determining the smallest torque limiting factor in the actual torque limiting factors corresponding to each speed limiting fault as the first actual torque limiting factor.
Further, the limiting module 540 is configured to, when configured to limit the throttle demand torque of the vehicle according to the first actual torque limiting factor, the limiting module 540 is configured to:
acquiring the current accelerator pedal opening of the vehicle in real time, and determining the accelerator demand torque of the vehicle based on the current accelerator pedal opening; wherein the throttle demand torque is positively correlated to the current throttle pedal opening;
multiplying the first actual torque limiting factor by the accelerator demand torque to obtain a first target torque, so as to control a driving motor through the first target torque;
wherein a first filter parameter when the current torque limiting factor and the first target torque limiting factor are subjected to filter processing satisfies the following condition:
when the current accelerator pedal opening is kept unchanged, the first target torque is in a descending trend by the first actual torque limiting factor obtained after the first filtering parameter is subjected to filtering treatment;
when the opening of the current accelerator pedal is increased, the first target torque is in a trend of rising and then falling after the first actual torque limiting factor obtained by filtering the first filtering parameter.
Further, the device also comprises a release module; the release module is used for:
when the speed limiting fault is detected to be relieved, determining an expected torque limiting factor in real time according to the current accelerator pedal opening of the vehicle;
filtering the current torque limiting factor and the expected torque limiting factor to obtain a second actual torque limiting factor;
and limiting the throttle demand torque of the vehicle according to the second actual torque limiting factor to obtain a second target torque, so as to control the driving motor through the second target torque.
Further, a second filter parameter when filtering the current torque limiting factor and the desired torque limiting factor satisfies the following condition:
when the current accelerator pedal opening is kept unchanged, the second target torque is in an ascending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing;
and when the current accelerator pedal opening is reduced, the second target torque is in a descending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 6, the vehicle 600 includes a processor 610, a memory 620, and a bus 630.
The memory 620 stores machine-readable instructions executable by the processor 610, when the vehicle 600 is running, the processor 610 communicates with the memory 620 through the bus 630, and when the machine-readable instructions are executed by the processor 610, the steps of a fault triggered vehicle speed limiting method in the method embodiment shown in fig. 1 can be executed, and the specific implementation manner can be referred to the method embodiment and will not be described herein.
The embodiment of the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of a fault triggered vehicle speed limiting method in the method embodiment shown in fig. 1 may be executed, and a specific implementation manner may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of fault triggered vehicle speed limiting, the method comprising:
acquiring a current torque limiting factor and a current speed of a vehicle in real time;
when the speed limit fault of the vehicle is monitored, determining a first target torque limiting factor according to the fault type of the speed limit fault and the current vehicle speed;
filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor;
limiting throttle demand torque of the vehicle according to the first actual torque limiting factor.
2. The method of claim 1, wherein when a speed limit fault is detected in the vehicle, determining a first target torque limiting factor based on a fault type of the speed limit fault and the current vehicle speed comprises:
determining a target vehicle speed to which the vehicle should be limited according to the fault type;
and according to the target vehicle speed and the current vehicle speed, determining the first target torque limiting factor by searching a pre-calibrated torque limiting factor table.
3. The method of claim 1, wherein filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor comprises:
filtering the current torque limiting factor and the first target torque limiting factor with at least one order to obtain a first actual torque limiting factor;
when the order is two, the filtering processing method for the current torque limiting factor and the first target torque limiting factor comprises the following steps:
performing first-order filtering processing on the current torque limiting factor and the first target torque limiting factor to obtain a first torque limiting factor;
and carrying out first-order filtering processing on the current torque limiting factor and the first torque limiting factor again to obtain the first actual torque limiting factor.
4. A method according to claim 1 or 3, wherein when a speed limit fault is detected in the vehicle, determining a first target torque limiting factor from the fault type of the speed limit fault and the current vehicle speed comprises:
when various speed limiting faults of the vehicle are monitored, determining a first target torque limiting factor corresponding to each speed limiting fault;
filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor, wherein the filtering comprises the following steps:
filtering the current torque limiting factor and the first target torque limiting factor corresponding to each speed limiting fault respectively to obtain an actual torque limiting factor corresponding to each speed limiting fault;
and determining the smallest torque limiting factor in the actual torque limiting factors corresponding to each speed limiting fault as the first actual torque limiting factor.
5. The method of claim 1, wherein limiting the throttle demand torque of the vehicle by the first actual torque limiting factor comprises:
acquiring the current accelerator pedal opening of the vehicle in real time, and determining the accelerator demand torque of the vehicle based on the current accelerator pedal opening; wherein the throttle demand torque is positively correlated to the current throttle pedal opening;
multiplying the first actual torque limiting factor by the accelerator demand torque to obtain a first target torque, so as to control a driving motor through the first target torque;
wherein a first filter parameter when the current torque limiting factor and the first target torque limiting factor are subjected to filter processing satisfies the following condition:
when the current accelerator pedal opening is kept unchanged, the first target torque is in a descending trend by the first actual torque limiting factor obtained after the first filtering parameter is subjected to filtering treatment;
when the opening of the current accelerator pedal is increased, the first target torque is in a trend of rising and then falling after the first actual torque limiting factor obtained by filtering the first filtering parameter.
6. The method according to claim 1, wherein the method further comprises:
when the speed limiting fault is detected to be relieved, determining an expected torque limiting factor in real time according to the current accelerator pedal opening of the vehicle;
filtering the current torque limiting factor and the expected torque limiting factor to obtain a second actual torque limiting factor;
and limiting the throttle demand torque of the vehicle according to the second actual torque limiting factor to obtain a second target torque, so as to control the driving motor through the second target torque.
7. The method of claim 6, wherein a second filter parameter when filtering the current torque limiting factor and the desired torque limiting factor satisfies the condition:
when the current accelerator pedal opening is kept unchanged, the second target torque is in an ascending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing;
and when the current accelerator pedal opening is reduced, the second target torque is in a descending trend by the second actual torque limiting factor obtained after the second filtering parameter is subjected to filtering processing.
8. A fail-triggered vehicle speed limiter, the device comprising:
the acquisition module is used for acquiring the current torque limiting factor and the current speed of the vehicle in real time;
the determining module is used for determining a first target torque limiting factor according to the fault type of the speed limiting fault and the current vehicle speed when the speed limiting fault of the vehicle is monitored;
the filtering module is used for filtering the current torque limiting factor and the first target torque limiting factor to obtain a first actual torque limiting factor;
and the limiting module is used for limiting the throttle demand torque of the vehicle according to the first actual torque limiting factor.
9. A vehicle, characterized by comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory in communication over said bus when the vehicle is running, said machine readable instructions when executed by said processor performing the steps of a fail-triggered vehicle speed limit method according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of a fail-triggered vehicle speed limiting method according to any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311863683.9A CN117549739A (en) | 2023-12-29 | 2023-12-29 | Fault triggered vehicle speed limiting method, speed limiting device, vehicle and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311863683.9A CN117549739A (en) | 2023-12-29 | 2023-12-29 | Fault triggered vehicle speed limiting method, speed limiting device, vehicle and medium |
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| Publication Number | Publication Date |
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| CN117549739A true CN117549739A (en) | 2024-02-13 |
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| CN202311863683.9A Pending CN117549739A (en) | 2023-12-29 | 2023-12-29 | Fault triggered vehicle speed limiting method, speed limiting device, vehicle and medium |
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| Country | Link |
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| CN (1) | CN117549739A (en) |
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