CN118003904A - Vehicle speed control method and device based on driving intention and new energy vehicle - Google Patents

Abstract

The present application provides a vehicle speed control method, device and new energy vehicle based on driving intention. The method includes: judging whether the vehicle is in a following condition based on target parameters; judging the driving intention based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate; judging whether to activate the function flag according to the judgment result of the following condition and the activation result of the intention flag; determining the coasting recovery basic torque based on the vehicle distance and the vehicle distance change rate; determining the coasting recovery correction torque based on the average distance and the number of pedal steps in the following condition; calculating the coasting recovery limit torque based on the coasting recovery basic torque and the coasting recovery correction torque; judging the final coasting recovery torque based on the coasting recovery limit torque, and transmitting the final coasting recovery torque to the drive motor to perform torque control. The present application improves the driving comfort under the following condition, makes the vehicle speed control more stable, and enhances the user's driving experience.

Description

Vehicle speed control method and device based on driving intention and new energy vehicle

Technical Field

The present application relates to the technical field of new energy vehicles, and in particular to a vehicle speed control method and device based on driving intention, and a new energy vehicle.

Background technique

As new energy vehicle technology becomes increasingly mature and popular, improving driving comfort has become an important topic in current automotive research and development. New energy vehicles place particular emphasis on the efficient use of energy and the improvement of driving experience, among which vehicle speed control is one of the core considerations. Vehicle speed control not only affects energy efficiency, but is also directly related to driving comfort and safety.

Existing technologies face specific challenges in vehicle speed control, especially in following vehicle conditions. In this scenario, the driver needs to frequently adjust the vehicle speed to maintain a safe distance from the vehicle in front. Traditional vehicle speed control methods mainly rely on the driver's operation of the accelerator pedal and the brake pedal, which may lead to the following problems: the driver may feel fatigue and inconvenience due to the need to constantly adjust the vehicle speed to adapt to the driving status of the vehicle in front, especially on roads with dense traffic; frequent pedal operation will affect the continuity and smoothness of the driving experience, especially in following vehicle conditions that require fine control of the vehicle speed; the control of the coasting recovery torque in the existing technology is often not precise enough, which may make it difficult to stabilize the vehicle speed; if the coasting recovery torque is too large, the vehicle will decelerate too quickly without braking, which not only affects the effective recovery of energy, but also reduces driving comfort and safety.

Summary of the invention

In view of this, the embodiments of the present application provide a vehicle speed control method, device and new energy vehicle based on driving intention to solve the problems of poor driving comfort, unstable vehicle speed control and reduced driving experience under following conditions in the prior art.

According to a first aspect of an embodiment of the present application, a vehicle speed control method based on driving intention is provided, comprising: real-time monitoring of target parameters of the vehicle, and judging whether the vehicle is in a following condition based on the target parameters; judging the driving intention based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate, and activating the intention flag according to the judgment result; judging whether to activate the function flag according to the judgment result of the following condition and the activation result of the intention flag using a preset function flag activation condition; determining a coasting recovery basic torque based on the vehicle distance and the vehicle distance change rate when the function flag is activated; determining a coasting recovery correction torque based on the average distance between the vehicle and the preceding vehicle in the following condition and the number of pedaling times; calculating a coasting recovery limit torque based on the coasting recovery basic torque and the coasting recovery correction torque; judging a final coasting recovery torque based on the coasting recovery limit torque, and transmitting the final coasting recovery torque to a drive motor to perform torque control so as to control the vehicle speed.

According to a second aspect of the embodiment of the present application, a vehicle speed control device based on driving intention is provided, comprising: a monitoring module configured to monitor the target parameters of the vehicle in real time, and to determine whether the vehicle is in a following vehicle condition based on the target parameters; a first judging module configured to judge the driving intention based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate, and to activate the intention flag according to the judgment result; a second judging module configured to judge whether to activate the function flag according to the judgment result of the following vehicle condition and the activation result of the intention flag, using a preset function flag activation condition; a first determining module configured to determine a coasting recovery basic torque based on the vehicle distance and the vehicle distance change rate when the function flag is activated; a second determining module configured to determine a coasting recovery correction torque based on the average distance between the vehicle and the preceding vehicle in the following vehicle condition and the number of pedaling times; a calculating module configured to calculate a coasting recovery limit torque based on the coasting recovery basic torque and the coasting recovery correction torque; and a control module configured to judge a final coasting recovery torque based on the coasting recovery limit torque, and transmit the final coasting recovery torque to a drive motor to perform torque control so as to control the vehicle speed.

According to a third aspect of an embodiment of the present application, a new energy vehicle is provided, including a vehicle controller, a motor controller, a drive motor and a transmission system; the vehicle controller is used to implement the steps of the above-mentioned vehicle speed control method based on driving intention to send the final coasting recovery torque to the motor controller; the motor controller is used to control the torque of the drive motor through the transmission system according to the final coasting recovery torque.

At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

By monitoring the target parameters of the vehicle in real time, and judging whether the vehicle is in a following condition based on the target parameters; judging the driving intention based on the vehicle distance between the vehicle and the vehicle in front and the rate of change of the vehicle distance, and activating the intention flag according to the judgment result; judging whether to activate the function flag according to the judgment result of the following condition and the activation result of the intention flag using the preset function flag activation condition; when the function flag is activated, determining the coasting recovery basic torque based on the vehicle distance and the rate of change of the vehicle distance; determining the coasting recovery correction torque based on the average distance between the vehicle and the vehicle in front and the number of pedal steps in the following condition; calculating the coasting recovery limit torque based on the coasting recovery basic torque and the coasting recovery correction torque; judging the final coasting recovery torque based on the coasting recovery limit torque, and transmitting the final coasting recovery torque to the drive motor to perform torque control so as to control the vehicle speed. This application improves driving comfort under following conditions, makes vehicle speed control more stable, and enhances the user's driving experience.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a flow chart of a vehicle speed control method based on driving intention provided in an embodiment of the present application;

FIG2 is a schematic diagram of the structure of a vehicle speed control device based on driving intention provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and/or performed in parallel. In addition, the method implementation may include additional steps and/or omit the steps shown. The scope of the present application is not limited in this respect.

The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

It should be noted that the modifications of "one" and "plurality" mentioned in the present application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

The new energy vehicles in the embodiments of the present application refer to vehicles that use new energy (non-traditional petroleum and diesel energy) and have advanced technology. These vehicles use a new power system that can effectively reduce vehicle emissions, reduce the impact on the environment, and improve energy efficiency. The new energy vehicles in the embodiments of the present application include but are not limited to the following types of vehicles: electric vehicles (EV), pure electric vehicles (BEV), fuel cell electric vehicles (FCEV), plug-in hybrid electric vehicles (PHEV) and hybrid electric vehicles (HEV), etc.

A vehicle speed control method and device based on driving intention provided according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a flow chart of a vehicle speed control method based on driving intention provided in an embodiment of the present application. The vehicle speed control method based on driving intention in Fig. 1 can be executed by a vehicle controller of a new energy vehicle.

As shown in FIG1 , the vehicle speed control method based on driving intention may specifically include:

S101, monitoring the target parameters of the vehicle in real time, and judging whether the vehicle is in a following vehicle condition based on the target parameters;

S102, judging the driving intention based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate, and activating the intention flag according to the judgment result;

S103, judging whether to activate the function flag bit according to the judgment result of the following vehicle working condition and the activation result of the intention flag bit and using the preset function flag bit activation condition;

S104, when the function flag is activated, determining a coasting recovery basic torque based on the vehicle distance and the vehicle distance change rate;

S105, determining a coasting recovery correction torque based on an average distance between the vehicle and a preceding vehicle in a following condition and a number of pedal pressing times;

S106, calculating the coasting recovery limit torque based on the coasting recovery basic torque and the coasting recovery correction torque;

S107, determining a final coasting recovery torque based on the coasting recovery limit torque, and transmitting the final coasting recovery torque to the driving motor to perform torque control so as to control the vehicle speed.

In the embodiment of the present application, during the driving process of the vehicle, the VCU (Vehicle Control Unit) is used to monitor the various parameters of the vehicle and the brake pedal and the accelerator pedal in real time to obtain real-time target parameters. In practical applications, the VCU can collect the following target parameters in real time through sensors: the driving distance between the vehicle and the vehicle in front, the vehicle speed, the number of pedal steps, the accelerator pedal opening, the brake pedal opening, etc. Among them, the accelerator pedal opening is obtained by monitoring the degree of pressure on the accelerator pedal by the driver, and the brake pedal opening is obtained by monitoring the degree of pressure on the brake pedal by the driver.

Furthermore, the collected target parameters are processed, the travel distance between the vehicle and the preceding vehicle is processed, and based on the distance between the two vehicles (i.e., the distance between the vehicle and the preceding vehicle), the distance change rate is calculated for subsequent driving intention judgment and vehicle condition identification.

In some embodiments, determining whether the vehicle is in a following vehicle condition based on the target parameter includes:

When the average distance between the vehicle and the vehicle in front within the preset time period is within the preset average distance threshold range, and the vehicle speed standard deviation is less than the preset vehicle speed standard deviation threshold, and the average vehicle speed is within the preset average vehicle speed threshold range, and the number of pedal stepping times is greater than the preset number threshold, the vehicle is judged to be in the following condition.

Specifically, the embodiment of the present application realizes the identification of the following vehicle condition based on several core target parameters, including the average distance between the two vehicles, the standard deviation of the vehicle speed, the average vehicle speed, and the number of times the pedal is used. The following is a detailed description of the process of identifying the following vehicle condition using the above target parameters in conjunction with a specific embodiment, which may specifically include the following contents:

First, the system monitors the average distance between the vehicle and the vehicle ahead in real time. If the average distance remains within a certain threshold range within a preset time period, it means that the distance between the two vehicles is relatively stable without significant fluctuations. This is the first condition for determining whether the vehicle is in the following condition.

Next, the system considers the standard deviation of vehicle speed, which is an important indicator of vehicle speed fluctuation. If the standard deviation of vehicle speed is lower than a preset threshold and the average speed is also within a specific range during the same time period, it indicates that the vehicle speed is relatively stable and there are no large fluctuations. This is the second condition for determining whether the vehicle is in a following condition.

Finally, the system monitors the number of pedal presses. If the number of pedal presses exceeds a certain threshold within a preset time period, this may indicate that the driver is trying to maintain an appropriate distance from the vehicle in front and is frequently accelerating or decelerating. This is the third condition for determining whether the vehicle is in a following condition.

Based on the above conditions, if the average distance between the vehicle and the vehicle ahead is stable, the speed fluctuation is small, and the pedal is frequently used within a preset time period, the system can determine that the vehicle is currently in the following vehicle condition. This judgment method helps the vehicle control system to adjust the speed more accurately, optimize the driving experience, and improve driving safety.

In some embodiments, based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate, the driving intention is judged, and the intention flag is activated according to the judgment result, including:

When the vehicle distance increases and the rate of change of the vehicle distance increases, it is judged that the driver has the intention to accelerate and the acceleration intention flag is activated; when the vehicle distance decreases and the rate of change of the vehicle distance decreases, it is judged that the driver has the intention to decelerate and the deceleration intention flag is activated.

Specifically, the embodiment of the present application also describes in detail a method for determining driving intention based on the distance between the vehicle and the preceding vehicle and the rate of change of the distance. This method is mainly used in intelligent vehicle systems to more accurately understand the driver's behavior and make corresponding adjustments to improve driving experience and safety.

First, the method involves real-time monitoring of the distance between the vehicle and the vehicle ahead. This can be achieved through advanced sensor systems on the vehicle, such as radar or cameras, which can accurately measure and track the position of the vehicle ahead in real time. The system continuously collects this data, allowing it to calculate the rate of change of the distance between the vehicles.

Next, the system determines the driver's intention based on the change in the distance between the vehicles and the rate of change. When the system detects that the distance between the vehicle and the vehicle in front is increasing and the rate of increase is also accelerating, the system determines that the driver intends to accelerate. In this case, the system will activate the acceleration intention flag. This usually occurs when the driver decides to overtake or the road conditions ahead allow acceleration.

On the contrary, when the distance between the vehicle and the vehicle ahead decreases and the rate of this decrease is also slowing down, the system determines that the driver intends to slow down. In this case, the system will activate the deceleration intention flag. This usually occurs in traffic congestion or when the driver needs to slow down to maintain a safe following distance.

In some embodiments, according to the judgment result of the following vehicle working condition and the activation result of the intention flag, using the preset function flag activation condition, it is judged whether to activate the function flag, including:

When the accelerator pedal opening, vehicle speed, acceleration intention flag, brake pedal opening and following vehicle conditions meet the corresponding function flag activation conditions, the acceleration intention function flag will be activated;

When the accelerator pedal opening, vehicle speed, deceleration intention flag, brake pedal opening and following vehicle conditions meet the corresponding function flag activation conditions, the deceleration intention function flag is activated;

Specifically, the embodiment of the present application also elaborates a method for activating a function flag based on multiple driving parameters. This method is particularly suitable for intelligent vehicle systems to accurately judge and respond to the driver's intention in a complex driving environment.

In actual application, this method involves monitoring and analyzing a variety of driving-related parameters, including accelerator pedal opening, vehicle speed, intention flag (acceleration or deceleration), brake pedal opening, and whether the vehicle is in a following state. These parameters are collected and processed in real time by the vehicle's sensors and control system.

In one example, when determining whether a feature flag is activated, the system evaluates the following conditions:

Accelerator pedal opening: The system checks whether the accelerator pedal opening is 0, indicating that the driver is not actively accelerating.

Vehicle speed range: Whether the vehicle speed is within the safe or appropriate range preset by the system.

Intent flag: The system checks whether the acceleration or deceleration intention flag has been activated, which is based on the distance and distance change rate of the previous embodiment.

Brake pedal opening: Check whether the brake pedal opening is 0, which means the driver did not actively decelerate.

Following condition: The system determines whether the vehicle is in the following condition based on factors such as the distance between the vehicle and the vehicle in front and the change in speed.

When all the above conditions are met, the function flag will be activated. For example, when the accelerator pedal and brake pedal openings are both 0, the vehicle speed is within the safe range, the acceleration intention flag is activated, and the vehicle is in the following condition, the system will activate the acceleration intention function flag. Similarly, for deceleration intention, when the corresponding conditions are met, the system will activate the deceleration intention function flag.

In some embodiments, when the function flag is activated, the coasting recovery base torque is determined based on the vehicle distance and the vehicle distance change rate, including:

When the acceleration intention function flag or the deceleration intention function flag is activated, the predetermined coasting recovery basic torque mapping relationship is queried using the vehicle distance and the vehicle distance change rate to obtain the coasting recovery basic torque;

The coasting recovery basic torque mapping relationship is used to represent a preset value of the coasting recovery basic torque that changes with the vehicle distance and the vehicle distance change rate.

Specifically, when the deceleration intention function flag is activated, the vehicle distance between the vehicle and the vehicle in front and the vehicle distance change rate are used to query the preset first coasting recovery basic torque table (i.e., the tabular form of the coasting recovery basic torque mapping relationship) to obtain the first coasting recovery basic torque.

In one example, an embodiment of the present application can save the glide recovery basic torque mapping relationship in the form of a two-dimensional table, wherein the horizontal axis of the two-dimensional table (i.e., the first glide recovery basic torque table) represents the vehicle distance, the vertical axis represents the vehicle distance change rate, and the table lookup value is the first glide recovery basic torque.

The following is an explanation of the process of determining the first glide recovery basic torque by looking up the value in the two-dimensional table in the embodiment of the present application, in combination with the first glide recovery basic torque table involved in the actual application scenario, as shown in Table 1, which is a schematic table of the first glide recovery basic torque configured in the embodiment of the present application in the actual application scenario.

Table 1 Basic torque table for the first coasting recovery

10 20 100 -1000 -800 200 -800 -500

When the vehicle distance and the vehicle distance change rate are known, the vehicle distance is used as the horizontal coordinate (corresponding to the horizontal axis of Table 1) and the vehicle distance change rate is used as the vertical coordinate (corresponding to the vertical axis of Table 1). By querying Table 1, the unique first coasting recovery basic torque can be determined. Therefore, the value of the first coasting recovery basic torque is determined by the values of the vehicle distance and the vehicle distance change rate.

It should be noted that the control system obtains the historical measured data of the vehicle, and based on the vehicle distance and the vehicle distance change rate in the historical measured data, the system uses the predefined configuration rules of the first coasting recovery basic torque to analyze the vehicle distance and the vehicle distance change rate, and sets the corresponding first coasting recovery basic torque for them. Then, a mapping relationship between the vehicle distance and the vehicle distance change rate and the first coasting recovery basic torque is established.

In actual application, the first coasting recovery basic torque is set based on the following configuration rule: when the vehicle distance is greater and the vehicle distance change rate increases, it means that the driver expects a smaller deceleration, and the absolute value of the first coasting recovery basic torque is smaller.

Similarly, when the acceleration intention function flag is activated, the vehicle distance between the vehicle and the vehicle in front and the vehicle distance change rate are used to query the preset second coasting recovery basic torque table (i.e., the tabular form of the coasting recovery basic torque mapping relationship) to obtain the second coasting recovery basic torque.

In one example, an embodiment of the present application can save the glide recovery basic torque mapping relationship in the form of a two-dimensional table, wherein the horizontal axis of the two-dimensional table (i.e., the second glide recovery basic torque table) represents the vehicle distance, the vertical axis represents the vehicle distance change rate, and the table lookup value is the second glide recovery basic torque.

The following is an explanation of the process of determining the second glide recovery basic torque by looking up the value in the two-dimensional table in the embodiment of the present application, in combination with the second glide recovery basic torque table involved in the actual application scenario, as shown in Table 2, which is a schematic table of the second glide recovery basic torque configured in the embodiment of the present application in the actual application scenario.

Table 2 Second glide recovery basic torque table

10 20 -100 -800 -500 -200 -1000 -800

When the vehicle distance and the vehicle distance change rate are known, the vehicle distance is used as the horizontal coordinate (corresponding to the horizontal axis of Table 2) and the vehicle distance change rate is used as the vertical coordinate (corresponding to the vertical axis of Table 2). By querying Table 2, the unique second coasting recovery basic torque can be determined. Therefore, the value of the second coasting recovery basic torque is determined by the values of the vehicle distance and the vehicle distance change rate.

It should be noted that the control system obtains the historical measured data of the vehicle, and based on the vehicle distance and the vehicle distance change rate in the historical measured data, the system uses the predefined configuration rules of the second coasting recovery basic torque to analyze the vehicle distance and the vehicle distance change rate, and sets the corresponding second coasting recovery basic torque for them. Then, a mapping relationship between the vehicle distance and the vehicle distance change rate and the second coasting recovery basic torque is established.

In actual application, the second coasting recovery basic torque is set based on the following configuration rule: when the vehicle distance is smaller and the vehicle distance change rate is smaller, it means that the driver expects a larger deceleration, and the absolute value of the coasting recovery basic torque is larger.

In some embodiments, determining the coasting recovery correction torque based on an average distance between the vehicle and a preceding vehicle in a following condition and a number of pedal pressing times includes:

Determine the average distance between the vehicle and the preceding vehicle in the previous cycle and the average distance in the current cycle, and determine the number of times the accelerator pedal is pressed and the number of times the brake pedal is pressed in the following vehicle condition;

Compare the average distance of the previous cycle with the average distance of the current cycle, and determine a first benchmark number according to the comparison result;

Comparing the number of times the accelerator pedal is depressed with the number of times the brake pedal is depressed, and determining a second reference number of times according to the comparison result;

Using the first reference number and the second reference number, a predetermined coasting recovery correction torque mapping relationship is queried to obtain the coasting recovery correction torque;

The coasting recovery correction torque mapping relationship is used to represent a preset value of the coasting recovery correction torque that changes with the first reference number of times and the second reference number of times.

Specifically, the coasting recovery correction torque is determined based on the average distance between the two vehicles in the previous cycle, the average distance between the two vehicles in the current cycle, and the number of pedaling. By calculating the comparative relationship between the number of times the accelerator pedal is stepped on and the number of times the brake pedal is stepped on in the following condition, and the comparative relationship between the average distance between the two vehicles in the previous cycle and the average distance between the two vehicles in the current cycle, it is indicated that the vehicle tends to accelerate or decelerate, thereby realizing the correction of the coasting recovery torque. The calculation process of the coasting recovery correction torque is described in detail below, which may specifically include the following contents:

If any function flag is activated, the coasting recovery correction torque is calculated by querying a two-dimensional table (coasting recovery correction torque table) based on the average distance between the two vehicles in the previous cycle, the average distance between the two vehicles in the current cycle, and the difference in the number of pedal presses.

The difference between the distances between the two vehicles is equal to the average distance between the two vehicles in the previous cycle minus the average distance between the two vehicles in the current cycle. If the average distance between the two vehicles in the previous cycle is less than the average distance between the two vehicles in the current cycle, the first benchmark number is reduced by one. If the average distance between the two vehicles in the previous cycle is greater than the average distance between the two vehicles in the current cycle, the first benchmark number is increased by one. The larger the first benchmark number, the more the vehicle tends to accelerate, and the smaller the absolute value of the coasting recovery correction torque.

The difference in the number of pedal strokes is equal to the number of times the accelerator pedal is pressed minus the number of times the brake pedal is pressed. If the number of times the accelerator pedal is pressed is less than the number of times the brake pedal is pressed, the second reference number is reduced by one. If the number of times the accelerator pedal is pressed is greater than the number of times the brake pedal is pressed, the second reference number is increased by one. The larger the difference, the more the vehicle tends to accelerate, and the smaller the absolute value of the coasting recovery correction torque. In other words, in the following vehicle condition, if the driver presses the accelerator more times, it means that the coasting recovery torque is too large, causing the driver to frequently press the accelerator.

In one example, an embodiment of the present application can save the coasting recovery correction torque mapping relationship in the form of a two-dimensional table, wherein the horizontal axis of the two-dimensional table (i.e., the coasting recovery correction torque table) represents the first benchmark number, the vertical axis represents the second benchmark number, and the table lookup value is the coasting recovery correction torque.

The following is an explanation of the process of determining the coasting recovery correction torque by looking up the value in the two-dimensional table in the embodiment of the present application, in combination with the coasting recovery correction torque table involved in the actual application scenario of the embodiment of the present application, as shown in Table 3, which is a schematic table of the coasting recovery correction torque table configured in the actual application scenario of the embodiment of the present application.

Table 3 Coasting recovery correction torque table

In the case where the first reference number and the second reference number are calculated based on the method of the above embodiment, the first reference number is used as the horizontal coordinate (corresponding to the horizontal axis of Table 1) and the second reference number is used as the vertical coordinate (corresponding to the vertical axis of Table 1), and a unique coasting recovery correction torque can be determined by querying the above Table 3. Therefore, the value of the coasting recovery correction torque is determined by the first reference number and the second reference number.

In some embodiments, calculating the coasting recovery limit torque based on the coasting recovery base torque and the coasting recovery correction torque includes: adding the coasting recovery base torque to the coasting recovery correction torque to obtain the coasting recovery limit torque.

Specifically, after the coasting recovery basic torque and the coasting recovery correction torque are calculated, the coasting recovery basic torque is added to the coasting recovery correction torque to calculate the coasting recovery limit torque; after the coasting recovery limit torque is obtained, the coasting recovery limit torque is used to arbitrate the final coasting recovery torque to determine the final coasting recovery torque.

In some embodiments, determining the final coasting recovery torque based on the coasting recovery limit torque includes: comparing the absolute value of the coasting recovery limit torque with the absolute value of the coasting recovery initial torque, and taking the torque with a relatively smaller absolute value as the final coasting recovery torque.

Specifically, the coasting recovery limit torque is used to arbitrate the final coasting recovery torque, that is, by comparing the absolute value of the coasting recovery limit torque with the absolute value of the coasting recovery initial torque, the torque with a relatively smaller absolute value between the two is used as the final coasting recovery torque.

According to the technical solution provided in the embodiment of the present application, the technical solution of the present application uses basic parameters such as pedal information, vehicle speed, and the distance between two vehicles to accurately determine the current state of the vehicle and the driver's intention, thereby achieving effective arbitration of the coasting recovery torque. The technical solution of the present application has at least the following advantages:

Improve driving comfort: By monitoring pedal operation (including accelerator and brake pedals), vehicle speed, and the distance and rate of change between the two vehicles, the system can accurately identify the driver's driving intention. When the system detects that the vehicle speed and the distance between the two vehicles are relatively stable within a certain period of time, but the driver frequently operates the pedals, the system determines that the driver is trying to maintain an appropriate speed and following distance. This precise intention discrimination helps the system to more reasonably control the sliding recovery torque, reduce the abruptness of driving, and improve driving comfort when following the vehicle.

Optimize energy efficiency: This solution optimizes energy recovery and utilization by adjusting the coasting recovery torque to suit different driving situations. For example, when the driver intends to slow down, the system can recover kinetic energy more effectively by increasing the coasting recovery torque, and when the driver intends to accelerate, the system reduces the coasting recovery torque to avoid unnecessary energy loss, thereby improving overall energy efficiency.

Reduce the driver's operation frequency: According to the driver's actual driving behavior and vehicle status, the system automatically adjusts the coasting recovery torque, which helps reduce the driver's frequent operation of the accelerator and brake pedals. This not only reduces the driver's operating burden, but also improves driving safety.

Improve vehicle energy efficiency and performance: The system optimizes energy utilization and improves driving smoothness and overall vehicle performance through intelligent control of coasting regenerative torque. This combined effect is particularly important for new energy vehicles because it is directly related to the vehicle's endurance and the driver's overall satisfaction.

The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

FIG2 is a schematic diagram of the structure of a vehicle speed control device based on driving intention provided in an embodiment of the present application.

As shown in FIG2 , the vehicle speed control device based on driving intention includes:

The monitoring module 201 is configured to monitor the target parameters of the vehicle in real time and determine whether the vehicle is in a following condition based on the target parameters;

The first judgment module 202 is configured to judge the driving intention based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate, and activate the intention flag according to the judgment result;

The second judgment module 203 is configured to judge whether to activate the function flag bit according to the judgment result of the following vehicle working condition and the activation result of the intention flag bit and using the preset function flag bit activation condition;

A first determination module 204 is configured to determine a coasting recovery basic torque based on a vehicle distance and a vehicle distance change rate when the function flag is activated;

The second determination module 205 is configured to determine the coasting recovery correction torque based on the average distance between the vehicle and the preceding vehicle in the following condition and the number of pedaling times;

A calculation module 206 is configured to calculate a coasting recovery limit torque based on a coasting recovery basic torque and a coasting recovery correction torque;

The control module 207 is configured to determine the final coasting recovery torque based on the coasting recovery limit torque, and transmit the final coasting recovery torque to the driving motor to perform torque control so as to control the vehicle speed.

In some embodiments, the monitoring module 201 of Figure 2 determines that the vehicle is in a following condition when the average distance between the vehicle and the vehicle in front within a preset time period is within a preset average distance threshold range, the vehicle speed standard deviation is less than a preset vehicle speed standard deviation threshold, the average vehicle speed is within a preset average vehicle speed threshold range, and the number of pedal stepping times is greater than a preset number threshold.

In some embodiments, the first judgment module 202 of Figure 2 determines that the driver has an intention to accelerate when the vehicle distance increases and the vehicle distance change rate increases, and activates the acceleration intention flag; when the vehicle distance decreases and the vehicle distance change rate decreases, it determines that the driver has an intention to decelerate and activates the deceleration intention flag.

In some embodiments, the second judgment module 203 of Figure 2 activates the acceleration intention function flag when the accelerator pedal opening, vehicle speed, acceleration intention flag, brake pedal opening and following vehicle condition respectively meet the corresponding function flag activation conditions; activates the deceleration intention function flag when the accelerator pedal opening, vehicle speed, deceleration intention flag, brake pedal opening and following vehicle condition respectively meet the corresponding function flag activation conditions.

In some embodiments, when the acceleration intention function flag or the deceleration intention function flag is activated, the first determination module 204 of Figure 2 uses the vehicle distance and the vehicle distance change rate to query the predetermined coasting recovery basic torque mapping relationship to obtain the coasting recovery basic torque; wherein the coasting recovery basic torque mapping relationship is used to characterize the preset value of the coasting recovery basic torque that changes with the vehicle distance and the vehicle distance change rate.

In some embodiments, the second determination module 205 of Figure 2 determines the average distance between the vehicle and the vehicle in front in the previous cycle and the average distance in the current cycle, and determines the number of times the accelerator pedal is stepped on and the number of times the brake pedal is stepped on in the following condition; the average distance in the previous cycle is compared with the average distance in the current cycle, and a first benchmark number is determined according to the comparison result; the number of times the accelerator pedal is stepped on is compared with the number of times the brake pedal is stepped on, and a second benchmark number is determined according to the comparison result; the first benchmark number and the second benchmark number are used to query a predetermined coasting recovery correction torque mapping relationship to obtain a coasting recovery correction torque; wherein, the coasting recovery correction torque mapping relationship is used to characterize a preset value of the coasting recovery correction torque that changes with the first benchmark number and the second benchmark number.

In some embodiments, the calculation module 206 of FIG. 2 adds the coasting recovery basic torque to the coasting recovery correction torque to obtain the coasting recovery limit torque.

In some embodiments, the control module 207 of FIG. 2 compares the absolute value of the coasting recovery limit torque with the absolute value of the coasting recovery initial torque, and takes the torque with a relatively smaller absolute value as the final coasting recovery torque.

It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

An embodiment of the present application also provides a new energy vehicle, including a vehicle controller, a motor controller, a drive motor and a transmission system; the vehicle controller is used to implement the steps of the above-mentioned sliding torque control method under the speed bump working condition to send the final sliding torque to the motor controller; the motor controller is used to control the torque of the drive motor through the transmission system according to the final sliding torque.

FIG3 is a schematic diagram of the structure of an electronic device 3 provided in an embodiment of the present application. As shown in FIG3, the electronic device 3 of this embodiment includes: a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program 303, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 301 executes the computer program 303, the functions of each module/unit in the above-mentioned various device embodiments are implemented.

Exemplarily, the computer program 303 may be divided into one or more modules/units, which are stored in the memory 302 and executed by the processor 301 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 303 in the electronic device 3.

The electronic device 3 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 3 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art may understand that FIG. 3 is only an example of the electronic device 3 and does not constitute a limitation on the electronic device 3. The electronic device 3 may include more or fewer components than shown in the figure, or may combine certain components, or different components. For example, the electronic device may also include an input/output device, a network access device, a bus, etc.

The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 3. Further, the memory 302 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 302 is used to store computer programs and other programs and data required by the electronic device. The memory 302 may also be used to temporarily store data that has been output or is to be output.

The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

In the embodiments provided in the present application, it should be understood that the disclosed devices/computer equipment and methods can be implemented in other ways. For example, the device/computer equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple 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 into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims (10)

1. A vehicle speed control method based on driving intention, characterized by comprising:

The method comprises the steps of monitoring target parameters of a vehicle in real time, and judging whether the vehicle is in a following working condition or not based on the target parameters;

judging the driving intention based on the vehicle distance between the vehicle and the front vehicle and the vehicle distance change rate, and activating the intention zone bit according to the judging result;

Judging whether to activate the function marker bit by using a preset function marker bit activation condition according to the judging result of the following working condition and the activating result of the intention marker bit;

When the function zone bit is activated, determining a coasting recovery base torque based on a vehicle distance and a vehicle distance change rate;

determining a coasting recovery correction torque based on an average distance between the vehicle and a preceding vehicle and the number of pedal events in the following condition;

calculating a coasting recovery limit torque based on the coasting recovery base torque and the coasting recovery correction torque;

And judging the final coasting recovery torque based on the coasting recovery limit torque, and transmitting the final coasting recovery torque to a driving motor to execute torque control so as to control the vehicle speed.

2. The method of claim 1, wherein determining whether the vehicle is in a following condition based on the target parameter comprises:

When the average distance between the vehicle and the front vehicle in the preset time period is within the preset average distance threshold value range, the standard deviation of the vehicle speed is smaller than the preset standard deviation of the vehicle speed threshold value, the average vehicle speed is within the preset average vehicle speed threshold value range, and the pedal number is larger than the preset number threshold value, the vehicle is judged to be in the following working condition.

3. The method according to claim 1, wherein the determining the driving intention based on the vehicle distance between the vehicle and the preceding vehicle and the vehicle distance change rate, activating the intention flag according to the determination result, comprises:

When the vehicle distance increases and the vehicle distance change rate increases, judging that the driver has an acceleration intention, and activating an acceleration intention zone bit; and when the vehicle distance is reduced and the vehicle distance change rate is reduced, judging that the driver has a deceleration intention, and activating a deceleration intention zone bit.

4. The method of claim 1, wherein the determining whether to activate the function flag bit according to the determination result of the following condition and the activation result of the intention flag bit by using a preset function flag bit activation condition includes:

When the accelerator pedal opening, the vehicle speed, the acceleration intention zone bit, the brake pedal opening and the following vehicle conditions respectively meet corresponding function zone bit activation conditions, activating the acceleration intention function zone bit;

And when the opening degree of the accelerator pedal, the speed of the vehicle, the speed reduction intention zone bit, the opening degree of the brake pedal and the following vehicle conditions respectively meet corresponding function zone bit activation conditions, activating the speed reduction intention function zone bit.

5. The method of claim 4, wherein the determining the coasting recovery base torque based on the vehicle distance and the vehicle distance change rate when the function flag is activated comprises:

after the acceleration intention function zone bit or the deceleration intention function zone bit is activated, inquiring a preset coasting recovery basic torque mapping relation by utilizing the vehicle distance and the vehicle distance change rate to obtain the coasting recovery basic torque;

the coasting recovery basic torque mapping relation is used for representing a preset value of the coasting recovery basic torque changing along with the vehicle distance and the vehicle distance change rate.

6. The method of claim 1, wherein determining the coasting recovery correction torque based on the average distance between the vehicle and the lead vehicle and the number of pedal events in the following condition comprises:

Determining the average distance of the last period and the average distance of the current period between the vehicle and the front vehicle, and determining the times of stepping on the accelerator pedal and the times of stepping on the brake pedal in the following working condition;

Comparing the average distance of the previous period with the average distance of the current period, and determining a first reference number according to a comparison result;

Comparing the times of stepping on the accelerator pedal with the times of stepping on the brake pedal, and determining a second reference times according to the comparison result;

inquiring a preset sliding recovery correction torque mapping relation by utilizing the first reference times and the second reference times to obtain the sliding recovery correction torque;

The slip recovery correction torque mapping relation is used for representing a preset value of the slip recovery correction torque changing along with the first reference times and the second reference times.

7. The method of claim 1, wherein the calculating a coast recovery limit torque based on the coast recovery base torque and the coast recovery correction torque comprises:

And adding the coasting recovery basic torque and the coasting recovery correction torque to obtain the coasting recovery limiting torque.

8. The method of claim 1, wherein the determining a final coasting recovery torque based on the coasting recovery limit torque comprises:

And comparing the absolute value of the coasting recovery limit torque with the absolute value of the coasting recovery initial torque, and taking the torque with the relatively smaller absolute value as the final coasting recovery torque.

9. A vehicle speed control device based on driving intention, characterized by comprising:

The monitoring module is configured to monitor target parameters of the vehicle in real time and judge whether the vehicle is in a following working condition or not based on the target parameters;

the first judging module is configured to judge the driving intention based on the vehicle distance between the vehicle and the front vehicle and the vehicle distance change rate, and activate the intention zone bit according to the judging result;

The second judging module is configured to judge whether to activate the function marker bit by using a preset function marker bit activation condition according to the judging result of the following working condition and the activating result of the intention marker bit;

A first determination module configured to determine a coasting recovery base torque based on a vehicle distance and a vehicle distance change rate when the function flag is activated;

A second determination module configured to determine a coasting recovery correction torque based on an average distance between the vehicle and a preceding vehicle and a number of pedal events in the following condition;

a calculation module configured to calculate a coasting recovery limit torque based on the coasting recovery base torque and the coasting recovery correction torque;

and the control module is configured to judge a final coasting recovery torque based on the coasting recovery limit torque, and transmit the final coasting recovery torque to a driving motor to execute torque control so as to control the vehicle speed.

10. The new energy automobile is characterized by comprising a whole automobile controller, a motor controller, a driving motor and a transmission system;

The vehicle controller for implementing the method of any one of claims 1 to 8 to send a final coasting recovery torque to a motor controller;

the motor controller is configured to control the torque of the drive motor via the driveline in accordance with the final coasting recovery torque.