CN102717800A - Vehicle economy cruise control method based on engine universal characteristic - Google Patents
Vehicle economy cruise control method based on engine universal characteristic Download PDFInfo
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Abstract
The invention discloses a vehicle economy cruise control method based on an engine universal characteristic. Economy cruise adopts vehicle economy as a control target. A structure diagram of the control method comprises a safe interval judging module, a running resistance computing unit, an engine universal characteristic curve identifying module, an engine fuel consumption rate optimizing module, an executing control module, an engine, a vehicle ECU (Electronic Control Unit) and a sensor measurement signal. On the basis of ensuring the running safety of the vehicle, and according to the change of road resistance to the vehicle during running of the vehicle, the method is implemented through a closed loop control system which controlling the engine to always operate in an economy area of the engine universal characteristic, namely, the vehicle speed is regulated through controlling the openness of a throttling valve in real time to adapt to the change of the running resistance of the vehicle, so that the vehicle always cruises and runs at an economy speed. Therefore, according to the invention, the fuel economy of the engine can be effectively improved, the fuel consumption of the vehicle per one hundred kilometers can be effectively reduced, and the purposes of saving energy and reducing emission are well realized.
Description
Technical field
The present invention is a kind of control policy of the neural network fuzzy control speed of a motor vehicle based on the driving engine universal characteristic.It can constantly seek the economic speed under this resistance operating mode of going according to the variation of automobile running resistance, and Control of Automobile is cruised by economic speed all the time and gone.
Background technology
The Eleventh Five-Year Plan period country has proposed the energy-saving and emission-reduction strategy; " 12 " China continues to carry out energy-saving and emission-reduction; Then proposed concrete " energy-conservation and new-energy automobile " strategy, this explanation country constantly proposes new requirement to the fuel economy and the emission behavior of automobile.
Existing cruising technology mainly is to be the adaptive cruise control of controlled target with the safe distance between vehicles that keeps two cars, is primarily aimed at raising driver comfort and driving safety, and still is difficult the CCS cruise control system that fuel economy is a controlled target.The present invention proposes the economy cruise control method based on the driving engine universal characteristic, this cruise control method can reduce the fuel consumption of automobile to greatest extent, realizes the purpose of energy-saving and emission-reduction preferably.
Summary of the invention
The control method of a kind of vehicle economy CCS cruise control system based on the driving engine universal characteristic of the present invention, being intended to provides a kind of failure-free control method for the economy cruise mode of automobile.All the time with economy cruising, reduce the fuel consumption of automobile to greatest extent when automobile is cruised under this pattern, realize the purpose of energy-saving and emission-reduction preferably.
Above-mentioned purpose of the present invention can realize that accompanying drawings is following through following technical scheme:
Do the control method of the described a kind of vehicle economy CCS cruise control system based on the driving engine universal characteristic of invention, comprise following concrete steps:
1) closed loop control system of a kind of vehicle economy cruising control based on the driving engine universal characteristic of design, this system by safe distance between vehicles judge module 1, resistance to motion calculating unit 2, driving engine universal characteristic curved surface identification model 3, engine fuel rate of consumption optimizing model 4, carry out control module 5, driving engine 6, automobile ECU 7 and sensor measurement signal 8 and form;
2) according to each sensor measurement signal 8, by the instantaneous torque of resistance to motion calculating unit 2 calculation engines 6 outputs; Judge by safe distance between vehicles judge module 1 whether vehicle running state satisfies driving safety, if satisfy then execution in step 3 of driving safety) and 4), otherwise execution in step 5);
3) determine the rotating speed of driving engine and the variable quantity of moment of torsion through the fuel consumption rate optimizing model 4 of driving engine universal characteristic curved surface identification model 3 and driving engine;
4) by carrying out the aperture that control module 5 is regulated throttle gates, automobile is cruised with the cooresponding economic speed of target economic speed of driving engine 6 go, and return step 2);
5) by the aperture of the brake system of carrying out control module 5 Control of Automobile or adjusting throttle gate, make car deceleration to spacing, guarantee running safety, and return step 2) greater than safe distance between vehicles.
Said closed loop control system is on the basis that guarantees ride safety of automobile property; The variation of suffered road resistance during according to running car; Universal characteristic curved surface identification model 3, fuel consumption rate optimizing model 4 and execution control module 5 through driving engine; The closed loop control system that the control driving engine turns round in the economic zone of its universal characteristic is all the time promptly regulated the speed of a motor vehicle to adapt to the variation of automobile running resistance through real-time control throttle opening, automobile is cruised with economic speed all the time go.
The present invention is through the two-layer feedforward neural network based on the Levenberg-Marquart algorithm; Set up driving engine universal characteristic curved surface identification model 3; And can to any input (rotating speed and moment of torsion), export the fuel consumption rate of driving engine based on the universal characteristic curved surface identification model of training.
The present invention has set up the fuel consumption rate optimizing model 4 of driving engine through the optimized Algorithm based on gradient method, and this model concerns b=f (n with the Function Mapping between n, T and the b three of driving engine; T) be objective function; Wherein: establishing n is engine speed (r/min), and T is engine torque (Nm), and b is engine fuel rate of consumption (g/kwh); Utilization gradient optimizing algorithm calculates and satisfies the difference minimum engine fuel rate of consumption under the road resistance operating mode of going.
Technique effect of the present invention:
1, the existing technology of cruising mainly is to be the cruise control of controlled target with the safe distance between vehicles that keeps two cars; It is primarily aimed at and improves driver comfort and driving safety; The present invention is on the basis that guarantees automobile vehicle drive traveling comfort and driving safety; Proposition is the cruise control method of controlled target with the fuel economy, is intended to reduce the fuel consumption of 100km of automobile.
2, the present invention controls driving engine and in the economic zone of its universal characteristic, turns round all the time, improves the fuel economy of driving engine, thereby effectively reduces the automobile fuel consumption of 100km.
3, the driving engine universal characteristic curved surface identification model of the present invention's foundation has self study speed and reaches the high advantage of accuracy of identification soon, adapts to because of the influence of engine wear to its universal characteristic.
4, based on multi-sensor information fusion technology, Eltec, the microelectronics control technology of automobile; Make control method of the present invention be easy to realize its function; Promptly under difference is gone the road resistance operating mode; All the time Control of Automobile is cruised with economic speed and is gone, thereby reduces the fuel consumption of automobile to greatest extent, realizes the purpose of energy-saving and emission-reduction preferably.
Description of drawings
Fig. 1 is the structured flowchart of vehicle economy cruise control method.
Fig. 2 is the control flow chart of vehicle economy cruise control method.
Among Fig. 1: 1. the safe distance between vehicles judge module, 2. the resistance to motion calculating unit, 3. driving engine universal characteristic curved surface identification model, 4. engine fuel rate of consumption optimizing model, 5. carry out control module, 6. driving engine, 7. automobile ECU, 8. sensor measurement signal to establish v be automobile momentary velocity (km/h), n
0Be driving engine transient speed (r/min), T
0For driving engine instantaneous torque (Nm), b are that engine fuel rate of consumption (g/kwh), Δ n are that engine speed adjustment amount (r/min), Δ T are engine torque adjustment amount (Nm), n
1Be engine target economic speed (r/min), T
1Be engine target moment of torsion (Nm).
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Automobile cruises under a certain road conditions, certainly exists a certain economic speed or certain speed regulation and control rule and makes fuel consumption minimum.The invention provides a kind of vehicle economy cruise control method based on the driving engine universal characteristic; This method is according to the suffered road resistance of driving vehicle; Can in the economic zone of its universal characteristic, turn round by the quick adjusting driving engine; Automobile is cruised by economic speed go, reduced engine consumption, and then improved the fuel economy of car load.
The enforcement of the inventive method comprises following concrete steps:
1) designed a kind of closed loop control system of the vehicle economy cruising control based on the driving engine universal characteristic, it comprises safe distance between vehicles judge module 1, resistance to motion calculating unit 2, driving engine universal characteristic curved surface identification model 3, engine fuel rate of consumption optimizing model 4, carries out control module 5, driving engine 6, automobile ECU 7 and sensor measurement signal 8;
2) according to each sensor measurement signal 8, by the instantaneous torque of resistance to motion calculating unit 2 calculation engines 6 outputs; Judge by safe distance between vehicles judge module 1 whether vehicle running state satisfies driving safety, if satisfy then execution in step 3 of driving safety) and 4), otherwise execution in step 5);
3) determine the rotating speed of driving engine and the variable quantity of moment of torsion through the fuel consumption rate optimizing model 4 of driving engine universal characteristic curved surface identification model 3 and driving engine;
4) by carrying out the aperture that control module 5 is regulated throttle gates, automobile is cruised with the cooresponding economic speed of target economic speed of driving engine 6 go, and return step 2);
5) by the aperture of the brake system of carrying out control module 5 Control of Automobile or adjusting throttle gate, make car deceleration to spacing, guarantee running safety, and return step 2) greater than safe distance between vehicles.
Consult Fig. 1 and shown in Figure 2; Step 1) and step 2) in each sensor measurement signal 8; Can the measurement signal of each sensor (like car speed sensor, radar ranging sensor, Slope Transducer, acceleration pick-up, engine speed sensor, steering wheel position sensor, throttle position sensor etc.) in driving engine 6 and the automobile ECU 7 be extracted, respectively as the input of safe distance between vehicles judge module 1 and resistance to motion calculating unit 2.
Consult shown in Figure 1, step 1) and step 2) in safe distance between vehicles judge module (1), can calculate the safe distance between vehicles of Ben Che and front truck according to the sensor measurement signal 8 of each sensor, its safe distance between vehicles calculating formula is following:
Wherein: establishing S is that safe distance between vehicles (m), v are that the instantaneous speed of a motor vehicle (km/h), a are from car braking deceleration (m/s
2), t
xBe reaction time of braking device (s), t
sBe drg deceleration/decel build up time (s), t
HumBe time of driver's reaction (s), s
0Be the safe distance between vehicles of reserving (m).
Describedly judge by safe distance between vehicles judge module (1) whether vehicle running state satisfies driving safety; Be meant the magnitude relationship between the safe distance between vehicles that actual spacing that this module comparison radar ranging sensor records and module calculate; If actual spacing is greater than safe distance between vehicles, then by this module output n at this moment
0, execution in step 3) and step 4), otherwise direct execution in step 5), Control of Automobile is decelerated to beyond the safe distance between vehicles.
Consult shown in Figure 1, step 2) in resistance to motion calculating unit 2, can be according to each sensor measurement signal 8, calculate the instantaneous torque T of the driving engine output under difference is gone road conditions
0Its derivation step is following:
If the propulsive effort of automobile is F
t, rolling resistance is F
f, air resistance is F
w, gradient resistance is F
i, resistance due to acceleration is F
j
A. the propulsive effort calculation expression of automobile:
B. the suffered resistance to motion calculation expression of automobile is following:
Rolling resistance: F
f=Gfcos α
Air resistance:
Gradient resistance: F
i=Gsin α
Resistance due to acceleration:
C. by the running car equation:
The instantaneous torque computing formula that draws driving engine output is following:
Wherein: establish T
0Instantaneous torque (Nm) for driving engine output; V is the instantaneous speed of a motor vehicle (km/h); R is radius of wheel (m); i
gBe transmission ratio; i
0Be the main reduction gear transmitting ratio; η
TBe mechanical efficiency of power transmission; G is vehicle weight (N); F is a coefficient of rolling resistance; α be the road grade angle (°); C
DBe aerodynamic drag factor; A is wind area (m
2); M is car mass (kg); δ is the automobile correction coefficient of rotating mass;
Be pickup (m/s
2).
Consult Fig. 1 and shown in Figure 2, the driving engine universal characteristic curved surface identification model (3) described in the step 3) is to adopt based on the feedforward neural network of Levenberg-Marquart algorithm driving engine universal characteristic curved surface to be debated knowledge.The neural network structure of this Model Selection is with the n of driving engine and the T input as network, with the b of the driving engine output as network.Confirm that through Matlab emulation hidden layer neuron number and activation function that network architecture is selected for use are agonic tanh type S type functions, output layer is the linear activation function that does not have deviation.The present invention at first trains this neural network, and (n, T), and this mapping relations are continuous, promptly any given n to obtain importing mapping relations b=f between n, T and the output b after the trained
0(engine speed) and T
0(motor torque) can both obtain corresponding b through the neural network identification that has trained.
Adopt the Levenberg-Marquart algorithm to be because this algorithm has the characteristics to the correction fast convergence rate of the weights of feedforward neural network and threshold value, can accelerate the self study speed of network, adaptation is because of the influence of engine wear to its universal characteristic.
Described engine fuel rate of consumption optimizing model 4; Can be initial value with output b based on driving engine universal characteristic curved surface identification model 3; With the cooresponding mapping relations b=f (n of n, T and the b of driving engine; T) be objective function, utilization gradient optimizing algorithm calculates and satisfies the difference minimum engine fuel rate of consumption under the road resistance operating mode of going.
Consult shown in Figure 1; Step 4) and 5) the execution control module 5 in; The variable quantity that this module provides according to safe distance between vehicles judge module 1 or driving engine 6 fuel consumption rate optimizing models 4, control executing mechanism (throttle gate or brake system) is made corresponding action.
The variable quantity that described engine fuel rate of consumption optimizing model 4 provides is respectively the change in torque amount Δ T of mean engine and the rotation speed change amount Δ n of driving engine.Then, based on Δ T and Δ n adjustment instantaneous torque T
0And rotation speed n
0, to the target economic speed n of driving engine
1With target torque T
1, and be input in the execution control module 5.Its mathematic(al) representation is following:
T
1＝ΔT+T
0
n
1＝Δn+n
0
Finally by the size of carrying out control module (5) adjustment throttle opening, making engine output torque is T
1, engine speed is n
1, automobile is realized with n
1Cooresponding economic speed cruises and goes.
Described control executing mechanism is made corresponding action; Be meant if automobile satisfies driving safety; Then make the size that throttle opening is promptly adjusted in action, automobile is cruised with the cooresponding economic speed of target economic speed of driving engine go by carrying out control module (5) control throttle gate; If automobile does not satisfy driving safety, then make action by execution module control brake system, make car deceleration to spacing greater than safe distance between vehicles, guarantee the driving safety of automobile.
Claims (10)
1. the control method based on the vehicle economy CCS cruise control system of driving engine universal characteristic is characterized in that, comprises following concrete steps:
1) closed loop control system of a kind of vehicle economy cruising control based on the driving engine universal characteristic of design, this system by safe distance between vehicles judge module (1), resistance to motion calculating unit (2), driving engine universal characteristic curved surface identification model (3), engine fuel rate of consumption optimizing model (4), carry out control module (5), driving engine (6), automobile ECU (7) and sensor measurement signal (8) and form;
2) according to each sensor measurement signal (8), by the instantaneous torque of resistance to motion calculating unit (2) calculation engine (6) output; Judge by safe distance between vehicles judge module (1) whether vehicle running state satisfies driving safety, if satisfy then execution in step 3 of driving safety) and 4), otherwise execution in step 5);
3) determine the rotating speed of driving engine and the variable quantity of moment of torsion through the fuel consumption rate optimizing model (4) of driving engine universal characteristic curved surface identification model (3) and driving engine;
4) regulate the aperture of throttle gate by carrying out control module (5), automobile is cruised with the cooresponding economic speed of target economic speed of driving engine (6) go, and return step 2);
5) by the aperture of the brake system of carrying out control module (5) Control of Automobile or adjusting throttle gate, make car deceleration to spacing, guarantee running safety, and return step 2) greater than safe distance between vehicles.
2. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1; It is characterized in that; Said closed loop control system is on the basis that guarantees ride safety of automobile property; The variation of suffered road resistance during according to running car is through universal characteristic curved surface identification model (3), fuel consumption rate optimizing model (4) and the execution control module (5) of driving engine, the closed loop control system that the control driving engine turns round in the economic zone of its universal characteristic all the time; Promptly regulate the speed of a motor vehicle to adapt to the variation of automobile running resistance, automobile is cruised with economic speed all the time go through real-time control throttle opening.
3. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1 and 2; It is characterized in that said driving engine universal characteristic curved surface identification model (3) is through the feedforward neural network based on the Levenberg-Marquart algorithm; Rotating speed and moment of torsion with driving engine are the input of network; With the engine fuel rate of consumption is the output of network, comes the universal characteristic curved surface of identification driving engine, and based on the universal characteristic curved surface identification model of training; To comprising any input of rotating speed and moment of torsion, the output fuel consumption rate.
4. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1 and 2; It is characterized in that said engine fuel rate of consumption optimizing model (4) is a kind of engine fuel rate of consumption optimizing model based on the gradient optimizing algorithm; If n is engine speed r/min; T is engine torque Nm, and b is engine fuel rate of consumption g/kwh, and this model can be initial value with the output b based on driving engine universal characteristic curved surface identification model (3); Concern b=f (n with Function Mapping between n, T and the b three of driving engine; T) be objective function, utilization gradient optimizing algorithm calculates and satisfies the difference minimum engine fuel rate of consumption under the road resistance operating mode of going.
5. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1 and 2; It is characterized in that; Said step 1) and step 2) in each sensor measurement signal (8); Can be with each sensor in driving engine (6) and the automobile ECU (7): the measurement signal of car speed sensor, radar ranging sensor, Slope Transducer, acceleration pick-up, engine speed sensor, steering wheel position sensor, throttle position sensor extracts, respectively as the input of safe distance between vehicles judge module (1) and resistance to motion calculating unit (2).
6. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1 and 2; It is characterized in that; Said step 1) and step 2) in safe distance between vehicles judge module (1); Can calculate the safe distance between vehicles of Ben Che and front truck according to each sensor measurement signal (8), its safe distance between vehicles calculating formula is following:
Wherein: establishing S is that safe distance between vehicles m, v are that instantaneous speed of a motor vehicle km/h, a are from car braking deceleration m/s
2, t
xBe reaction time of braking device s, t
sBe drg deceleration/decel build up time s, t
HumBe time of driver's reaction s, S
0Be the safe distance between vehicles of reserving (m);
Describedly judge by safe distance between vehicles judge module (1) whether vehicle running state satisfies driving safety; Be meant the magnitude relationship between the safe distance between vehicles that actual spacing that this module comparison radar ranging sensor records and module calculate; If actual spacing is greater than safe distance between vehicles, then by this module output n at this moment
0, execution in step 3) and step 4), otherwise direct execution in step 5), Control of Automobile is decelerated to beyond the safe distance between vehicles.
7. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1 and 2; It is characterized in that; Said step 2) the resistance to motion calculating unit (2) in; Can calculate the instantaneous torque T of the driving engine output under difference is gone road conditions according to each sensor measurement signal (8)
0, computing formula is following:
Wherein: establish T
0Instantaneous torque Nm for driving engine output; V is instantaneous speed of a motor vehicle km/h; R is radius of wheel m; i
gBe transmission ratio; i
0Be the main reduction gear transmitting ratio; η
TBe mechanical efficiency of power transmission; G is vehicle weight N; F is a coefficient of rolling resistance; α is the road grade angle; C
DBe aerodynamic drag factor; A is wind area m
2M is car mass kg; δ is the automobile correction coefficient of rotating mass;
Be pickup m/s
2
8. according to claim 1 or 3 described vehicle economy cruise control methods based on the driving engine universal characteristic; It is characterized in that; Driving engine universal characteristic curved surface identification model (3) in the said step 3); Be to adopt driving engine universal characteristic curved surface to be debated knowledge based on the feedforward neural network of Levenberg-Marquart algorithm; The neural network structure of this Model Selection is with the input as network of the rotation speed n of driving engine and torque T; With the output of engine fuel rate of consumption b as network, confirm that through Matlab emulation hidden layer neuron number and activation function that network architecture is selected for use are agonic tanh type S type functions, output layer is the linear activation function that does not have deviation;
At first this neural network is trained, (n, T), and this mapping relations are continuous, promptly any given engine speed n to obtain importing mapping relations b=f between rotation speed n, torque T and the output engine fuel rate of consumption b of driving engine after the trained
0With motor torque T
0, can both obtain corresponding b through the neural network identification that has trained.
9. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 1; It is characterized in that; Execution control module (5) in said step 4) and the step 5); The variable quantity that this module provides according to safe distance between vehicles judge module (1) or driving engine (6) fuel consumption rate optimizing model (4), control executing mechanism: throttle gate or brake system are made corresponding action;
The variable quantity that said engine fuel rate of consumption optimizing model (4) provides is respectively the change in torque amount Δ T of mean engine and the rotation speed change amount Δ n of driving engine, then, and based on Δ T and Δ n adjustment instantaneous torque T
0And rotation speed n
0, to the target economic speed n of driving engine
1With target torque T
1, and be input in the execution control module (5), its mathematic(al) representation is following:
T
1＝ΔT+T
0
n
1＝Δn+n
0
Finally by the size of carrying out control module (5) adjustment throttle opening, making engine output torque is T
1, engine speed is n
1, automobile is realized with n
1Cooresponding economic speed cruises and goes.
10. the vehicle economy cruise control method based on the driving engine universal characteristic according to claim 9; It is characterized in that; Said control executing mechanism is made corresponding action; Be meant if automobile satisfies driving safety, then make the size that throttle opening is promptly adjusted in action, automobile is cruised with the cooresponding economic speed of target economic speed of driving engine go by carrying out control module (5) control throttle gate; If automobile does not satisfy driving safety, then make action by execution module control brake system, make car deceleration to spacing greater than safe distance between vehicles, guarantee the driving safety of automobile.
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