CN106314323B - Joint driving control method and system based on ECU and ACC - Google Patents
Joint driving control method and system based on ECU and ACC Download PDFInfo
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- CN106314323B CN106314323B CN201510395657.7A CN201510395657A CN106314323B CN 106314323 B CN106314323 B CN 106314323B CN 201510395657 A CN201510395657 A CN 201510395657A CN 106314323 B CN106314323 B CN 106314323B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
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- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides a kind of joint driving control method based on ECU and ACC, comprising: ECU controller judges the current state of the torque smooth control processing function of ACC controller；When the torque smooth control processing function for judging ACC controller is in effective status, ECU controller closes the torque smooth control processing function of itself；Alternatively, ECU controller opens the torque smooth control processing function of itself, is smoothed to demand torque to obtain smooth target torque when the torque smooth control processing function for judging ACC controller is in invalid state.Joint driving control method provided by the invention can overcome the problems, such as that torque step signal causes torque responsive caused by the unnecessary frequent acceleration, deceleration of vehicle and excess smoothness processing to postpone.
Description
Technical field
The present invention relates to technical field of automotive electronics, drive control in particular to a kind of joint based on ECU and ACC
Method and system processed.
Background technique
Nowadays automobile configures similar cruise active controller ACC (Adaptive Cruise Control more and more
System vehicle distance control apparatus), the speed of vehicle is automatically matched to by the scheduled target velocity of vehicle driver and/or
Car speed in the traveling ahead of calibration.Existing ACC controller obtains front by radar or laser system and follows vehicle
Speed and Ben Che and follow the distance of vehicle, torque value (referred to as " demand needed for calculating vehicle driving according to these information
Torque ").The torque value that ACC controller is calculated can be sent to engine controller ECU (Engine Control Unit).
ECU controller realizes torque required for ACC controller by controlling oil spout and the ignition process of engine.
Fig. 1 is the structural schematic diagram of cruise active control system in the prior art.As shown in Figure 1, existing active is patrolled
Boat control system (ACC-ECU system) may include: sensor 4, for detecting leading vehicle distance and passing to ACC controller 3；
ACC controller 3 is sent to engine system for the leading vehicle distance that receiving sensor 4 detects, and according to internal algorithm adjustment
The demand torque of controller；ECU controller 2 for receiving the torque command of ACC controller 3, and controls engine 1 and realizes it
Request, while calculating the torque of engine 1 in real time and feeding back to ACC controller 3；Engine 1, for generating driving vehicle driving
Power；Wherein, ECU controller 2 includes the first smoothing module, for being put down after being smoothed to demand torque
Suitable target torque.
Fig. 2 is smoothed treated the result schematic diagram of demand torque in the prior art.In Fig. 2, what solid line indicated
It is follow the bus demand torque, is ACC controller 3 according to sensor information calculating gained；Dotted line indicates that ECU controller 2 needs follow the bus
Target torque is obtained after asking torque to be smoothed.When vehicle is in driving process, if torque has unexpected variation, can lead
Torsional impact is caused to be transmitted to vehicle, to cause unexpected terrified vehicle or strong pause and transition in rhythm or melody sense, this impact can be very intuitive
It is experienced by driver.Therefore, engine control system generally can all do a filtering processing when demand torque calculates
(referred to as " smoothing processing ").
Smoothing processing in the prior art be executed by ECU controller 2, and ACC controller 3 demand torque is not carried out it is flat
Sliding processing.As shown in Fig. 2, ACC controller 3, which calculates resulting demand torque according to sensor information, very big step, still
Target torque after 2 smoothing processing of ECU controller can be increased slowly, to exclude the torsional impact of this phase step type.
But the problems of prior art is, if ACC controller 3 is not smoothed demand torque, directly
The demand torque that ECU controller 2 is given in sending and receiving is step signal, and the frequent step of demand torque signal will cause ECU controller
2 frequently control engine 1 progress acceleration, deceleration operations, while these frequent step signals are all largely overshoot, meeting
The unnecessary frequent acceleration, deceleration of vehicle are caused, economy is influenced.
In view of this, the technical issues of causing for the torque step signal in existing automobile, needs to design new control
Method, to overcome the problems, such as that torque step signal causes the unnecessary frequent acceleration, deceleration of vehicle, to improve the economy of vehicle.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of joint driving control method and system based on ECU and ACC,
It can overcome the problems, such as that torque step signal causes the unnecessary frequent acceleration, deceleration of vehicle.
To achieve the above object, the present invention provides a kind of joint driving control methods based on ECU and ACC, comprising:
ECU controller judges the current state of the torque smooth control processing function of ACC controller；When the torque smooth control for judging ACC controller
When processing function is in effective status, ECU controller closes the torque smooth control processing function of itself；Alternatively, when judging ACC control
When the torque smooth control processing function of device is in invalid state, ECU controller opens the torque smooth control processing function of itself, to demand
Torque is smoothed to obtain target torque.
Further, the Rule of judgment of the current state of the torque smooth control processing function of the ACC controller includes as follows
Combination any one or more:
Condition 1:ECU controller checks whether the cruise active function of ACC controller has activated；
Condition 2:ECU controller checks whether ACC controller is faulty；
Condition 3:ECU controller judges whether the demand torque of ACC controller is invalid value；
Condition 4:ECU controller judges whether the demand torque calculated from accelerator pedal is higher than the demand torsion of ACC controller
Square.
Further, the torque smooth control processing function of the ACC controller is in the judgment basis of effective status and includes:
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is no.
Further, it includes appointing that the torque smooth control processing function of the ACC controller, which is in the judgment basis of invalid state,
One or more situations:
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is no；Alternatively,
Condition 1 is；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is yes；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is yes.
Further, the torque smooth control processing function of the ACC controller is in the judgment basis of effective status and includes:
When omitting condition 4, and Rule of judgment is in chronological order successively are as follows: when condition 1- condition 2- condition 3,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no.
Further, it includes appointing that the torque smooth control processing function of the ACC controller, which is in the judgment basis of invalid state,
One or more situations:
When omitting condition 4, and Rule of judgment is in chronological order successively are as follows: when condition 1- condition 2- condition 3,
Judging result is as follows: condition 1 is no；Alternatively,
Condition 1 is；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is yes.
To achieve the above object, the present invention also provides a kind of joint Ride Control Systems based on ECU and ACC, comprising:
Sensor, for detecting leading vehicle distance and passing to ACC controller；ACC controller, the front truck detected for receiving sensor
Distance, and the demand torque for being sent to engine system controller is adjusted according to internal algorithm；ECU controller, for receiving ACC
The torque command of controller, and control engine and realize its request, while calculating the torque of engine in real time and feeding back to ACC control
Device processed；Engine, for generating the power of driving vehicle driving；Wherein, the ACC controller includes: the second smoothing processing mould
Block, for being smoothed to demand torque；The ECU controller includes: condition judgment module, smooth for receiving second
The status information that processing module is sent judge the current state of the second smoothing module, and controls the according to judging result
The switch state of one smoothing module；First smoothing module, for receiving the open command of judgment module transmission, then
Demand torque is smoothed.
Further, the open command of the condition judgment module includes following combination any one or more:
Condition 1:ECU controller checks whether the cruise active function of ACC controller has activated；
Condition 2:ECU controller checks whether ACC controller is faulty；
Condition 3:ECU controller judges whether the demand torque of ACC controller is invalid value；
Condition 4:ECU controller judges whether the demand torque calculated from accelerator pedal is higher than the demand torsion of ACC controller
Square；
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is no.
To achieve the above object, the present invention also provides a kind of joint Ride Control Systems based on ECU and ACC, comprising:
Sensor, for detecting leading vehicle distance and passing to ACC controller；ACC controller, the front truck detected for receiving sensor
Distance, and the demand torque for being sent to engine system controller is adjusted according to internal algorithm；ECU controller, for receiving ACC
The torque command of controller, and control engine and realize its request, while calculating the torque of engine in real time and feeding back to ACC control
Device processed；Engine, for generating the power of driving vehicle driving；Wherein, the ACC controller includes: the second smoothing processing mould
Block, for obtaining target torque after carrying out first time smoothing processing to demand torque；The ECU controller includes: first smooth
Processing module, for being turned round to acquisition reality output after obtaining target torque second of smoothing processing of progress after first time smoothing processing
Square.
Joint driving control method and system provided by the invention based on ECU and ACC, can overcome torque step signal
Cause the unnecessary frequent acceleration, deceleration problem of vehicle.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of cruise active control system in the prior art；
Fig. 2 is smoothed treated the result schematic diagram of demand torque in the prior art；
Fig. 3 is the first structure diagram of the ECU-ACC joint Ride Control System of one embodiment of the invention；
Fig. 4 is that the dual torque smooth control processing in the ECU-ACC joint Ride Control System of one embodiment of the invention is made
At torque responsive delay result schematic diagram；
Fig. 5 is the second structural schematic diagram of the ECU-ACC joint Ride Control System of one embodiment of the invention；
Fig. 6 is that the engine controller ECU cooperation cruise active controller ACC of one embodiment of the invention carries out torque smooth control
The flow diagram of processing strategie；
Fig. 7 is the logical flow diagram for judging ACC controller current state of one embodiment of the invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.Embodiments of the present invention are described in more detail below, the embodiment is shown
Example is shown in the accompanying drawings, and in which the same or similar labels are throughly indicated same or similar element or has identical or class
Like the element of function.It is exemplary below with reference to the embodiment of attached drawing description, for explaining only the invention, and cannot
It is construed to limitation of the present invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when referred to here as member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any devices for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
Noun " demand torque " mentioned herein refers to that ACC controller passes through the calculated control follow the bus institute of sensor information
The torque value for needing engine to provide to realize the acceleration and deceleration of vehicle, and then realizes follow the bus.
After noun " target torque " mentioned herein refers to the demand torque that ECU receives ACC, by the logic judgment of itself
The torque value that control engine realization obtained with smoothing processing.
Noun " reality output torque " mentioned herein refers to engine under current working by flywheel institute reality output
Torque, target torque can be followed on reality output torsion theory.
Fig. 3 is the first structure diagram of the ECU-ACC joint Ride Control System of one embodiment of the invention.Such as Fig. 3 institute
Show, ECU-ACC joint Ride Control System provided by the invention may include: sensor 4, for detecting leading vehicle distance and transmitting
To ACC controller 3；ACC controller 3 for the leading vehicle distance that receiving sensor 4 detects, and is adjusted according to internal algorithm and is sent out
Give the demand torque of engine system controller；ECU controller 2 for receiving the torque command of ACC controller 3, and controls
Engine 1 realizes its request, while calculating the torque of engine 1 in real time and feeding back to ACC controller 3；Engine 1, for producing
The power of raw driving vehicle driving；Wherein, ACC controller 3 includes: the second smoothing module, for carrying out to demand torque
Target torque is obtained after first time smoothing processing；ECU controller 2 includes: the first smoothing module, for smooth for the first time
It is obtained after processing after target torque carries out second of smoothing processing and obtains reality output torque.
The automatic regulation function of ACC controller 3, which is accomplished in that be equipped with for vehicle, has certain effective range
At least one sensor 4, such as radar, ultrasonic sensor or laser sensor, thus measure distance in preceding fleet vehicles or
Person is located at the distance of neighbouring barrier, and the distance is automatically regulated to scheduled, preferred target relevant to speed road
Journey.For example, ACC controller 3 can be designed as the activation when being more than the minimum speed of preset vehicle, automatically distance is adjusted.Example
Such as, one group of sensor 4 can be configured, including distance sensor and proximity sensor are collocated with each other, before detecting vehicle
Remote zone and short range region.Car speed and following between preceding fleet vehicles and vehicle are detected in sensor 4
After distance, ACC controller 3 can calculate required torque (can be regarded as " required acceleration ") and be forwarded to
ECU controller 2, ECU controller 2 according between calculated acceleration or required moment of torsion control and front truck follow away from
From.
When front, Following Car gives it the gun, ACC controller 3 by increase target torque make vehicle accelerate keep with
Vehicle distance.Conversely, ACC controller 3 is made by reducing target torque or intervening braking when front Following Car Reduced Speed Now
Vehicle deceleration.In general, in order to guarantee that vehicle has good driving, ECU controller 2 all can be to the demand torque received
It is filtered, the torque smooth control for exporting engine 1 will not allow driver to experience apparent impact on vehicle.Here
Described demand torque is typically all the gas pedal controlled from driver.And ACC controller 3 is stepped on instead of this throttle
Plate directly transmits demand torque value to ECU controller 2 during cruise active.
It follows that carrying out first time smoothing processing to demand torque by ACC controller 3, it is then sent to ECU control
The target torque of device 2 is smooth signal, avoids the occurrence of the frequent step of demand torque signal, is turned round by ECU controller 2 to target
Square carries out second of smoothing processing, solves ECU according to ACC transmission signal and carries out continually acceleration, deceleration operation to engine 1,
To improve the economy of vehicle.
Fig. 4 is that the dual torque smooth control processing in the ECU-ACC joint Ride Control System of one embodiment of the invention is made
At torque responsive delay result schematic diagram.In Fig. 4, solid line indicates what ACC controller 3 was calculated according to leading vehicle distance
Follow the bus demand torque；Dotted line indicate ACC controller 3 demand torque is smoothed after target torque；Chain-dotted line indicates
The target torque that ECU controller 2 sends ACC controller 3 carries out the target torque after secondary smoothing processing.As shown in figure 4,
The follow the bus demand torque that ACC controller 3 is calculated according to leading vehicle distance has very big step, and ACC controller 3 is to demand torque
Target torque after being smoothed can be increased slowly, so as to exclude the torsional impact of this phase step type；But if
The target torque that ECU controller 2 sends ACC controller 3 carries out secondary smoothing processing again, then reality output torque can produce
Raw phase delay.As an implementation, in ACC-ECU system, this demand torque passes through sensing by ACC controller 3
Leading vehicle distance that device 4 (for example, radar) detects is regulated and controled.Further, this demand torsion can according to smoothing processing strategy
To be handled in the first smoothing module (as shown in Figure 3) of ACC controller 3.As shown in figure 4, if ACC controller
3 have done demand torque smoothing processing, and engine controller also retains original torque smooth control processing strategie, and it will cause demands
Dual smooth, that is, the double-smoothing of torque, will cause the operating lag of demand torque.Therefore, right by ACC controller 3
Demand torque is smoothed, and sends smoothed out demand torque signal, avoids impact of the step signal to engine 1, solution
Certainly the problem of 3 acceleration, deceleration frequent to vehicle of ACC controller, to improve the economy of vehicle.
However, further analyzing above-mentioned dislike of the invention, if ACC controller 3 carries out smoothly demand torque
The problem of processing is then not in overshoot, but since ECU controller 2 itself also has the smoothing processing to demand torque, formed
Dual smooth (that is, double-smoothing) of demand torque, it will cause ECU controllers 2 to demand torque operating lag or to respond
Slowly, cause acceleration bad, follow the bus is bad in other words.
As improvement project, need to establish a set of cooperation between the second smoothing module and the second smoothing module
Strategy, so that, the control of engine 1 is postponed to avoid ECU controller 2 caused by double-smoothing.Fig. 5 is that the present invention one is implemented
Second structural schematic diagram of the ECU-ACC joint Ride Control System of example.As shown in figure 5, it is provided by the invention based on ECU and
The joint Ride Control System of ACC may include: sensor 4, for detecting leading vehicle distance and passing to ACC controller 3；ACC
Controller 3 is sent to engine system control for the leading vehicle distance that receiving sensor 4 detects, and according to internal algorithm adjustment
The demand torque of device processed；ECU controller 2 for receiving the torque command of ACC controller 3, and controls engine 1 and realizes that it is asked
It asks, while calculating the torque of engine 1 in real time and feeding back to ACC controller 3；Engine 1, for generating driving vehicle driving
Power；Wherein, ACC controller 3 includes: the second smoothing module, for being smoothed demand torque to obtain mesh
Mark torque；ECU controller 2 includes: condition judgment module, for judging the torque smooth control processing function of the second smoothing module
Whether effective status, and the switch shape of torque smooth control processing function according to judging result control first smoothing module are in
State；First smoothing module, the instruction of the unlatching torque smooth control processing function for receiving judgment module transmission, turns round demand
Square is smoothed to obtain target torque.
Fig. 6 is that the engine controller ECU cooperation cruise active controller ACC of one embodiment of the invention carries out torque smooth control
The flow diagram of processing strategie.As shown in fig. 6, the present invention provides a kind of joint driving control method based on ECU and ACC,
It include: the current state that ECU controller 2 judges the torque smooth control processing function of ACC controller 3；When judging ACC controller 3
When torque smooth control processing function is in effective status, ECU controller 2 closes the torque smooth control processing function of itself；Alternatively, when sentencing
When the torque smooth control processing function of disconnected ACC controller 3 is in invalid state, ECU controller 2 opens the torque smooth control processing of itself
Function is smoothed to obtain target torque demand torque.
By largely control experiment it is found that the ACC controller 3 torque smooth control processing function current state judgement
Condition includes following combination any one or more:
Condition 1:ECU controller 2 checks whether the cruise active function of ACC controller 3 has activated；
Condition 2:ECU controller 2 checks whether ACC controller 3 is faulty；
Condition 3:ECU controller 2 judges whether the demand torque of ACC controller 3 is invalid value；
Condition 4:ECU controller 2 judges whether the demand torque calculated from accelerator pedal is higher than the demand of ACC controller 3
Torque.
Preferably, the torque smooth control processing function of the ACC controller 3 is in the judgment basis of effective status and includes:
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is no.
Preferably,
The judgment basis that the torque smooth control processing function of the ACC controller 3 is in invalid state includes any or more
Kind situation:
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is no；Alternatively,
Condition 1 is；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is yes；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is yes.
Fig. 7 is the logic for judging 3 current state of ACC controller to condition 4 according to above-mentioned condition 1 of one embodiment of the invention
Flow diagram.
In frame S1, ECU controller 2 checks whether cruise active function has activated, for example, by receiving on CAN line
The state of ACC controller 3 judges.If cruise active function activation, into frame S2, frame S6 is otherwise jumped to.
In frame S2, ECU controller 2 checks whether ACC controller 3 is faulty, for example, passing through the ACC received on CAN line
Controller 3 fault message judges.Such as either with or without failure, into frame S3；Otherwise frame S6 is jumped to.
In frame S3, ECU controller 2 judges whether the demand torque of ACC controller 3 is invalid value.If not invalid
Value then enters frame S4；Otherwise frame S6 is jumped to.
In frame S4, ECU controller 2 judges whether the demand torque calculated from accelerator pedal is higher than the need of ACC controller 3
Seek torque.If be not higher than, enter frame S5；Otherwise frame S6 is jumped to.
In frame S5, the judgement of preceding 4 frames all passes through (i.e. 1 is, and 2 is no, and 3 is no, and 4 is no), then illustrates to lead
Dynamic cruise function is in normal mode of operation, and at this moment ECU controller 2 should close the torque smooth control processing function of itself, directly
Respond the demand torque of ACC controller 3.
In frame S6, preceding 4 frames judge that any one does not pass through (i.e. 1 no or 2 are or 3 are or 4 are), then say
Bright cruise active function is not in normal or effectively operating mode, and at this moment ECU controller 2 needs to restore the torque smooth control of itself
Processing function keeps the state if being at torque smooth control processing function open state before.
In frame S7, ECU controller 2 judges whether activate at the torque smooth control of itself according to different actual conditions
Function is managed, and is exported according to the torque of final demand torque control engine 1.
Therefore, the present invention can solve torsion caused by this dual torque smooth control processing by updating corresponding strategy
Square operating lag.
Since the ACC control unit of different manufacturers is not quite similar in interactive information of the engine controller on CAN line,
Therefore being likely to occur in some projects does not have signal described in above-mentioned strategy.But at least have one of them or two.
Therefore, this patent is not limited solely to the frame S1 of the foregoing description, the combination of frame S2, frame S3 and frame S4 Rule of judgment.This four are sentenced
Broken strip part can freely form the strategy of suitable different manufacturers ACC control unit, such as only retain frame S1 and frame S2, remove frame
S3 and frame S4.The combination of this Different Strategies also belongs within the application range of this patent.
It follows that improvement project of the present invention is smoothed to avoid appearance demand torque by ACC controller 3
Over control, and itself is controlled the judgement of 3 working condition of ACC controller by ECU controller 2, demand torque is put down
Sliding processing avoids dual smooth (i.e. the double-smoothing) that generates demand torque, so that ECU controller 2 be avoided to ring demand torque
It should postpone or respond slowly, cause acceleration bad, in other words the bad problem of follow the bus.
It is understood that the present invention replaces original auditory tone cues mode not by display distance information mode,
But the present invention can both have been helped only by the mode of image display distance information driver improve drive accuracy and
Safety, but can take both image display distance and sound prompting mode simultaneously is implemented in combination with mentioning for object space distance
Show function.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of joint driving control method based on ECU and ACC characterized by comprising
ECU controller judges the current state of the torque smooth control processing function of ACC controller；
When the torque smooth control processing function for judging ACC controller is in effective status, the torque that ECU controller closes itself is flat
Sliding processing function；Alternatively,
When the torque smooth control processing function for judging ACC controller is in invalid state, the torque that ECU controller opens itself is flat
Sliding processing function, is smoothed demand torque to obtain smooth target torque.
2. control method according to claim 1, which is characterized in that the torque smooth control processing function of the ACC controller
The Rule of judgment of current state include following combination any one or more:
Condition 1:ECU controller checks whether the cruise active function of ACC controller has activated；
Condition 2:ECU controller checks whether ACC controller is faulty；
Condition 3:ECU controller judges whether the demand torque of ACC controller is invalid value；
Condition 4:ECU controller judges whether the demand torque calculated from accelerator pedal is higher than the demand torque of ACC controller.
3. control method according to claim 2, which is characterized in that the torque smooth control processing function of the ACC controller
Judgment basis in effective status includes:
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is no.
4. control method according to claim 2, which is characterized in that the torque smooth control processing function of the ACC controller
Judgment basis in invalid state includes any one or more situations:
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is no；Alternatively,
Condition 1 is；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is yes；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is yes.
5. control method according to claim 2, which is characterized in that the torque smooth control processing function of the ACC controller
Judgment basis in effective status includes:
When omitting condition 4, and Rule of judgment is in chronological order successively are as follows: when condition 1- condition 2- condition 3,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no.
6. control method according to claim 2, which is characterized in that the torque smooth control processing function of the ACC controller
Judgment basis in invalid state includes any one or more situations:
When omitting condition 4, and Rule of judgment is in chronological order successively are as follows: when condition 1- condition 2- condition 3,
Judging result is as follows: condition 1 is no；Alternatively,
Condition 1 is；Alternatively,
Condition 1 is yes, and condition 2 is no, and condition 3 is yes.
7. a kind of joint Ride Control System based on ECU and ACC characterized by comprising
Sensor, for detecting leading vehicle distance and passing to ACC controller；
ACC controller is sent to engine system for the leading vehicle distance that receiving sensor detects, and according to internal algorithm adjustment
The demand torque of system controller；
ECU controller for receiving the torque command of ACC controller, and controls engine and realizes its request, while calculating in real time
The torque of engine simultaneously feeds back to ACC controller；
Engine, for generating the power of driving vehicle driving；
Wherein, the ACC controller includes:
Second smoothing module, for being smoothed to demand torque；
The ECU controller includes:
Condition judgment module, for receiving the status information of the second smoothing module transmission, to judge the second smoothing processing mould
The current state of block, and according to the switch state of judging result the first smoothing module of control；
First smoothing module then smoothly locates demand torque for receiving the open command of judgment module transmission
Reason.
8. control system according to claim 7, which is characterized in that the open command of the condition judgment module includes such as
Under combination any one or more:
Condition 1:ECU controller checks whether the cruise active function of ACC controller has activated；
Condition 2:ECU controller checks whether ACC controller is faulty；
Condition 3:ECU controller judges whether the demand torque of ACC controller is invalid value；
Condition 4:ECU controller judges whether the demand torque calculated from accelerator pedal is higher than the demand torque of ACC controller；
When Rule of judgment in chronological order successively are as follows: when condition 1- condition 2- condition 3- condition 4,
Judging result is as follows: condition 1 is yes, and condition 2 is no, and condition 3 is no, and condition 4 is no.
9. a kind of joint Ride Control System based on ECU and ACC characterized by comprising
Sensor, for detecting leading vehicle distance and passing to ACC controller；
ACC controller is sent to engine system for the leading vehicle distance that receiving sensor detects, and according to internal algorithm adjustment
The demand torque of system controller；
ECU controller for receiving the torque command of ACC controller, and controls engine and realizes its request, while calculating in real time
The torque of engine simultaneously feeds back to ACC controller；
Engine, for generating the power of driving vehicle driving；
Wherein, the ACC controller includes: the second smoothing module, for carrying out first time smoothing processing to demand torque
After obtain target torque；
The ECU controller includes: the first smoothing module, for carrying out to acquisition target torque after first time smoothing processing
Reality output torque is obtained after second of smoothing processing.
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| CN101259845A (en) * | 2007-12-05 | 2008-09-10 | 奇瑞汽车股份有限公司 | Mixed power motor torsional moment smoothness processing controlling system |
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