CN108639051A - Control method and system of constant-speed cruise system and automobile - Google Patents
Control method and system of constant-speed cruise system and automobile Download PDFInfo
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- CN108639051A CN108639051A CN201810688395.7A CN201810688395A CN108639051A CN 108639051 A CN108639051 A CN 108639051A CN 201810688395 A CN201810688395 A CN 201810688395A CN 108639051 A CN108639051 A CN 108639051A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the invention provides a control method and a control system of a constant-speed cruise system and an automobile, wherein the control method is applied to a main controller and comprises the following steps: when the constant-speed cruise system is in an activated state, receiving a first voltage signal sent by a first control circuit and a second voltage signal sent by a second control circuit; judging whether the vehicle needs to exit the constant-speed cruising state or not according to the first voltage signal and the second voltage signal; and when the constant-speed cruise state is determined to need to be exited, controlling the motor actuating mechanism to exit the constant-speed cruise state, wherein when the constant-speed cruise state is determined to need to be exited, the voltage difference value between the first voltage signal and the second voltage signal is larger than a preset value, or the first voltage signal and the second voltage signal both indicate that the vehicle needs to exit the constant-speed cruise state. According to the scheme of the invention, the intention of the driver is determined by judging the voltage signals of different control circuits, so that the safety risk that the constant-speed cruise system cannot exit is avoided.
Description
Technical field
The present invention relates to automobile auxiliary system technical field, more particularly to a kind of control method of constant speed cruising system is
System and automobile.
Background technology
With the rapid development of automotive engineering, driver comfort becomes the pursuit greatly of people.Cruise technology conduct
A kind of vehicle assistant drive technology due to its convenience and can promote driver comfort, gradually be applied in new-energy automobile.
But current cruise technology is still not perfect, the safety issue of cruise be still influence to expand promote it is main because
Element, wherein influence cruise safety the biggest factor be cruise can not normally exit, when vehicle when driving,
When encountering the case where constant speed cruising system can not be avoided actively, if cruise cannot be exited normally, vehicle and vehicle can be made
In occupant security presence great risk.
Invention content
Technical problems to be solved of the embodiment of the present invention are to provide a kind of control method of constant speed cruising system, system and vapour
Vehicle exists to solve the constant speed cruising system on current automobile in use because cruise state can not exit, and
Make vehicle and occupant that there is the problem of security risk.
In order to solve the above technical problems, one embodiment of the present invention provides a kind of controlling party of constant speed cruising system
Method is applied to master controller, including：
In the case where constant speed cruising system is active, receive first control circuit transmitted by first voltage signal and
Second voltage signal transmitted by second control circuit；
According to first voltage signal and second voltage signal, judge whether vehicle needs to exit cruise state；
Determine that control electric machine actuating mechanism exits cruise state, wherein when true when needing to exit cruise state
When needing to exit cruise state surely, the voltage difference between first voltage signal and second voltage signal is more than preset value,
Or first voltage signal and second voltage signal indicate that vehicle needs to exit cruise state.
Further, the control method of constant speed cruising system as described above, according to first voltage signal and the second electricity
After the step of pressing signal, judging whether to exit cruise state, further include：
When determination need not exit cruise state, the car status information transmitted by signal pickup assembly is received,
In, when determination need not exit cruise state, voltage difference be less than or equal to preset value, and first voltage signal and
Second voltage signal indicates that vehicle is in cruise state；
When needing to exit cruise state according to car status information determination, control electric machine actuating mechanism exits constant speed
Cruising condition, wherein when needing to exit cruise state according to car status information determination, car status information includes：System
It is dynamic that pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in open state, master
Cylinder pressure representative brake pedal is in use state and steering wheel loudspeaker be in whistle state at least one of.
Preferably, the control method of constant speed cruising system as described above, determination need not exit cruise state
After step, further include：
The state request signal that submaster controller is sent is received, state request signal is submaster controller according to car status information
Determination needs to exit transmitted when cruise state；
First state signal is sent to submaster controller according to state request signal.
Further, the control method of constant speed cruising system as described above sends the first shape according to state request signal
After the step of state signal to submaster controller, further include：
The control signal that submaster controller is sent is received, control signal is that submaster controller does not move back according to the expression of first state signal
Go out transmitted when cruise state；
According to control signal, control electric machine actuating mechanism exits cruise state, and sends the second status signal.
The another preferred embodiment of the present invention additionally provides a kind of control method of constant speed cruising system, is applied to sub-control
Device, including：
In the case where constant speed cruising system is active, the car status information transmitted by signal pickup assembly is received；
When needing to exit cruise state according to car status information determination, status request signal to main control
Device, wherein when needing to exit cruise state according to car status information determination, car status information includes：Brake pedal
In use state, accelerator pedal are in use state, parking brake is in use state, car door is in open state, master cylinder pressure
Indicate that brake pedal be in use state and steering wheel loudspeaker is at least one in whistle state；
Receive first state signal of the master controller transmitted by state request signal；
When cruise state is not exited in the expression of first state signal, master controller is sent a control signal to；
Receive second status signal of the master controller transmitted by control signal；
When cruise state is not exited in the expression of the second status signal, control electric machine actuating mechanism exits cruise shape
State.
Another preferred embodiment of the present invention additionally provides a kind of master controller, including：
First receiving module receives under being active in constant speed cruising system transmitted by first control circuit
First voltage signal and second control circuit transmitted by second voltage signal；
First processing module, for according to first voltage signal and second voltage signal, judging whether vehicle needs to move back
Go out cruise state；
First control module, when needing to exit cruise state for determining, control electric machine actuating mechanism exits constant speed
Cruising condition, wherein when determination needs to exit cruise state, the electricity between first voltage signal and second voltage signal
Pressure difference is more than preset value or first voltage signal and second voltage signal indicates that vehicle needs to exit cruise shape
State.
Further, master controller as described above further includes：
Second processing module when need not exit cruise state for determination, receives transmitted by signal pickup assembly
Car status information, wherein when determination need not exit cruise state, voltage difference be less than or equal to preset value,
And first voltage signal and second voltage signal indicate that vehicle is in cruise state；
Second control module, for when needing to exit cruise state according to car status information determination, control to be electric
Machine executing agency exits cruise state, wherein when needing to exit cruise state according to car status information determination, vehicle
Status information includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, vehicle
Door indicates that brake pedal is in use state and steering wheel loudspeaker is in whistle state in open state, master cylinder pressure
At least one of.
Preferably, master controller as described above further includes：
Second receiving module, the state request signal for receiving submaster controller transmission, state request signal is sub-control
Device is transmitted when needing to exit cruise state according to car status information determination；
First sending module, for sending first state signal to submaster controller according to state request signal.
Further, master controller as described above further includes：
Third receiving module, the control signal for receiving submaster controller transmission, control signal are submaster controller according to the
The expression of one status signal is not exited transmitted when cruise state；
Third processing module, for according to control signal, control electric machine actuating mechanism to exit cruise state, and sends
Second status signal.
The further embodiment of the present invention also provides a kind of submaster controller, including：
4th receiving module receives under being active in constant speed cruising system transmitted by signal pickup assembly
Car status information；
Fourth processing module, for when needing to exit cruise state according to car status information determination, sending shape
State request signal is to master controller, wherein when needing to exit cruise state according to car status information determination, vehicle-state
Information includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in
Open state, master cylinder pressure indicate brake pedal be in use state and steering wheel loudspeaker be in whistle state at least one
；
5th receiving module, for receiving first state signal of the master controller transmitted by state request signal；
5th processing module, for when first state signal indicates that master controller does not exit cruise state, sending
Signal is controlled to master controller；
6th receiving module, for receiving second status signal of the master controller transmitted by control signal；
Third control module, for when the second status signal indicates that master controller does not exit cruise state, controlling
Electric machine actuating mechanism exits cruise state.
The another preferred embodiment of the present invention has also provided a kind of control system of constant speed cruising system, including：First
Control circuit, second control circuit, signal pickup assembly, electric machine actuating mechanism, master controller as described above and institute as above
The submaster controller stated；
Wherein, master controller is separately connected first control circuit, second control circuit, signal pickup assembly, motor and executes
Mechanism and submaster controller；
Submaster controller is separately connected signal pickup assembly, electric machine actuating mechanism and master controller；
Signal pickup assembly obtains car status information for detecting vehicle-state, and is sent to master controller and pair
Controller；
Cruise state is exited in electric machine actuating mechanism, the control for receiving master controller or submaster controller.
Specifically, the control system of constant speed cruising system as described above further includes：Power supply；
Wherein, power supply includes：First power supply and second source；
First power supply is connect with first control circuit, and second source is connect with second control circuit.
Preferably, the control system of constant speed cruising system as described above, first control circuit include：
The first end of first control switch, the first control switch is connect with the first power supply, and second end connects with the first ground terminal
It connects；
Second control switch, the first end of the second control switch connect with the first end of the first control switch and the first power supply
It connects, second end is connect after connecting with first resistor with the first ground terminal；
Third control switch, the first end of third control switch connect with the first end of the first control switch and the first power supply
It connects, second end is connect after connecting with second resistance with the first ground terminal；
4th control switch, the first end of the 4th control switch connect with the first end of the first control switch and the first power supply
It connects, second end is connect after connecting with 3rd resistor with the first ground terminal；
The resistance value of first resistor, second resistance and 3rd resistor successively increases；
First voltage collection terminal, one end are connect with the first end of the first power supply and the first control switch, the other end and master
Controller connects, for obtaining first voltage signal and being transmitted to master controller.
Preferably, the control system of constant speed cruising system as described above, second control circuit include：Second source,
Two ground terminals and be set to the 4th resistance being sequentially connected in series between second source and ground terminal, the 5th resistance, the 6th electricity
Resistance, the 7th resistance, wherein the 4th resistance is connect with second source；
Second control circuit further includes：The first end of 5th control switch, the 5th control switch is connect with the second ground terminal,
Tie point connection between second end and second source and the 4th resistance；
The first end of 6th control switch, the 6th control switch is connect with the second ground terminal, second end and the 4th resistance and
Tie point connection between 5th resistance；
The first end of 7th control switch, the 7th control switch is connect with the second ground terminal, second end and the 5th resistance and
Tie point connection between 6th resistance；
The first end of 8th control switch, the 8th control switch is connect with the second ground terminal, second end and the 6th resistance and
Tie point connection between 7th resistance；
Second voltage collection terminal, one end are connect with the second end of the 5th control switch and second source, the other end and master
Controller connects, for obtaining second voltage signal and being transmitted to master controller.
Specifically, the control system of constant speed cruising system as described above further includes：Control button；
Wherein, the first control button and the first control switch and the 5th control switch connection；
Second control button and the second control switch and the 6th control switch connection；
Third control button and third control switch and the 7th control switch connection；
4th control button and the 4th control switch and the 8th control switch connection.
The another preferred embodiment of the present invention additionally provides a kind of automobile, including：Constant speed cruising system as described above
Control system.
Compared with prior art, control method, system and the vapour of a kind of constant speed cruising system provided in an embodiment of the present invention
Vehicle at least has the advantages that：
In an embodiment of the present invention, in the case where constant speed cruising system is active, master controller can receive the first control
The second voltage signal transmitted by first voltage signal and second control circuit transmitted by circuit processed, and according to first voltage
Whether signal and second voltage signal need to exit cruise state to vehicle judges, when first voltage signal and
When second voltage signal indicates that vehicle needs to exit cruise state, determines that driver operates and exit button or exit out
It closes, controls electric machine actuating mechanism at this time and exit cruise state；Electricity between first voltage signal and second voltage signal
When pressure difference is more than preset value, show that at least one of first control circuit and second control circuit there is a problem, or drive
An emergency situation is encountered has carried out flurried operation by the person of sailing, and can have security risk if determining and continuing to cruise state, this
When control electric machine actuating mechanism exit cruise state.Master controller in the embodiment of the present invention, by receiving two not
Voltage signal of the same control circuit under same condition, and judged, the determination to driver intention is realized, when determination is driven
When the person of sailing needs to exit constant speed cruising system, control electric machine actuating mechanism exits cruise state.Compared to existing single electricity
Road control constant speed cruising system it is more safe and reliable, advantageously reduce even evade constant speed cruising system can not exit and
The security risk brought.
Description of the drawings
Fig. 1 is one of the flow diagram of control method for being applied to master controller in the embodiment of the present invention；
Fig. 2 is the two of the flow diagram for the control method for being applied to master controller in the embodiment of the present invention；
Fig. 3 is the three of the flow diagram for the control method for being applied to master controller in the embodiment of the present invention；
Fig. 4 is the flow diagram for the control method for being applied to submaster controller in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of master controller in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of submaster controller in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the control system of constant speed cruising system in the embodiment of the present invention；
Fig. 8 is the circuit diagram of first control circuit in the embodiment of the present invention；
Fig. 9 is the circuit diagram of second control circuit in the embodiment of the present invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.In the following description, such as specific configuration is provided and the specific detail of component is only
In order to help comprehensive understanding the embodiment of the present invention.It therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without departing from scope and spirit of the present invention.In addition, for clarity and brevity, it is omitted pair
The description of known function and construction.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic includes at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these specific feature, knots
Structure or characteristic can in any suitable manner combine in one or more embodiments.
In various embodiments of the present invention, it should be appreciated that the size of the serial number of following each processes is not meant to execute suitable
The execution sequence of the priority of sequence, each process should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Process constitutes any restriction.
It should be understood that the terms "and/or", only a kind of incidence relation of description affiliated partner, expression can deposit
In three kinds of relationships, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.
In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
In embodiment provided herein, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
Referring to Fig. 1, a preferred embodiment of the present invention provides a kind of control method of constant speed cruising system, is applied to master
Controller, including：
Step 1001, in the case where constant speed cruising system is active, the first electricity transmitted by first control circuit is received
Press the second voltage signal transmitted by signal and second control circuit；
Step 1002, according to first voltage signal and second voltage signal, judge whether vehicle needs to exit constant speed and patrol
Boat state；
Step 1003, determine that control electric machine actuating mechanism exits cruise state when needing to exit cruise state,
Wherein, when determination needs to exit cruise state, the voltage difference between first voltage signal and second voltage signal is big
Indicate that vehicle needs to exit cruise state in preset value or first voltage signal and second voltage signal.
In an embodiment of the present invention, in the case where constant speed cruising system is active, master controller can receive the first control
The second voltage signal transmitted by first voltage signal and second control circuit transmitted by circuit processed, and according to first voltage
Whether signal and second voltage signal need to exit cruise state to vehicle judges, when first voltage signal
And second voltage signal determines that driver operates and exits button or move back when indicating that vehicle needs to exit cruise state
Go out switch, controls electric machine actuating mechanism at this time and exit cruise state；When between first voltage signal and second voltage signal
Voltage difference be more than preset value when, show that at least one of first control circuit and second control circuit there is a problem,
Or an emergency situation is encountered has carried out flurried operation by driver, can have safety wind if determining and continuing to cruise state
Danger controls electric machine actuating mechanism and exits cruise state at this time.Master controller in the embodiment of the present invention, by receiving two
Voltage signal of a different control circuit under same condition, and judged, the determination to driver intention is realized, when true
When determining driver and needing to exit constant speed cruising system, control electric machine actuating mechanism exits cruise state.Compared to existing
The constant speed cruising system of single circuit control is more safe and reliable, advantageously reduces and even evades constant speed cruising system and can not move back
The security risk for going out and bringing.
Referring to Fig. 2, further, the control method of constant speed cruising system as described above, according to first voltage signal with
And second voltage signal further includes after the step of judging whether to exit cruise state：
Step 2001, when determination need not exit cruise state, the vehicle shape transmitted by signal pickup assembly is received
State information, wherein when determination need not exit cruise state, voltage difference is less than or equal to preset value, and the first electricity
Pressure signal and second voltage signal indicate that vehicle is in cruise state；
Step 2002, when needing to exit cruise state according to car status information determination, control motor executes machine
Structure exits cruise state, wherein when needing to exit cruise state according to car status information determination, vehicle-state letter
Breath includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in and opens
Open state, master cylinder pressure indicate brake pedal be in use state and steering wheel loudspeaker be in whistle state at least one
.
In an embodiment of the present invention, it does not need and to exit when according to first voltage signal and the determination of second voltage signal
When cruise state, i.e., when driver is to the operation of constant speed cruising system progress routine or without operation, receive signal acquisition
The car status information that device is sent, judges the behavior of driver according to the status information of vehicle, when vehicle-state is believed
Breath includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in and opens
Open state, master cylinder pressure indicates that brake pedal be in use state and steering wheel loudspeaker is at least one in whistle state
When, showing driver, an emergency situation is encountered, and directly can not exit cruise state by control circuit, and determine needs at this time
Exit cruise state, control electric machine actuating mechanism exits cruise state, avoids driver an emergency situation is encountered
When avoiding risk using other means, because constant speed cruising system can not exit lead to that safety accident occurs, and then ensure vehicle
And the safety of occupant.
Wherein, in an embodiment of the present invention, the determination method that steering wheel loudspeaker is in whistle state is：When steering wheel loudspeaker
When the whistle duration is greater than or equal to 5 seconds, determine that steering wheel loudspeaker is in whistle state.Those skilled in the art's root
The decision condition for setting the different whistle duration as steering wheel loudspeaker according to actual conditions and being in whistle state belongs to this
The protection domain of invention.
The status information of brake pedal and the status information of master cylinder pressure are arranged for dual redundant in an embodiment of the present invention,
When sensor failure at brake pedal, the state of brake pedal can be judged according to master cylinder pressure, is avoided when braking
When sensor failure at pedal, the judgement to vehicle-state is influenced because that can not know the status information of brake pedal.
Referring to Fig. 3, it is preferable that the control method of constant speed cruising system as described above, determination need not exit constant speed and patrol
After the step of boat state, further include：
Step 3001, the state request signal that submaster controller is sent is received, state request signal is submaster controller according to vehicle
The determination of status information needs to exit transmitted when cruise state；
Step 3002, first state signal is sent to submaster controller according to state request signal.
In an embodiment of the present invention, when according to first voltage signal and second voltage signal, determination need not be exited
When cruise state, master controller can also receive submaster controller and need to exit cruise shape according to car status information determination
Transmitted state request signal when state, and first state signal is sent to submaster controller according to state request signal.Main control
Device feeds back first state signal to submaster controller by the state request signal received, and submaster controller is made to understand master controller
State status is convenient for contrast verification, it is ensured that master controller has carried out correct operation.
Referring to Fig. 3, further, the control method of constant speed cruising system as described above is sent out according to state request signal
After the step of sending first state signal to submaster controller, further include：
Step 3003, the control signal that submaster controller is sent is received, control signal is that submaster controller is believed according to first state
Number indicate do not exit it is transmitted when cruise state；
Step 3004, according to control signal, control electric machine actuating mechanism exits cruise state, and sends the second state
Signal.
In an embodiment of the present invention, after submaster controller receives the first state signal that master controller is sent, to master control
The state of device processed is judged, when the state of master controller is not exit cruise state, judges master controller and signal
Signal transmission between collector goes wrong, or goes wrong to the judgement of car status information, sends a control signal to master
Controller, main control exit cruise state according to control signal control motor control mechanism, avoid driver and encountering
When emergency is avoided risk using other means, because master controller goes wrong to the reception or judgement of car status information,
Cause vehicle that can not exit cruise state, and the safety accident caused by time, ensures vehicle and the peace of occupant
Entirely.The second status signal is fed back into submaster controller simultaneously, so that submaster controller is understood the state status of master controller, is convenient for
Contrast verification, it is ensured that master controller has carried out correct operation.
Referring to Fig. 4, another preferred embodiment of the invention additionally provides a kind of control method of constant speed cruising system, application
In submaster controller, including：
Step 4001, in the case where constant speed cruising system is active, the vehicle shape transmitted by signal pickup assembly is received
State information；
Step 4002, when needing to exit cruise state according to car status information determination, status request letter is sent
Number to master controller, wherein when needing to exit cruise state according to car status information determination, car status information packet
It includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in opening state
State, master cylinder pressure indicate that brake pedal be in use state and steering wheel loudspeaker is at least one in whistle state；
Step 4003, first state signal of the master controller transmitted by state request signal is received；
Step 4004, when cruise state is not exited in the expression of first state signal, main control is sent a control signal to
Device；
Step 4005, second status signal of the master controller transmitted by control signal is received；
Step 4006, when cruise state is not exited in the expression of the second status signal, control electric machine actuating mechanism exits
Cruise state.
In an embodiment of the present invention, in the case where constant speed cruising system is active, submaster controller can receive signal and adopt
Car status information transmitted by acquisition means, and when needing to exit cruise state according to car status information determination, hair
It send state request signal to master controller, and receives the first state signal transmitted by main control, when first state signal indicates
Master controller has controlled electric machine actuating mechanism when exiting cruise state, does not take operation；As first state signal describing master
The state of controller is to judge that the signal transmission between master controller and signal picker occurs when not exiting cruise state
Problem or master controller go wrong to the judgement of car status information, send a control signal to master controller, control main control
Device exits cruise state to control electric machine actuating mechanism, and receives the second status signal of master controller feedback, when second
When status signal indicates that master controller has controlled electric machine actuating mechanism and exits cruise state, operation is not taken；When the second shape
The state of state signal describing master controller is when not exiting cruise state, to show between master controller and electric machine actuating mechanism
Communication go wrong or master controller to control signal judgement go wrong, held at this point, submaster controller directly controls motor
Row mechanism exits cruise state.So that when master controller breaks down, motor execution can be also controlled by submaster controller
Mechanism exits cruise state, and double insurance is provided for constant speed cruising system, ensures to patrol when driver needs to exit constant speed
When boat state, can timely it exit, when avoiding driver from appearing in that an emergency situation is encountered avoiding risk using other means, constant speed
Cruise system can not exit and lead to the safety accident occurred, and then ensure vehicle and the safety of occupant.
Referring to Fig. 5, another preferred embodiment of the invention additionally provides a kind of master controller, including：
First receiving module 101 receives first control circuit and is sent out under being active in constant speed cruising system
The second voltage signal transmitted by first voltage signal and second control circuit sent；
First processing module 102, for according to first voltage signal and second voltage signal, judging whether vehicle needs
Exit cruise state；
First control module 103, when needing to exit cruise state for determining, it is fixed that control electric machine actuating mechanism exits
Fast cruising condition, wherein when determination needs to exit cruise state, between first voltage signal and second voltage signal
Voltage difference is more than preset value or first voltage signal and second voltage signal indicates that vehicle needs to exit cruise
State.
Referring to Fig. 5, further, master controller as described above further includes：
Second processing module 104 when need not exit cruise state for determination, receives signal pickup assembly and is sent out
The car status information sent, wherein when determination need not exit cruise state, voltage difference is less than or equal to default
Value, and first voltage signal and second voltage signal indicate that vehicle is in cruise state；
Second control module 105, for when needing to exit cruise state according to car status information determination, controlling
Electric machine actuating mechanism exits cruise state, wherein when needing to exit cruise state according to car status information determination,
Car status information includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state,
Car door is in open state, master cylinder pressure indicates that brake pedal is in use state and steering wheel loudspeaker is in whistle state
At least one of.
Referring to Fig. 5, it is preferable that master controller as described above further includes：
Second receiving module 106, the state request signal for receiving submaster controller transmission, state request signal are secondary control
Device processed is transmitted when needing to exit cruise state according to car status information determination；
First sending module 107, for sending first state signal to submaster controller according to state request signal.
Referring to Fig. 5, further, master controller as described above further includes：
Third receiving module 108, for receive submaster controller transmission control signal, control signal be submaster controller according to
The expression of first state signal is not exited transmitted when cruise state；
Third processing module 109, for according to control signal, controlling electric machine actuating mechanism and exiting cruise state, and
Send the second status signal.
The embodiment of the master controller of the present invention is with above application in the controlling party of the constant speed cruising system of master controller
The corresponding device of embodiment of method, above application is in the embodiment of the control method of the constant speed cruising system of master controller
All realization rates can also reach identical technique effect suitable for the embodiment of the master controller.
Referring to Fig. 6, further embodiment of the invention also provides a kind of submaster controller, including：
4th receiving module 201 receives signal pickup assembly and is sent out under being active in constant speed cruising system
The car status information sent；
Fourth processing module 202, for when needing to exit cruise state according to car status information determination, sending
State request signal is to master controller, wherein when needing to exit cruise state according to car status information determination, vehicle shape
State information includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, at car door
Indicate that brake pedal is in use state and steering wheel loudspeaker is in whistle state at least in open state, master cylinder pressure
One；
5th receiving module 203, for receiving first state signal of the master controller transmitted by state request signal；
5th processing module 204, for when first state signal indicates that master controller does not exit cruise state, sending out
Send control signal to master controller；
6th receiving module 205, for receiving second status signal of the master controller transmitted by control signal；
Third control module 206, for when the second status signal indicates that master controller does not exit cruise state, controlling
Electric machine actuating mechanism processed exits cruise state.
The embodiment of the submaster controller of the present invention is with above application in the controlling party of the constant speed cruising system of submaster controller
The corresponding device of embodiment of method, above application is in the embodiment of the control method of the constant speed cruising system of submaster controller
All realization rates can also reach identical technique effect suitable for the embodiment of the submaster controller.
Referring to Fig. 7, another preferred embodiment of the invention has also provided a kind of control system of constant speed cruising system, packet
It includes：First control circuit 3, second control circuit 4, signal pickup assembly 5, electric machine actuating mechanism 6, master controller as described above
1 and submaster controller as described above 2；
Wherein, master controller 1 is separately connected first control circuit 3, second control circuit 4, signal pickup assembly 5, motor
Executing agency 6 and submaster controller 2；
Submaster controller 2 is separately connected signal pickup assembly 5, electric machine actuating mechanism 6 and master controller 1；
Signal pickup assembly 5 obtains car status information for detecting vehicle-state, and be sent to master controller 1 and
Submaster controller 2；
Cruise state is exited in electric machine actuating mechanism 6, the control for receiving master controller 1 or submaster controller 2.
In an embodiment of the present invention, master controller 1 is separately connected first control circuit 3, second control circuit 4, signal
Harvester 5, electric machine actuating mechanism 6 and submaster controller 2, when the first control circuit 3 received first voltage signal and
The second voltage signal of second control circuit 4, determination need to exit cruise state, alternatively, being sent out according to signal pickup assembly 5
The car status information sent, determination need to exit cruise state, or receive the control signal of the transmission of submaster controller 2
When, control electric machine actuating mechanism 6 exits cruise state；
Submaster controller 2 is separately connected signal pickup assembly 5, electric machine actuating mechanism 6 and master controller 1, when according to signal
The car status information that harvester 5 is sent, determination needs to exit cruise state and master controller 1 does not exit cruise
When state, master controller 1 is sent a control signal to, so that master controller 1 is controlled electric machine actuating mechanism 6 and exits cruise state,
If master controller 1 receives after control signal when not exiting cruise state yet, directly controls electric machine actuating mechanism 6 and exit
Cruise state；
The embodiment of the present invention is in cruise shape by the form of dual control circuit and dual controller in vehicle
Under state, in case of emergency, whether driver can be judged according to the voltage signal of car status information and control circuit
It needs to exit cruise state, and when determination needs to exit cruise state, using sub-control machine monitoring master controller 1
Mode, and when master controller 1 is unable to control, directly control electric machine actuating mechanism 6, it is ensured that cruise shape can be exited in time
State reduces vehicle and the security risk of occupant.
Simultaneously as using the form of dual controller, but also the safe class of single controller can be reduced suitably, into
And save cost.
Referring to Fig. 7, specifically, the control system of constant speed cruising system as described above further includes：Power supply 7；
Wherein, power supply includes：First power supply 701 and second source 702；
First power supply 701 is connect with first control circuit 3, and second source 702 is connect with second control circuit 4.
In an embodiment of the present invention, there are two the settings of power supply 7, wherein the first power supply 701 is first control circuit
3 power supplies, second source 702 are powered for second control circuit 4 so that when the first power supply 701 or second source 702 break down
When, it still is able to by controlling the control circuit not broken down, to ensure the functional safety of constant speed cruising system.Preferably, originally
Power supply 7 in the embodiment of invention is 12 volts of power supplys.
Referring to Fig. 8, it is preferable that the control system of constant speed cruising system as described above, first control circuit 3 include：
The first end of first control switch 301, the first control switch 301 is connect with the first power supply 701, second end and first
Ground terminal connects；
Second control switch 302, second control switch 302 first end and first control switch 301 first end and
First power supply 701 connects, and second end is connect after connecting with first resistor 303 with the first ground terminal；
Third control switch 304, third control switch 304 first end and first control switch 301 first end and
First power supply 701 connects, and second end is connect after connecting with second resistance 305 with the first ground terminal；
4th control switch 306, the 4th control switch 306 first end and first control switch 301 first end and
First power supply 701 connects, and second end is connect after connecting with 3rd resistor 307 with the first ground terminal；
The resistance value of first resistor 303, second resistance 305 and 3rd resistor 307 successively increases；
First voltage collection terminal 308, the first end that one end controls switch 301 with the first power supply 701 and first are connect, separately
One end is connect with master controller 1, for obtaining first voltage signal and being transmitted to master controller 1.
In an embodiment of the present invention, after first control circuit 3 is parallel circuit, and each control switch is closed,
The first voltage signal that first voltage collection terminal 308 is acquired is all different, and when multiple controls, which switch, to be closed, (the first control is opened
Close except 301), multiple controls switch works simultaneously, at this time first voltage collection terminal 308 acquire be multiple controls switch and
Its concatenated resistance and the circuit where the first power supply 701 voltage signal.Such as：When the second control switch 302 and the
When three control switches 304 are closed at, the second control switch 302 and first resistor 303 control switch 304 and the second electricity with third
Resistance 305 is in parallel, and the acquisition of first voltage collection terminal 308 at this time is the second control switch 302 and first resistor 303, third control
The voltage signal of circuit where switch 304 and second resistance 305 and the first power supply 701.Optionally, the first ground terminal is the
The cathode of one power supply 701.Preferably, it is provided with safe Resistance between the first power supply 701 and first control circuit 3, prevents first
Power supply 701, which is directly grounded, or positive and negative anodes are connected damages the first power supply 701.
Referring to Fig. 9, it is preferable that the control system of constant speed cruising system as described above, second control circuit 4 include：The
Two power supplys 702, the second ground terminal and it is set to the 4th resistance being sequentially connected in series between second source 702 and ground terminal
401, the 5th resistance 402, the 6th resistance 403, the 7th resistance 404, wherein the 4th resistance 401 is connect with second source 702；
Second control circuit further includes：5th control switch 405, first end and the second ground connection of the 5th control switch 405
End connection, the tie point connection between second end and second source 702 and the 4th resistance 401；
The first end of 6th control switch 406, the 6th control switch 406 is connect with the second ground terminal, second end and the 4th
Tie point connection between resistance 401 and the 5th resistance 402；
The first end of 7th control switch 407, the 7th control switch 407 is connect with the second ground terminal, second end and the 5th
Tie point connection between resistance 402 and the 6th resistance 403；
The first end of 8th control switch 408, the 8th control switch 408 is connect with the second ground terminal, second end and the 6th
Tie point connection between resistance 403 and the 7th resistance 404；
Second voltage collection terminal 409, one end are connect with the second end of the 5th control switch 405 and second source 702, separately
One end is connect with master controller 1, for obtaining second voltage signal and being transmitted to master controller 1.
In an embodiment of the present invention, circuit when second control circuit 4 is series connection, when multiple controls, which switch, to be closed, only
Have priority it is high control switch work so that second voltage collection terminal 409 acquisition be include that the high control of priority is opened
Close the voltage signal with 702 place circuit of second source.Such as：When the 5th control switch 405 and the 6th controls switch 406 simultaneously
When closure, since the 5th control switch 405 is short-circuit by the 6th control switch 406, the of the acquisition of second voltage collection terminal 409 at this time
Two voltage signals are the voltage signal of power supply and the 5th control 405 place circuit of switch.Optionally, the second ground terminal is second
The cathode of power supply 702.Preferably, it is provided with safe Resistance between second source 702 and second control circuit 4, prevents the first electricity
Source 702, which is directly grounded, or positive and negative anodes are connected damages the first power supply 702.
Specifically, the control system of constant speed cruising system as described above further includes：Control button；
Wherein, the first control button controls switch 405 with the first control switch 301 and the 5th and connect；
Second control button controls switch 406 with the second control switch 302 and the 6th and connect；
Third control button controls switch 407 with third control switch 304 and the 7th and connect；
4th control button controls switch 408 with the 4th control switch 306 and the 8th and connect.
In an embodiment of the present invention, the control switch corresponding with second control circuit 4 of first control circuit 3 is by same
The control of one control button, by taking the second control button as an example, when the second control button is pressed, the second control switch 302 and the
Six control switches 406 are closed at, at this point, the voltage difference between first voltage signal and second voltage signal is zero or is less than
Preset value is equal to preset value, if the circuit that the second control switch 302 or the 6th controls 406 place of switch breaks down,
Voltage difference between first voltage signal and second voltage signal is to be believed according to first voltage convenient for main control more than preset value
Number and second voltage signal judge whether first control circuit 3 or second control circuit 4 go wrong；When driver presses simultaneously
When at least two control buttons, by taking the second control button and third control button as an example, when simultaneously press the second control button and
Third control button, the first voltage signal that first voltage collection terminal 308 is acquired at this time are the second control switch 302 and its institute
Concatenated first resistor 303, with third control switch 304 and its concatenated second resistance 305 it is in parallel after and the first power supply
The voltage signal of circuit where 701, and in second control circuit 4, it is formed after being closed due to the 6th control switch 406 short
Road so that the second voltage signal that second voltage collection terminal 409 is acquired is the 6th control switch 406 and the second source
The voltage signal of circuit where 702, at this time first voltage signal differ larger with the voltage value entrained by second voltage signal,
Convenient for judging that driver is in case of emergency to press control button in a hurry, and then exit cruise state, reduce vehicle with
And the security risk of occupant.
The another preferred embodiment of the present invention additionally provides a kind of automobile, including：Constant speed cruising system as described above
Control system.
The embodiment provides a kind of automobiles, including constant speed cruising system as described above so that automobile is fixed
Under fast cruising condition, stepped on according to a variety of operations of driver, such as the control button of control constant speed cruising system, control braking
Plate, control direction disk loudspeaker etc. judge the intention of driver, when determination needs the when of exiting cruise state to exit.Together
The mode of Shi Caiyong dual control circuits and/or dual controller ensures the promptness and accuracy that exit cruise state, reduces
The security risk of vehicle and occupant.
In addition, the present invention can in different examples repeat reference numerals and/or letter.This repetition be in order to simplify and
Clear purpose itself does not indicate the relationship between discussed various embodiments and/or setting.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (16)
1. a kind of control method of constant speed cruising system is applied to master controller, which is characterized in that including：
In the case where constant speed cruising system is active, the first voltage signal and second transmitted by first control circuit is received
Second voltage signal transmitted by control circuit；
According to the first voltage signal and the second voltage signal, judge whether vehicle needs to exit cruise shape
State；
Determine that control electric machine actuating mechanism exits cruise state, wherein is needed when determining when needing to exit cruise state
When exiting cruise state, the voltage difference between the first voltage signal and the second voltage signal is more than default
Value or the first voltage signal and the second voltage signal indicate that vehicle needs to exit cruise state.
2. the control method of constant speed cruising system according to claim 1, which is characterized in that described according to first electricity
After the step of pressing signal and the second voltage signal, judging whether to exit cruise state, further include：
When determination need not exit cruise state, the car status information transmitted by signal pickup assembly is received, wherein when
When determination need not exit cruise state, the voltage difference is less than or equal to the preset value, and the first voltage
Signal and the second voltage signal indicate that vehicle is in cruise state；
When needing to exit cruise state according to car status information determination, controls the electric machine actuating mechanism and exit
Cruise state, wherein when needing to exit cruise state according to car status information determination, the vehicle-state
Information includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in
Open state, master cylinder pressure indicate that the brake pedal is in use state and steering wheel loudspeaker is in whistle state extremely
One item missing.
3. the control method of constant speed cruising system according to claim 2, which is characterized in that the determination need not be exited
After the step of cruise state, further include：
The state request signal that submaster controller is sent is received, the state request signal is the submaster controller according to vehicle-state
Information determination needs to exit transmitted when cruise state；
First state signal is sent to the submaster controller according to the state request signal.
4. the control method of constant speed cruising system according to claim 3, which is characterized in that described to be asked according to the state
After the step of asking signal to send first state signal to the submaster controller, further include：
The control signal that the submaster controller is sent is received, the control signal is the submaster controller according to the first state
Signal expression is not exited transmitted when cruise state；
According to the control signal, control electric machine actuating mechanism exits cruise state, and sends the second status signal.
5. a kind of control method of constant speed cruising system is applied to submaster controller, which is characterized in that including：
In the case where constant speed cruising system is active, the car status information transmitted by signal pickup assembly is received；
When needing to exit cruise state according to car status information determination, status request signal to main control
Device, wherein when needing to exit cruise state according to car status information determination, the car status information includes：
Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state, car door is in open state,
Master cylinder pressure indicate the brake pedal be in use state and steering wheel loudspeaker be in whistle state at least one of；
Receive first state signal of the master controller transmitted by the state request signal；
When cruise state is not exited in first state signal expression, the master controller is sent a control signal to；
Receive second status signal of the master controller transmitted by the control signal；
When cruise state is not exited in second status signal expression, control electric machine actuating mechanism exits cruise shape
State.
6. a kind of master controller, which is characterized in that including：
First receiving module receives the transmitted by first control circuit under being active in constant speed cruising system
Second voltage signal transmitted by one voltage signal and second control circuit；
First processing module, for according to the first voltage signal and the second voltage signal, judging whether vehicle needs
Exit cruise state；
First control module, when needing to exit cruise state for determining, control electric machine actuating mechanism exits cruise
State, wherein when determination needs to exit cruise state, between the first voltage signal and the second voltage signal
Voltage difference be more than preset value or the first voltage signal and the second voltage signal indicates that vehicle needs to move back
Go out cruise state.
7. master controller according to claim 6, which is characterized in that further include：
Second processing module when need not exit cruise state for determination, receives the vehicle transmitted by signal pickup assembly
Status information, wherein when determination need not exit cruise state, the voltage difference is less than or equal to described default
Value, and the first voltage signal and the second voltage signal indicate that vehicle is in cruise state；
Second control module, for when needing to exit cruise state according to car status information determination, controlling institute
It states electric machine actuating mechanism and exits cruise state, wherein need to exit cruise according to car status information determination
When state, the car status information includes：Brake pedal is in use state, accelerator pedal is in use state, at parking brake
It is in open state in use state, car door, master cylinder pressure indicates that the brake pedal is in use state and steering wheel loudspeaker
In the whistle state at least one of.
8. master controller according to claim 7, which is characterized in that further include：
Second receiving module, the state request signal for receiving submaster controller transmission, the state request signal are the pair
Controller is transmitted when needing to exit cruise state according to car status information determination；
First sending module, for sending first state signal to the submaster controller according to the state request signal.
9. master controller according to claim 8, which is characterized in that further include：
Third receiving module, the control signal sent for receiving the submaster controller, the control signal are the sub-control
Device is transmitted when not exiting cruise state according to first state signal expression；
Third processing module, for according to the control signal, control electric machine actuating mechanism to exit cruise state, and sends
Second status signal.
10. a kind of submaster controller, which is characterized in that including：
4th receiving module receives the vehicle transmitted by signal pickup assembly under being active in constant speed cruising system
Status information；
Fourth processing module, for when needing to exit cruise state according to car status information determination, sending shape
State request signal is to master controller, wherein described when needing to exit cruise state according to car status information determination
Car status information includes：Brake pedal is in use state, accelerator pedal is in use state, parking brake is in use state,
Car door is in open state, master cylinder pressure indicates that the brake pedal is in use state and steering wheel loudspeaker is in whistle shape
At least one of in state；
5th receiving module, for receiving first state signal of the master controller transmitted by the state request signal；
5th processing module, for when the first state signal indicates that the master controller does not exit cruise state,
Send a control signal to the master controller；
6th receiving module, for receiving second status signal of the master controller transmitted by the control signal；
Third control module, for when second status signal indicates that the master controller does not exit cruise state,
Control electric machine actuating mechanism exits cruise state.
11. a kind of control system of constant speed cruising system, which is characterized in that including：First control circuit, second control circuit,
Signal pickup assembly, electric machine actuating mechanism, such as claim 6 to 9 any one of them master controller and such as claim 10
The submaster controller；
Wherein, the master controller is separately connected the first control circuit, the second control circuit, signal acquisition dress
It sets, the electric machine actuating mechanism and the submaster controller；
The submaster controller is separately connected the signal pickup assembly, the electric machine actuating mechanism and the master controller；
The signal pickup assembly obtains car status information for detecting vehicle-state, and be sent to the master controller with
And the submaster controller；
Cruise shape is exited in the electric machine actuating mechanism, the control for receiving the master controller or the submaster controller
State.
12. the control system of constant speed cruising system according to claim 11, which is characterized in that further include：Power supply；
Wherein, the power supply includes：First power supply and second source；
First power supply is connect with the first control circuit, and the second source is connect with the second control circuit.
13. the control system of constant speed cruising system according to claim 12, which is characterized in that the first control circuit
Including：
The first end of first control switch, the first control switch is connect with first power supply, second end and the first ground connection
End connection；
Second control switch, the first end and described the of the first end of the second control switch and the first control switch
One power supply connects, and second end is connect after connecting with first resistor with first ground terminal；
Third control switch, the first end of the first end of third control switch and the first control switch and described the
One power supply connects, and second end is connect after connecting with second resistance with first ground terminal；
4th control switch, the first end and described the of the first end of the 4th control switch and the first control switch
One power supply connects, and second end is connect after connecting with 3rd resistor with first ground terminal；
The resistance value of the first resistor, the second resistance and the 3rd resistor successively increases；
First voltage collection terminal, one end are connect with the first end of first power supply and the first control switch, the other end
It is connect with the master controller, for obtaining the first voltage signal and being transmitted to the master controller.
14. the control system of constant speed cruising system according to claim 13, which is characterized in that the second control circuit
Including：The second source, the second ground terminal and it is set to the company of being sequentially connected in series between the second source and the ground terminal
The 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance connect, wherein the 4th resistance is connect with the second source；
The second control circuit further includes：The first end of 5th control switch, the 5th control switch connects with described second
Ground terminal connects, the tie point connection between second end and the second source and the 4th resistance；
The first end of 6th control switch, the 6th control switch is connect with second ground terminal, second end and the 4th electricity
Tie point connection between resistance and the 5th resistance；
The first end of 7th control switch, the 7th control switch is connect with second ground terminal, second end and the 5th electricity
Tie point connection between resistance and the 6th resistance；
The first end of 8th control switch, the 8th control switch is connect with second ground terminal, second end and the 6th electricity
Tie point connection between resistance and the 7th resistance；
Second voltage collection terminal, one end are connect with the second end of the 5th control switch and the second source, the other end
It is connect with the master controller, for obtaining the second voltage signal and being transmitted to the master controller.
15. the control system of constant speed cruising system according to claim 14, which is characterized in that further include：Control button；
Wherein, the first control button and the first control switch and the 5th control switch connection；
Second control button and the second control switch and the 6th control switch connection；
Third control button and third control switch and the 7th control switch connection；
4th control button and the 4th control switch and the 8th control switch connection.
16. a kind of automobile, which is characterized in that including：Such as the control of claim 11 to 15 any one of them constant speed cruising system
System processed.
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| CN201810688395.7A CN108639051B (en) | 2018-06-28 | 2018-06-28 | Control method and system of constant-speed cruise system and automobile |
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| CN201703261U (en) * | 2009-12-23 | 2011-01-12 | 联合汽车电子有限公司 | Cruise controller |
| CN105691238A (en) * | 2016-03-01 | 2016-06-22 | 福建省汽车工业集团云度新能源汽车股份有限公司 | Automatic running control method for electric car |
| CN106184227A (en) * | 2015-05-04 | 2016-12-07 | 北汽福田汽车股份有限公司 | The control method of cruise and device |
| CN106428005A (en) * | 2016-11-30 | 2017-02-22 | 河南森源重工有限公司 | Vehicle constant speed cruise control method |
| CN107487323A (en) * | 2016-11-10 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of electric vehicle cruise system |
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| CN201703261U (en) * | 2009-12-23 | 2011-01-12 | 联合汽车电子有限公司 | Cruise controller |
| CN106184227A (en) * | 2015-05-04 | 2016-12-07 | 北汽福田汽车股份有限公司 | The control method of cruise and device |
| CN105691238A (en) * | 2016-03-01 | 2016-06-22 | 福建省汽车工业集团云度新能源汽车股份有限公司 | Automatic running control method for electric car |
| CN107487323A (en) * | 2016-11-10 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of electric vehicle cruise system |
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