CN108860147B - Cruise control method, vehicle control unit and vehicle - Google Patents
Cruise control method, vehicle control unit and vehicle Download PDFInfo
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- CN108860147B CN108860147B CN201810596714.1A CN201810596714A CN108860147B CN 108860147 B CN108860147 B CN 108860147B CN 201810596714 A CN201810596714 A CN 201810596714A CN 108860147 B CN108860147 B CN 108860147B
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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
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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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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Abstract
The embodiment of the invention provides a cruise control method, a vehicle controller and a vehicle, and relates to the technical field of vehicle control, wherein the method comprises the following steps: the method comprises the steps that a first control chip obtains current required torque analyzed by an accelerator pedal when an automobile keeps running in a cruise mode, determines larger value from the current required torque and the current cruise torque as current target torque, and sends the current target torque to a second control chip; the second control chip judges whether the sum of the current target torque and the preset torque compensation value is greater than or equal to a preset torque output limit value; and when the sum of the current target torque and the preset torque compensation value is greater than or equal to the preset torque output limit value, the second control chip controls the automobile to exit the cruise mode. The cruise control method, the vehicle controller and the vehicle provided by the embodiment of the invention improve the redundancy and robustness of the vehicle controller.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a cruise control method, a whole automobile controller and an automobile.
Background
When the hybrid vehicle works normally, due to the particularity of a power system of the hybrid vehicle, the power output is completed by an engine and a motor. Compare traditional internal-combustion engine automobile and pure electric vehicles, hybrid vehicle distributes demand torque to engine and motor, still must guarantee simultaneously that actual output torque and demand torque can not differ too much, therefore its complexity has improved a lot.
The cruise function of an automobile is a function developed based on comfort and safety, and allows the vehicle to travel at a speed set by a driver on the premise that the driver does not step on an accelerator pedal. When the driver has an intention to cut-in and depresses the accelerator pedal, the vehicle can respond normally to increase in speed. When the driver depresses the brake pedal, the vehicle can brake normally and exit cruise control.
Disclosure of Invention
The invention aims to provide a cruise control method, a vehicle controller and an automobile, and redundancy and robustness of the vehicle controller are improved.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a cruise control method, which is applied to a vehicle control unit, where the vehicle control unit includes a first control chip and a second control chip, and the first control chip establishes communication with the second control chip, and the method includes: the first control chip obtains the current demand torque analyzed by an accelerator pedal when the automobile keeps running in a cruise mode, determines a larger value from the current demand torque and the current cruise torque as a current target torque, and sends the current target torque to the second control chip; the second control chip judges whether the sum of the current target torque and a preset torque compensation value is greater than or equal to a preset torque output limit value; and when the sum of the current target torque and a preset torque compensation value is greater than or equal to the preset torque output limit value, the second control chip controls the automobile to exit the cruise mode.
In a second aspect, an embodiment of the present invention provides a vehicle control unit, including a first control chip and a second control chip, where the first control chip establishes communication with the second control chip; the first control chip is used for obtaining the current demand torque analyzed by an accelerator pedal when the automobile keeps running in a cruise mode, determining a current target torque with a larger value from the current demand torque and the current cruise torque, and sending the current target torque to the second control chip; the second control chip is used for judging whether the sum of the current target torque and a preset torque compensation value is greater than or equal to a preset torque output limit value; and when the sum of the current target torque and a preset torque compensation value is greater than or equal to the preset torque output limit value, the second control chip is also used for controlling the automobile to exit the cruise mode.
In a third aspect, the embodiment of the invention provides an automobile, which includes the vehicle control unit.
Compared with the prior art, the cruise control method, the whole vehicle controller and the vehicle provided by the embodiment of the invention have the advantages that the first control chip and the second control chip which are used for establishing communication are arranged in the whole vehicle controller, the independence of the first control chip and the second control chip during respective calculation is ensured, the first control chip is used for calculating the current target torque of the vehicle in the cruise mode and sending the current target torque to the second control chip, and the second control chip compares the sum of the current target torque and the preset torque compensation value with the preset torque output limit value so as to enable the second control chip to judge whether the vehicle should exit the cruise mode or not.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a vehicle control unit according to an embodiment of the present invention;
FIG. 2 illustrates a schematic flow chart of a cruise control method provided by an embodiment of the present invention;
fig. 3 shows a partial schematic flow chart of a cruise control method according to an embodiment of the present invention.
In the figure: 10-a vehicle control unit; 100-a first control chip; 200-a second control chip.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
When the Vehicle is under cruise control, a Vehicle Control Unit (VCU) receives cruise input information of the Vehicle according to a preset period, for example, once every 50 ms. When a driver has a demand for increasing the vehicle speed or a demand for overtaking and presses down an accelerator pedal, if the vehicle control unit has a signal loss or signal error and the like, the vehicle control unit cannot compare the pedal demand torque of the driver with the cruise demand torque, and the vehicle control unit cannot correspond to the speed increase request of the driver, so that the vehicle speed cannot be changed, the panic of the driver can be caused, and the dangers of collision and the like can be easily caused.
Based on the above-mentioned drawbacks of the prior art, referring to fig. 1, fig. 1 shows a schematic structural diagram of a vehicle control unit 10 according to an embodiment of the present invention, in which the vehicle control unit 10 includes a first control chip 100 and a second control chip 200, and communication is established between the first control chip and the second control chip 200. The input signal of the automobile can be simultaneously input to the first control chip 100 and the second control chip 200, and both the first control chip 100 and the second control chip 200 can generate the output signal to control the automobile to perform the corresponding operation.
Specifically, referring to fig. 2, fig. 2 shows a schematic flowchart of a cruise control method according to an embodiment of the present invention, where the cruise control method is applied to the vehicle control unit 10 shown in fig. 1, and in an embodiment of the present invention, the cruise control method includes the following steps:
and step S200, the first control chip obtains the current demand torque analyzed by the accelerator pedal when the automobile keeps running in the cruise mode, determines a larger value from the current demand torque and the current cruise torque as the current target torque, and sends the current target torque to the second control chip.
When the vehicle keeps running in the cruise mode, when the driver steps on the accelerator pedal, the accelerator pedal analyzes the current required torque required by the driver according to the stepping degree of the driver, and then the current required torque is used as an input signal and is sent to the vehicle controller 10.
As shown in fig. 1, the vehicle control unit 10 includes a first control chip 100 and a second control chip 200, and the first control chip 100 and the second control chip 200 establish communication therebetween. The input signal of the automobile can be simultaneously input to the first control chip 100 and the second control chip 200, and both the first control chip 100 and the second control chip 200 can generate the output signal to control the automobile to perform the corresponding operation. In the process of processing the input signal, the vehicle control unit 10 uses the first control chip 100 as a function implementation layer for calculation and function output; the second control chip 200 is used for monitoring whether the result calculated by the first control chip 100 and the instruction output by the function are abnormal.
Specifically, when the accelerator pedal analyzes the current required torque and transmits the current required torque to the vehicle control unit 10, the first control chip 100 and the second control chip 200 both receive the current required torque. After receiving the current required torque analyzed by the accelerator pedal, the first control chip 100 determines a larger value from the current required torque and the current cruise torque as the current target torque. For example, assuming that the first control chip 100 receives the current demand torque of 120N · M and the current cruise torque of 100N · M, the first control chip 100 takes 120N · M of the current demand torque as the current target torque. The current cruise torque is a torque value output to the automobile by the power system when the automobile keeps running in the cruise mode currently.
And, the first control chip 100 transmits the current target torque to the second control chip 200 after determining the current target torque.
In step S310, the second control chip determines whether the sum of the current target torque and the preset torque compensation value is greater than or equal to a preset torque output limit value? If yes, go to step S420; when no, step S410 is performed.
After receiving the current target torque, the second control chip 200 adds a preset torque compensation value to the current target torque, and uses the sum of the current target torque and the preset torque compensation value as the maximum allowable torque in the current endurance control process. For example, assuming that the preset torque compensation value is 50N · M, when the first control chip 100 described above takes 120N · M of the current required torque as the current target torque, the maximum allowable torque calculated by the second control chip 200 is 170N · M.
Comparing the maximum allowable torque with a preset torque output limit value, and when the maximum allowable torque obtained by summing the current target torque with the preset torque compensation value is greater than or equal to the preset torque output limit value, the second control chip 200 performs step S420; when the maximum allowable torque obtained by summing the current target torque and the preset torque compensation value is smaller than the preset torque output limit value, the second control chip 200 performs step S410. The preset torque output limit value is a preset torque output limit value of the power system on the premise of not damaging the power system, and is generally set for the purpose of protecting the power system.
In step S410, cruise mode driving is maintained at the current target torque.
When the maximum allowable torque obtained by the sum of the current target torque and the preset torque compensation value is smaller than the preset torque output limit value, it is represented that the torque output by the power system does not damage the power system if the automobile continues to keep the cruise mode running with the current target torque, and at this time, the second control chip 200 controls the automobile to keep the cruise mode running with the current target torque.
And step S420, controlling the automobile to exit the cruise mode.
When the maximum allowable torque obtained by the sum of the current target torque and the preset torque compensation value is greater than or equal to the preset torque output limit value, the fact that the torque output by the power system may cause the power system to be damaged if the automobile continues to keep the cruise mode in the current target torque is represented, and at this time, the second control chip 200 controls the automobile to push out of the cruise mode, so that the power system is prevented from being damaged.
Based on the above design, in the cruise control method provided in the embodiment of the present invention, the first control chip 100 and the second control chip 200 that establish communication are arranged in the vehicle controller 10, and independence of the first control chip 100 and the second control chip 200 during respective calculation is ensured, the first control chip 100 is used to calculate a current target torque of the vehicle in the cruise mode and send the current target torque to the second control chip 200, and the second control chip 200 compares a sum of the current target torque and a preset torque compensation value with a preset torque output limit value, so that the second control chip 200 determines whether the vehicle should exit the cruise mode currently, compared with the prior art, redundancy and robustness of the vehicle controller 10 are improved.
When a driver steps on the brake of a vehicle, two signals are generally generated, one is a brake lamp signal, and the other is a brake pedal signal. When a driver steps on the brake of the automobile, the brake lamp signal and the brake pedal signal are changed. In the cruise control method provided by the embodiment of the invention, the first control chip 100 and the second control chip 200 respectively receive a brake lamp signal and a brake pedal signal, and further judge whether the automobile currently exits the cruise mode according to the change of the signals received by the first control chip and the second control chip.
Specifically, continuing to refer to fig. 2, as an implementation manner, in an embodiment of the present invention, the cruise control method further includes the following steps:
in step S320, is the stop lamp signal received by the first control chip changed? When the change occurs, the first control chip 100 performs step S420.
When the automobile runs in the cruise mode, the first control chip 100 receives a brake lamp signal in real time. Generally, when the automobile keeps cruising, as long as the driver does not press the brake pedal, the brake lamp signal will not change, namely, the characteristic that the driver does not exit the cruising mode in a deceleration mode by pressing the brake pedal is represented. Therefore, the first control chip 100 determines whether the stop lamp signal changes according to the received stop lamp signal, and when the first control chip 100 determines that the stop lamp signal changes, the driver inevitably depresses the brake pedal to decelerate, and at this time, the first control chip 100 executes step S420 to control the vehicle to exit the cruise mode.
In step S330, is the brake pedal signal received by the second control chip changed? When the change occurs, the second control chip 200 performs step S420.
Accordingly, the second control chip 200 receives the brake pedal signal in real time during the driving of the vehicle in the cruise mode. In general, when the automobile keeps cruising, as long as the driver does not press the brake pedal, the brake pedal signal will not change, which means that the driver does not exit the cruising mode in a deceleration mode by pressing the brake pedal. Therefore, the second control chip 200 determines whether the brake pedal signal changes according to the received brake pedal signal, and when the second control chip 200 determines that the brake pedal signal changes, the driver inevitably depresses the brake pedal to decelerate, and at this time, the second control chip 200 executes step S420 to control the vehicle to exit the cruise mode.
That is, the first control chip 100 and the second control chip 200 respectively receive the brake light signal and the brake pedal signal, and when the brake light signal received by the first control chip 100 changes, the first control chip 100 executes step S420 to control the automobile to push out the cruise mode; when the brake pedal signal received by the second control chip 200 changes, the second control chip 200 executes step S420 to control the vehicle to push out the cruise mode; when the stop lamp signal and the brake pedal signal received by the first control chip 100 and the second control chip 200 at the same time are changed, the first control chip 100 and the second control chip 200 execute step S420 to control the vehicle to exit the cruise mode.
It should be noted that there is no sequence between step S410 and step S420.
In some other embodiments provided by the embodiment of the present invention, the first control chip 100 may further receive a brake pedal signal, and the second control chip 200 receives a brake light signal; or the first control chip 100 and the second control chip 200 both receive the brake light signal and the brake pedal signal, and when at least one of the first control chip 100 and the second control chip 200 receives a change in the brake light signal or a change in the brake pedal signal, the control chip that receives the change in the signal executes step S420 to control the vehicle to exit the cruise mode.
Based on the above design, in the cruise control method provided in the embodiment of the present invention, the first control chip 100 and the second control chip 200 are configured to receive the brake light signal and the brake pedal signal, respectively, so that when the brake light signal received by the first control chip 100 and the second control chip 200 changes or the brake pedal signal changes, the first control chip 100 and the second control chip 200 respectively control the vehicle to push out the cruise mode without interfering with each other, so that the vehicle controller 10 can timely respond to a requirement that the driver exits the cruise mode by pressing the brake pedal.
Referring to fig. 3 as an implementation manner, fig. 3 shows a partial schematic flowchart of a cruise control method according to an embodiment of the present invention, in the embodiment of the present invention, the cruise control method further includes the following steps:
in step S510, the second control chip verifies whether the control command sent by the first control chip is abnormal? When yes, step S520 is performed.
The second control chip 200 is used as a chip for monitoring whether the result calculated by the first control chip 100 and the command output by the function are abnormal, when the input signal is sent to the first control chip 100 and the second control chip 200, the first control chip 100 not only needs to calculate the corresponding result or send a control command to the vehicle, for example, to determine the current target torque and control the vehicle to exit the cruise mode, but also the first control chip 100 sends the calculated result or the control command sent to the vehicle to the second control chip 200, so that the second control chip 200 verifies whether the control command sent by the first control chip 100 is abnormal, for example, when the first control chip 100 determines the current target torque, the current target torque determined by the first control chip 100 is the current required torque, and after the first control chip 100 sends the current target torque to the second control chip 200, the result calculated by the second control chip 200 indicates that the current target torque should be determined as the current cruise torque, and at this time, the second control chip 200 determines that the first control chip 100 has a fault, and the second control chip 200 performs step S520.
And step S520, the second control chip closes the power system of the automobile.
When the second control chip 200 verifies that the control instruction output sent by the first control chip 100 is abnormal, the second control chip 200 determines that the first control chip 100 fails, and at the moment, the second control chip 200 closes the power system of the automobile to cut off the torque output of the power system, so that the driving risk caused by the control error is avoided.
Based on the above design, in the cruise control method provided in the embodiment of the present invention, the second control chip 200 is arranged to verify whether the control command of the first control chip 100 is abnormal in output, and when the control command of the first control chip 100 is verified as abnormal in output by the second control chip 200, the second control chip 200 shuts down the power system of the vehicle, so as to avoid driving risks caused by control errors, and ensure the accuracy of the control command output by the vehicle controller 10.
As an embodiment, continuing to refer to fig. 2, before step S200, the cruise control method further includes the following steps:
in step S110, the first control chip receives the cruise input signal of the automobile and verifies the cruise input signal? When the verification is successful, executing step S200; when the verification fails, the first control chip 100 performs step S420.
When the vehicle controller 10 receives the cruise input information of the vehicle at each preset period, the first control chip 100 receives a cruise input signal of the vehicle, for example, a cruise mode request, and after the first control chip 100 receives the cruise input signal of the vehicle, the first control chip 100 verifies the cruise input signal, for example, decodes and verifies the cruise input signal through a preset algorithm, and when the verification is successful, the step S200 is executed; when the verification fails, the first control chip 100 executes step S420 to control the vehicle to exit the cruise mode.
Step S120, the second control chip receives the cruise status signal of the vehicle and verifies the cruise status signal? When the verification is successful, executing step S200; when the verification fails, the second control chip 200 performs step S420.
Accordingly, when the vehicle controller 10 receives the cruise input information of the vehicle at each preset period, the second control chip receives the cruise status signal of the vehicle, such as the cruise time, the cruise speed, and the like, after the second control chip 200 receives the cruise status signal of the vehicle, the second control chip 200 verifies the cruise status signal, for example, the cruise status signal is decoded and verified through a preset algorithm, and when the verification is successful, the step S200 is executed; when the verification fails, the second control chip 200 executes step S420 to control the vehicle to exit the cruise mode.
That is, the first control chip 100 and the second control chip 200 respectively receive the cruise input signal and the cruise status signal, and the first control chip 100 and the second control chip 200 respectively verify the cruise input signal and the cruise status signal, and only when both of them are successfully verified, the step S200 is executed, and if any one of the control chips fails to be verified, the control chip corresponding to the failed verification executes the step S420 to control the vehicle to exit the cruise mode.
It should be noted that, the sequence between step S110 and step S120 is not executed.
In some other embodiments provided by the embodiment of the present invention, the first control chip 100 may further receive a cruise input signal, and the second control chip 200 receives a cruise status signal; or the first control chip 100 and the second control chip 200 both receive the cruise input signal and the cruise state signal, at this time, the first control chip 100 and the second control chip 200 both verify the cruise input signal and the cruise state signal, only when the first control chip 100 and the second control chip 200 both verify the cruise input signal and the cruise state signal successfully, the step S200 is executed, and if any one of the control chips fails to verify at least one of the cruise input signal or the cruise state signal, the control chip corresponding to the verification failure executes the step S420 to control the automobile to exit the cruise mode.
Based on the above design, in the cruise control method provided in the embodiment of the present invention, the first control chip 100 and the second control chip 200 are arranged to verify the cruise input signal and the cruise status signal, respectively, and the steps of calculating the cruise torque and the like are executed only when both the first control chip and the second control chip are successfully verified, and when at least one of the first control chip and the second control chip is failed to verify, the vehicle exits the cruise mode, so that the safety and reliability of the cruise control are improved.
The embodiment of the invention further provides an automobile (not shown), which comprises the vehicle control unit 10.
In summary, according to the cruise control method, the vehicle controller and the vehicle provided in the embodiment of the present invention, the first control chip 100 and the second control chip 200 that establish communication are arranged in the vehicle controller 10, and independence of the first control chip 100 and the second control chip 200 when they are respectively calculated is ensured, the first control chip 100 is used to calculate a current target torque of the vehicle in the cruise mode and send the current target torque to the second control chip 200, and the second control chip 200 compares a sum of the current target torque and a preset torque compensation value with a preset torque output limit value, so that the second control chip 200 determines whether the vehicle should exit the cruise mode currently, which improves redundancy and robustness of the vehicle controller 10 compared with the prior art; the first control chip 100 and the second control chip 200 are arranged to receive the brake lamp signal and the brake pedal signal respectively, so that when the brake lamp signal received by the first control chip 100 and the brake pedal signal received by the second control chip 200 change or the brake pedal signal changes, the first control chip 100 and the second control chip 200 control the automobile to push out the cruise mode respectively, and the cruise mode is not interfered with each other, so that the vehicle controller 10 can timely respond to the requirement that a driver quits the cruise mode by pressing the brake pedal; whether the control instruction of the first control chip 100 is output abnormally is verified by arranging the second control chip 200, and when the control instruction of the first control chip 100 is verified to be output abnormally by the second control chip 200, the second control chip 200 closes a power system of the automobile, so that driving risks caused by control errors are avoided, and the accuracy of the control instruction output by the whole automobile controller 10 is ensured; the cruise control system is characterized in that the cruise input signals and the cruise state signals are verified by the first control chip 100 and the second control chip 200 respectively, only when the first control chip and the second control chip verify the cruise input signals and the cruise state signals successfully respectively, the steps of calculating the cruise torque and the like are executed, when at least one verification fails, the automobile exits from the cruise mode, and the safety and the reliability of cruise control are improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. The cruise control method is applied to a vehicle control unit, the vehicle control unit comprises a first control chip and a second control chip, the first control chip and the second control chip are communicated, and the method comprises the following steps:
the first control chip obtains the current demand torque analyzed by an accelerator pedal when the automobile keeps running in a cruise mode, determines a larger value from the current demand torque and the current cruise torque as a current target torque, and sends the current target torque to the second control chip;
the second control chip judges whether the sum of the current target torque and a preset torque compensation value is greater than or equal to a preset torque output limit value;
and when the sum of the current target torque and a preset torque compensation value is greater than or equal to the preset torque output limit value, the second control chip controls the automobile to exit the cruise mode.
2. The method of claim 1, wherein the method further comprises:
and when the sum of the current target torque and a preset torque compensation value is smaller than the preset torque output limit value, the second control chip controls the automobile to run in a cruise mode with the current target torque.
3. The method of claim 1, wherein the first control chip and the second control chip further receive a brake light signal and a brake pedal signal, respectively, the method further comprising:
when the brake lamp signal received by the first control chip changes, the first control chip controls the automobile to exit a cruise mode; or
When the brake pedal signal received by the second control chip is changed, the second control chip controls the automobile to exit the cruise mode; or
When the brake lamp signal received by the first control chip changes and the brake lamp signal received by the second control chip changes, at least one of the first control chip and the second control chip controls the automobile to exit the cruise mode.
4. The method of claim 1, wherein when the first control chip issues a control command to the vehicle, the first control chip further sends the control command to the second control chip, the method further comprising:
the second control chip verifies whether the control instruction is output abnormally;
and when the control instruction is abnormal in output, the second control chip closes the power system of the automobile.
5. The method according to claim 1, wherein before the steps of the first control chip obtaining the current demand torque resolved by an accelerator pedal while the vehicle is kept running in the cruise mode, and determining a current target torque having a larger value from the current demand torque and the current cruise torque, and sending the current target torque to the second control chip, the method further comprises:
the first control chip receives a cruise input signal of an automobile and verifies the cruise input signal;
the second control chip receives a cruising state signal of the automobile and verifies the cruising state signal;
when the cruise input signal is verified to be failed, the first control chip controls the automobile to exit a cruise mode;
and when the cruise state signal is verified to be failed, the second control chip controls the automobile to exit the cruise mode.
6. The vehicle control unit is characterized by comprising a first control chip and a second control chip, wherein the first control chip and the second control chip are communicated;
the first control chip is used for obtaining the current demand torque analyzed by an accelerator pedal when the automobile keeps running in a cruise mode, determining a current target torque with a larger value from the current demand torque and the current cruise torque, and sending the current target torque to the second control chip;
the second control chip is used for judging whether the sum of the current target torque and a preset torque compensation value is greater than or equal to a preset torque output limit value;
and when the sum of the current target torque and a preset torque compensation value is greater than or equal to the preset torque output limit value, the second control chip is also used for controlling the automobile to exit the cruise mode.
7. The vehicle control unit according to claim 6, wherein the second control chip is further configured to control the vehicle to run in the cruise mode with the current target torque when a sum of the current target torque and a preset torque compensation value is less than the preset torque output limit value.
8. The vehicle control unit according to claim 6, wherein the first control chip and the second control chip are further configured to receive a brake light signal and a brake pedal signal, respectively; wherein the content of the first and second substances,
the first control chip is also used for controlling the automobile to exit from a cruise mode when the brake lamp signal received by the first control chip changes;
the second control chip is used for controlling the automobile to exit the cruise mode when the brake lamp signal received by the second control chip changes.
9. The vehicle control unit according to claim 6, wherein when the first control chip sends a control instruction to the vehicle, the first control chip further sends the control instruction to the second control chip;
the second control chip is also used for verifying whether the control instruction is abnormal in output or not;
and when the control instruction is abnormal in output, the second control chip is used for closing the power system of the automobile.
10. A vehicle, characterized in that it comprises a vehicle control unit according to any one of claims 6-9.
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| CN112440756B (en) * | 2019-08-29 | 2022-06-17 | 北京新能源汽车股份有限公司 | Constant-speed cruise torque control method, controller, constant-speed cruise system and vehicle |
| CN112874432B (en) * | 2021-02-08 | 2023-03-24 | 一汽解放汽车有限公司 | Brake lamp control system and method and driving equipment |
| CN113415277B (en) * | 2021-07-27 | 2022-10-11 | 重庆长安汽车股份有限公司 | Control method and system for accelerating control right transfer of electric automobile |
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| CN103818379B (en) * | 2012-11-16 | 2017-04-05 | 比亚迪股份有限公司 | The constant speed cruising method and device of electric automobile |
| CN103010213B (en) * | 2012-12-28 | 2016-07-20 | 长城汽车股份有限公司 | The control method of a kind of vehicle cruise and control system |
| CN104276176B (en) * | 2014-01-30 | 2015-09-02 | 比亚迪股份有限公司 | The cruise control method of vehicle and vehicle |
| CN106184227B (en) * | 2015-05-04 | 2018-12-07 | 北京宝沃汽车有限公司 | The control method and device of cruise |
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| CN107985311B (en) * | 2017-11-27 | 2019-11-12 | 北京新能源汽车股份有限公司 | A kind of control method of cruise, device and automobile |
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