CN110303897A - A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car - Google Patents
A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car Download PDFInfo
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- CN110303897A CN110303897A CN201810258513.0A CN201810258513A CN110303897A CN 110303897 A CN110303897 A CN 110303897A CN 201810258513 A CN201810258513 A CN 201810258513A CN 110303897 A CN110303897 A CN 110303897A
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- vehicle speed
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- control
- pedal value
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000004044 response Effects 0.000 title claims abstract description 14
- 238000011217 control strategy Methods 0.000 claims description 8
- 238000005183 dynamical system Methods 0.000 claims description 6
- 238000013480 data collection Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 claims 1
- 230000001737 promoting effect Effects 0.000 abstract description 3
- 238000002485 combustion reaction Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000750 progressive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of target vehicle speed response method of pure electric vehicle intelligent driving vehicle and systems.Method includes: to obtain target vehicle speed under Intelligent control mode；Virtual pedal value, the virtual pedal value alternative practical accelerator travel parameter on data function are converted by the target vehicle speed；Motor based on the virtual pedal value control vehicle is responded with the target vehicle speed for realizing motor.According to the method for the present invention and system, the access of speed control of the intelligent driving system to pure electric vehicle in the prior art can be simply and easily realized；Compared to the prior art, method of the invention is simple and easy, practical value and promotional value with higher.
Description
Technical field
The present invention relates to field of traffic, and in particular to a kind of target vehicle speed response method of pure electric vehicle intelligent driving vehicle and
System.
Background technique
As modern science and technology is constantly progressive, when IT, internet etc., voluminous industry strength pours in automobile industry, the intelligence of automobile
Development has been trend of the times, becomes the important development stage of automobile industry evolution.Since intelligent driving system is calculated based on electronics
Constructed by system, and the control mode of automotive control system in the prior art is then to continue to use mankind's driving control of internal-combustion engines vehicle
Mode processed, this results in the control output mode of intelligent driving system and can not access existing automotive control system well.
Summary of the invention
The present invention provides a kind of target vehicle speed response methods of pure electric vehicle intelligent driving vehicle, which comprises
Target vehicle speed is obtained under Intelligent control mode；
Virtual pedal value is converted by the target vehicle speed, the virtual pedal value alternative reality on data function adds
Speed pedal stroke parameter；
Motor based on the virtual pedal value control vehicle is responded with the target vehicle speed for realizing motor.
In one embodiment, virtual pedal value is converted by the target vehicle speed, comprising:
Receive the actual vehicle speed that instrument is sent；
It is calculated according to the actual vehicle speed and the target vehicle speed and obtains the virtual pedal value.
In one embodiment, the method also includes:
Practical accelerator travel is acquired under non intelligent steer mode；
According to the motor of the practical accelerator travel control vehicle.
In one embodiment:
The target torque and target for obtaining motor are calculated according to the virtual pedal value or the practical accelerator travel
Mode；
The motor is controlled according to the target torque and the target pattern to realize the target vehicle speed response of vehicle.
In one embodiment:
Vehicle is controlled in the motor according to the virtual pedal value control vehicle and according to the practical accelerator travel
Motor during use same set of vehicle dynamical system control strategy.
The invention also discloses a kind of target vehicle speed response system of pure electric vehicle intelligent driving car, the system comprises:
Virtual pedal value generator, is configured to obtain target vehicle speed under Intelligent control mode, by the target vehicle speed
It is converted into virtual pedal value, the virtual pedal value alternative practical accelerator travel parameter on data function.
In one embodiment, the virtual pedal value generator includes:
Speed data collection device is configured to receive the actual vehicle speed that instrument is sent；
Calculator is fed back, is configured to be calculated according to the actual vehicle speed and the target vehicle speed to obtain and described virtually step on
Plate value.
In one embodiment, the system also includes:
Pedal collector is configured to acquire practical accelerator travel under non intelligent steer mode；
Motor control module is configured to according to the virtual pedal value or the practical accelerator travel control vehicle
Motor.
In one embodiment:
The motor control module is additionally configured in the motor according to the virtual pedal value control vehicle and according to institute
Same set of vehicle dynamical system control strategy is used during the motor for stating practical accelerator travel control vehicle.
In one embodiment, the system also includes:
Intelligent mode selecting module, it includes intelligent switch, the intelligent mode selecting module is configured that
When the intelligent switch is opened, the system is enabled to enter the Intelligent control mode；
When the intelligent switch is closed, the system is enabled to enter the non intelligent steer mode.
According to the method for the present invention and system, it can simply and easily realize intelligent driving system to pure in the prior art
The access of the speed control of electric vehicle；Compared to the prior art, method of the invention is simple and easy, practical valence with higher
Value and promotional value.
Other feature or advantage of the invention will illustrate in the following description.Also, Partial Feature of the invention or
Advantage will be become apparent by specification, or be appreciated that by implementing the present invention.The purpose of the present invention and part
Advantage can be realized or be obtained by step specifically noted in the specification, claims and drawings.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 and Fig. 2 flow chart according to the method for the embodiment of the present invention；
Fig. 3 is system structure diagram according to an embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, implementation personnel of the invention whereby
Can fully understand that how the invention applies technical means to solve technical problems, and reach technical effect realization process and according to
The present invention is embodied according to above-mentioned realization process.As long as each embodiment it should be noted that do not constitute conflict, in the present invention
And each feature in each embodiment can be combined with each other, be formed by technical solution protection scope of the present invention it
It is interior.
As modern science and technology is constantly progressive, when IT, internet etc., voluminous industry strength pours in automobile industry, the intelligence of automobile
Development has been trend of the times, becomes the important development stage of automobile industry evolution.Since intelligent driving system is calculated based on electronics
Constructed by system, and the control mode of automotive control system in the prior art is then to continue to use mankind's driving control of internal-combustion engines vehicle
Mode processed, this results in the control output mode of intelligent driving system and can not access existing automotive control system well.
In view of the above-mentioned problems, the invention proposes a kind of target vehicle speed response methods of pure electric vehicle intelligent driving vehicle.
In the prior art, automobile storage is in two kinds of driving methods of motor and internal combustion engine.With ordinary internal combustion engine driving
Vehicle is different, and electric car is usually not primarily relied on gearbox and throttle carries out speed control, but main using for electricity
The moment of torsion control of machine.This allows for electric car and internal-combustion engines vehicle has essence in speed control system in control mode
Difference.
However, since the driving habit of the mankind is that the vehicle based on ordinary internal combustion engine driving is established, electronic vapour
Vehicle also more has continued to use internal-combustion engines vehicle speed control interface, that is, uses accelerator pedal control interface.In pilot steering state
Under, driver's step on the accelerator, the entire car controller of electric car, which needs to be changed according to collected accelerator travel, to be sent out
Send corresponding electric machine controller instruction to meet the desired speed that vehicle can reach driver.
Further, in intelligent driving drive control, intelligent driving system passes through radar, sensor collection vehicle-surroundings
Real-time condition, the expectation speed of service of current vehicle is obtained by calculation, sends it to the entire car controller of electric car,
Entire car controller, which needs to be sent to electric machine controller instruction according to the expectation speed of service received, can reach this to meet vehicle
Desired speed, and do not exceed the speed.
In above two vehicle drive mode, speed responding process is difference, this allows for the speed of intelligent driving system
Response control mode can not easily access in existing whole-control system.For this problem, the present invention uses will be intelligent
The target vehicle speed of control loop output is converted to a virtual pedal value by processing, then by original control strategy according to void
Quasi- pedal value generates the mode of corresponding electric machine controller instruction.
Next the implementation process based on flow chart the present invention is described in detail embodiment.It is walked shown in the flow chart of attached drawing
Suddenly it can be executed in the computer system comprising such as a group of computer-executable instructions.Although showing in flow charts each
The logical order of step, but in some cases, it can be with the steps shown or described are performed in an order that is different from the one herein.
As shown in Figure 1, in one embodiment, target vehicle speed (S110) is obtained under Intelligent control mode, and herein, intelligence
Steer mode refers to determining target vehicle speed based on intelligent driving system and non-driver is determined by direct step on the accelerator
Target vehicle speed；Then the target vehicle speed that will acquire is converted into virtual pedal value (S120), and the virtual pedal value is in data function
Upper alternative practical accelerator travel parameter；The motor of vehicle is controlled based on virtual pedal value finally to realize the target of motor
Speed responds (S130).
According to the method for the present invention and system, it can simply and easily realize intelligent driving system to pure in the prior art
The access of the speed control of electric vehicle；Compared to the prior art, method of the invention is simple and easy, practical valence with higher
Value and promotional value.
Further, in order to accurately realize more accurate speed responsive, in one embodiment, feedback control is introduced
System.Specifically, as shown in Fig. 2, in one embodiment, receiving the actual vehicle speed (S240) that instrument is sent；According to actual vehicle speed with
And target vehicle speed calculates and obtains the virtual pedal value (S220).
Further, in one embodiment, method further includes the speed control process of pilot steering:
Practical accelerator travel is acquired under non intelligent steer mode；
The motor of vehicle is controlled according to practical accelerator travel.
Specifically, in one embodiment, entire car controller obtains the target torque and target of motor by series of computation
The two values are sent to electric machine controller by mode, and electric machine controller controls motor again and executes corresponding operating to realize speed control
System.Specifically, entire car controller calculates the target torsion for obtaining motor according to virtual pedal value or practical accelerator travel first
Square and target pattern；Then it is responded according to target torque and target pattern control motor with the target vehicle speed for realizing vehicle.
Specifically, in one embodiment, entire car controller the motor that vehicle is controlled according to virtual pedal value and according to
Same set of vehicle dynamical system control strategy is used during the motor of practical accelerator travel control vehicle.
According to the method for the present invention, practical accelerator travel parameter is substituted with virtual pedal value, thus not changing people
It is realized on the basis of work accelerator pedal rate piloting strategies and speed control is carried out by the target vehicle speed that intelligent driving system exports.
Compared to the prior art, method of the invention can not change original control strategy to greatest extent, to reduce as far as possible
The change of original program, substantially reduces the intelligentized transformation time of original pure electric coach.
Further, based on method of the invention, the invention proposes a kind of target carriages of pure electric vehicle intelligent driving car
Fast response system.Specifically, in one embodiment, system includes:
Virtual pedal value generator, is configured to obtain target vehicle speed under Intelligent control mode, target vehicle speed is converted
For virtual pedal value, virtual pedal value alternative practical accelerator travel parameter on data function.
Further, in one embodiment, virtual pedal value generator is using feedback (PI) control.Specifically, virtually stepping on
Plate value generator includes:
Speed data collection device is configured to receive the actual vehicle speed that instrument is sent；
Calculator is fed back, is configured to calculate the virtual pedal value of acquisition according to actual vehicle speed and target vehicle speed.
Further, in one embodiment, by the speed control system of pilot steering speed control system and intelligent driving
Integration, system further include:
Pedal collector is configured to acquire practical accelerator travel under non intelligent steer mode；
Motor control module is configured to the motor according to virtual pedal value or practical accelerator travel control vehicle.
Further, in one embodiment, in order to not influence the program architecture of original vehicle, motor control to the full extent
Module is additionally configured to controlling the motor of vehicle according to virtual pedal value and controlling vehicle according to practical accelerator travel
Same set of vehicle dynamical system control strategy is used during motor.
Further, as shown in figure 3, in one embodiment, system further include:
Intelligent mode selecting module 310, it includes intelligent switch 311.
When intelligent switch 311 is opened, system is enabled to enter Intelligent control mode.
Under Intelligent control mode, virtual pedal generator 320 obtains the target vehicle speed that intelligent driving system 302 exports,
Virtual pedal value is converted by target vehicle speed and is sent to motor control module 340.Motor control module 340 is according to virtual pedal
The motor 300 of value control vehicle.Specifically, motor control module 340 is calculated according to virtual pedal value first obtains motor 300
Target torque and target pattern；Then the target vehicle speed of vehicle is realized according to target torque and target pattern control motor 300
Response.
Also, further, the speed data collection device 321 of virtual pedal generator 320 receives the actual vehicle speed that instrument is sent
(the actual motion speed of feedback motor), by the feedback calculator 322 of actual vehicle speed feedback to virtual pedal generator 320, instead
Present calculator 322 and calculated according to actual vehicle speed and target vehicle speed and obtain virtual pedal value, specifically, by with receive instrument
Actual vehicle speed compares, and obtained difference is carried out PI control.
When intelligent switch is closed, system is enabled to enter non intelligent steer mode.Under non intelligent steer mode, pedal is adopted
Storage 330 acquires practical accelerator travel of the pedal 301 in the case where driver tramples and sends practical accelerator travel to
Motor control module 340.Motor control module 340 controls the motor 300 of vehicle according to practical accelerator travel.Specifically,
Motor control module 340 calculates the target torque and target pattern for obtaining motor 300 according to practical accelerator travel first；So
It is responded afterwards according to target torque and target pattern control motor 300 with the target vehicle speed for realizing vehicle.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Method of the present invention can also have other various embodiments.Without departing substantially from
In the case where essence of the present invention, those skilled in the art make various corresponding changes or change in accordance with the present invention
Shape, but these corresponding changes or deformation all should belong to scope of protection of the claims of the invention.
Claims (10)
1. a kind of target vehicle speed response method of pure electric vehicle intelligent driving vehicle, which is characterized in that the described method includes:
Target vehicle speed is obtained under Intelligent control mode；
Virtual pedal value is converted by the target vehicle speed, the virtual pedal value alternative practical acceleration on data function is stepped on
Plate stroke parameter；
Motor based on the virtual pedal value control vehicle is responded with the target vehicle speed for realizing motor.
2. the method according to claim 1, wherein converting virtual pedal value for the target vehicle speed, comprising:
Receive the actual vehicle speed that instrument is sent；
It is calculated according to the actual vehicle speed and the target vehicle speed and obtains the virtual pedal value.
3. method according to claim 1 or 2, which is characterized in that the method also includes:
Practical accelerator travel is acquired under non intelligent steer mode；
According to the motor of the practical accelerator travel control vehicle.
4. according to the method described in claim 3, it is characterized by:
The target torque and target pattern for obtaining motor are calculated according to the virtual pedal value or the practical accelerator travel；
The motor is controlled according to the target torque and the target pattern to realize the target vehicle speed response of vehicle.
5. the method according to claim 3 or 4, it is characterised in that:
In the motor according to the virtual pedal value control vehicle and according to the practical accelerator travel control vehicle
Same set of vehicle dynamical system control strategy is used during motor.
6. a kind of target vehicle speed response system of pure electric vehicle intelligent driving car, which is characterized in that the system comprises:
Virtual pedal value generator, is configured to obtain target vehicle speed under Intelligent control mode, the target vehicle speed is converted
For virtual pedal value, the virtual pedal value alternative practical accelerator travel parameter on data function.
7. system according to claim 6, which is characterized in that the virtual pedal value generator includes:
Speed data collection device is configured to receive the actual vehicle speed that instrument is sent；
Calculator is fed back, is configured to calculate the acquisition virtual pedal according to the actual vehicle speed and the target vehicle speed
Value.
8. system according to claim 6 or 7, which is characterized in that the system also includes:
Pedal collector is configured to acquire practical accelerator travel under non intelligent steer mode；
Motor control module is configured to the electricity according to the virtual pedal value or the practical accelerator travel control vehicle
Machine.
9. system according to claim 8, it is characterised in that:
The motor control module is additionally configured in the motor according to the virtual pedal value control vehicle and according to the reality
Same set of vehicle dynamical system control strategy is used during the motor of border accelerator travel control vehicle.
10. system according to claim 8 or claim 9, which is characterized in that the system also includes:
Intelligent mode selecting module, it includes intelligent switch, the intelligent mode selecting module is configured that
When the intelligent switch is opened, the system is enabled to enter the Intelligent control mode；
When the intelligent switch is closed, the system is enabled to enter the non intelligent steer mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810258513.0A CN110303897A (en) | 2018-03-27 | 2018-03-27 | A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810258513.0A CN110303897A (en) | 2018-03-27 | 2018-03-27 | A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car |
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| CN110303897A true CN110303897A (en) | 2019-10-08 |
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| CN201810258513.0A Pending CN110303897A (en) | 2018-03-27 | 2018-03-27 | A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09177574A (en) * | 1995-12-21 | 1997-07-08 | Unisia Jecs Corp | Controller of in-cylinder direct injection type gasoline engine |
| CN104129305A (en) * | 2014-08-19 | 2014-11-05 | 清华大学 | Method for controlling speed of electric car |
-
2018
- 2018-03-27 CN CN201810258513.0A patent/CN110303897A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09177574A (en) * | 1995-12-21 | 1997-07-08 | Unisia Jecs Corp | Controller of in-cylinder direct injection type gasoline engine |
| CN104129305A (en) * | 2014-08-19 | 2014-11-05 | 清华大学 | Method for controlling speed of electric car |
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Application publication date: 20191008 |