CN110843777B - Electric vehicle control method and device and electric vehicle - Google Patents
Electric vehicle control method and device and electric vehicle Download PDFInfo
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- CN110843777B CN110843777B CN201911183835.4A CN201911183835A CN110843777B CN 110843777 B CN110843777 B CN 110843777B CN 201911183835 A CN201911183835 A CN 201911183835A CN 110843777 B CN110843777 B CN 110843777B
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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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- 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
- B60W30/146—Speed limiting
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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Abstract
The invention discloses a control method and device of an electric vehicle and the electric vehicle, and belongs to the technical field of automation. According to the invention, whether the electric vehicle is in the safe state or not is detected, so that whether the electric vehicle can enter the constant-speed cruising state or not is judged, and the danger caused by switching the constant-speed cruising state when the electric vehicle is in the unsafe state is prevented; when the electric vehicle is in a safe state, controlling the electric vehicle to enter a constant-speed cruising state according to the collected constant-speed cruising instruction, thereby ensuring the driving safety when the electric vehicle is switched to the constant-speed cruising state; the real-time speed of the electric vehicle is corrected according to the constant-speed cruising speed information, so that the speed per hour of the electric vehicle is kept within a target speed range in the constant-speed cruising state, the travelling comfort and the stability are improved, and the purpose of constant-speed cruising of the electric vehicle is achieved.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a control method and device of an electric vehicle and the electric vehicle.
Background
Due to the problems of gradual global warming, exhaustion of petroleum resources and the like, the development of new energy automobiles is more and more emphasized. With the development of the electric automobile industry, the requirements of users on electric vehicles are not only simple walking functions, but also more pursuing the practicability and diversity of the functions. The constant-speed cruise function is highly expected by users. At present, the constant-speed cruising function of the electric vehicle mainly has two problems. In a first aspect: when the electric vehicle enters a constant-speed cruising mode, the speed corresponding to the current output voltage of the electric vehicle is used as the target speed of the constant-speed cruising, and if the resistance is overlarge or the battery voltage is changed in the riding process, the speed is influenced, so that a large error exists between the actual speed and the target speed of the constant-speed cruising, and the speed is inaccurate in the constant-speed cruising process. In a second aspect: the current electric vehicle cruise control function adopts open loop control, namely, when resistance or battery voltage changes under the constant-speed cruise state, the vehicle speed also changes along with the change, and the effect of maintaining stable target speed in the constant-speed cruise process cannot be really realized, so that the constant-speed cruise cannot meet the driving requirement, and the comfort is poor.
Disclosure of Invention
Aiming at the problem that the actual speed of the electric vehicle cannot be maintained in a stable target speed range in the constant-speed cruising process, the control method and the control device of the electric vehicle and the electric vehicle are provided, wherein the purpose of ensuring the speed per hour of the electric vehicle to be maintained in the target speed range in the constant-speed cruising process is to improve the comfort.
The invention provides a control method of an electric vehicle, comprising the following steps:
detecting whether the electric vehicle is in a safe state;
when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, controlling the electric vehicle to enter a constant-speed cruise state;
and when the electric vehicle is in a constant-speed cruising state, correcting the real-time speed of the electric vehicle according to the cruising speed so as to realize the constant-speed cruising of the electric vehicle.
Preferably, the detecting whether the electric vehicle is in a safe state includes:
when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, acquiring the current speed of the electric vehicle, and judging whether the current speed meets a preset speed range;
when the current vehicle speed accords with the preset vehicle speed range, taking the current vehicle speed as a target speed, and calculating a preset fluctuation range according to the target speed;
acquiring the current acceleration of the electric vehicle, and judging whether the acceleration is within the preset fluctuation range;
when the acceleration is within a preset fluctuation range, controlling the electric vehicle to enter a constant-speed cruise state;
and when the acceleration is not in a preset fluctuation range, adjusting the output current of the electric vehicle, and controlling the electric vehicle to enter a constant-speed cruising state after the real-time speed of the electric vehicle is matched with the constant-speed cruising speed information.
Preferably, when the electric vehicle is in a constant-speed cruising state, correcting the real-time vehicle speed of the electric vehicle according to a cruising vehicle speed includes:
when the electric vehicle is in a constant-speed cruising state, acquiring the current real-time speed of the electric vehicle;
calculating a correction difference value according to the cruising speed and the current real-time speed;
judging whether the correction difference value meets a preset condition or not;
when the correction difference value meets a preset condition, acquiring the real-time speed of the electric vehicle, and recalculating the correction difference value;
and when the correction difference value does not accord with the preset condition, acquiring the real-time speed of the electric vehicle after adjusting the real-time speed of the electric vehicle in a PID (proportion integration differentiation) adjusting mode, and recalculating the correction difference value.
Preferably, the method further comprises the following steps:
when the electric vehicle is in the constant-speed cruising state, if the constant-speed cruising command is collected, the electric vehicle is controlled to exit the constant-speed cruising state.
Preferably, the cruise release command is triggered by any one of a brake operation, a shift operation, a reset operation, a vehicle speed being below a minimum threshold value, or a cruise release button being triggered.
The present invention also provides a control device of an electric vehicle, including:
a detection unit for detecting whether the electric vehicle is in a safe state;
the constant-speed cruise unit is used for controlling the electric vehicle to enter a constant-speed cruise state if a constant-speed cruise instruction is acquired when the electric vehicle is in a safe state;
and the correcting unit is used for correcting the real-time speed of the electric vehicle according to the cruising speed when the electric vehicle is in the constant-speed cruising state so as to realize the constant-speed cruising of the electric vehicle.
Preferably, the constant speed cruise unit includes:
the first control module is used for acquiring a constant-speed cruise instruction when the electric vehicle is in a safe state, acquiring the current speed of the electric vehicle and judging whether the current speed meets a preset speed range or not;
the second control module is used for taking the current vehicle speed as a target speed when the current vehicle speed accords with the preset vehicle speed range, and calculating a preset fluctuation range according to the target speed;
the third control module is used for acquiring the current acceleration of the electric vehicle and judging whether the acceleration is in the preset fluctuation range;
the fourth control module is used for controlling the electric vehicle to enter a constant-speed cruising state when the acceleration is within a preset fluctuation range;
and the fifth control module is used for adjusting the output current of the electric vehicle when the acceleration is not in a preset fluctuation range, so that the electric vehicle is controlled to enter a constant-speed cruising state after the real-time speed of the electric vehicle is matched with the constant-speed cruising speed information.
The invention also provides an electric vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the above method are implemented when the computer program is executed by the processor.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the above-mentioned method steps.
The beneficial effects of the above technical scheme are that:
in the technical scheme, the control method of the electric vehicle judges whether the electric vehicle can enter the constant-speed cruising state or not by detecting whether the electric vehicle is in the safe state or not, and prevents the electric vehicle from switching the constant-speed cruising state to generate danger (such as suddenly too fast speed or suddenly too slow speed) when the electric vehicle is in the unsafe state; when the electric vehicle is in a safe state, controlling the electric vehicle to enter a constant-speed cruising state according to the collected constant-speed cruising instruction, thereby ensuring the driving safety when the electric vehicle is switched to the constant-speed cruising state; the real-time speed of the electric vehicle is corrected according to the constant-speed cruising speed information, so that the speed per hour of the electric vehicle is kept within a target speed range in the constant-speed cruising state, the travelling comfort and the stability are improved, and the purpose of constant-speed cruising of the electric vehicle is achieved.
Drawings
FIG. 1 is a method flow diagram of one embodiment of a method of controlling an electric vehicle according to the present invention;
FIG. 2 is a flowchart of a method of one embodiment of controlling the electric vehicle to enter a cruise condition;
FIG. 3 is a flow chart of a method for correcting a real-time vehicle speed of an electric vehicle when the electric vehicle is in a cruise condition;
FIG. 4 is a schematic diagram of a PID tuning mode for real-time vehicle speed tuning;
FIG. 5 is a method flowchart of another embodiment of a method of controlling an electric vehicle according to the present invention;
fig. 6 is a block diagram of an embodiment of a control apparatus for an electric vehicle according to the present invention;
FIG. 7 is a block diagram of the cruise control unit of the present invention;
FIG. 8 is a block diagram of a correction unit according to the present invention;
fig. 9 is a schematic hardware architecture diagram of an electric vehicle according to an embodiment of the invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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 the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Example one
As shown in fig. 1, the present invention provides a control method of an electric vehicle including:
s1, detecting whether an electric vehicle is in a safe state;
by way of example and not limitation, the detecting whether the electric vehicle is in a safe state may be: when the electric vehicle is in a starting state, a non-braking state and a vehicle speed is within a threshold range, determining that the electric vehicle is in a safe state; the detecting whether the electric vehicle is in the safe state may further be: when the electric vehicle is in a starting state, a non-braking state, a non-constant-speed cruising state and the vehicle speed is in a threshold value range, determining that the electric vehicle is in a safe state; the detecting whether the electric vehicle is in the safe state may further be: when the electric vehicle is in a starting state, in a non-braking state, in a non-constant-speed cruising state, and the fault alarm information of the electric vehicle is not detected, and the vehicle speed is in a threshold range, the electric vehicle is judged to be in a safe state.
The threshold range is a vehicle speed range which is set in advance according to practical application, and when the vehicle speed of the electric vehicle is lower than the threshold range, the vehicle is not allowed to enter a constant-speed cruising state in order to avoid the condition that the vehicle speed is lower and the vehicle is overturned due to unskilled driving; when the vehicle speed of the electric vehicle is higher than the threshold range, in order to avoid the situation that the vehicle speed is high, for example: the vehicle speed of the electric vehicle is enabled to reach the speed exceeding the normal speed by means of gradient (or the vehicle speed is not controlled by the current of the electric vehicle), so that dangerous conditions are prevented from occurring, and the constant-speed cruise state is not allowed to be entered.
In this step, by detecting the running state of the electric vehicle, it is possible to determine whether the running state of the electric vehicle is in a safe state or an unsafe state. The safe state is a state in which the electric vehicle is in a state in which the electric vehicle can enter the cruise control, and the unsafe state is a state in which the electric vehicle may be in a dangerous state when entering the cruise control.
S2, when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, controlling the electric vehicle to enter a constant-speed cruise state;
by way of example and not limitation, the cruise control command may be a user-activated cruise control button, or a control signal for rotating a handlebar to adjust speed may be converted into a cruise control command.
In this embodiment, the electric vehicle may be in an acceleration, uniform speed, or deceleration state when in the safe state, and enter the constant speed cruise state after acquiring the constant speed cruise command.
Specifically, referring to fig. 2, step S2 includes:
s21, when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, acquiring the current speed of the electric vehicle;
s22, judging whether the current vehicle speed meets a preset vehicle speed range or not, if so, executing a step S23; if not, ending;
s23, taking the current vehicle speed as a target speed, and calculating a preset fluctuation range according to the target speed;
for example: when the target speed is VmTarget speed range is [ V ]m-г，Vm+г]Wherein r represents the normal deviation of the speed, improving the rapidity of the electric vehicle entering a constant-speed cruise state. When the real-time speed is [ V ]m-г，Vm+г]When the speed is within the range, the real-time speed is matched with the constant-speed cruising speed information.
S24, acquiring the current acceleration of the electric vehicle;
s25, judging whether the acceleration is in the preset fluctuation range, if so, executing a step S26; if not, go to step S27;
considering that the vehicle is in normal running, the upper limit fluctuation vehicle speed in normal running is set to VmaxLower limit fluctuation vehicle speed VminAnd vehicle speed from VmaxChange to VminThe elapsed time Δ T and the rate of change of speed β.
β＝(Vmax-Vmin)/，△T
The preset fluctuation range in this step is [ - β, β ]. When the acceleration is within the preset fluctuation range, the current acceleration of the electric vehicle is smaller, and the electric vehicle can enter a constant-speed cruising state; when the acceleration is not within the preset fluctuation range, it indicates that the vehicle is currently in a deceleration or acceleration state (the actual speed change rate is large), and the current vehicle speed needs to be adjusted.
S26, controlling the electric vehicle to enter a constant-speed cruising state;
and S27, adjusting the output current of the electric vehicle, and controlling the electric vehicle to enter a constant-speed cruising state after the real-time speed of the electric vehicle is matched with the constant-speed cruising speed information.
Specifically, by way of example and not limitation, acceleration a of the electric vehicle1When beta is greater than beta, the electric vehicle is in an accelerating state at the present time, the acceleration is larger, and the output current I of the electric vehicle needs to be reducedoutTo reduce the acceleration, reacquiring the acceleration a of the electric vehicle2When a is2＜a1Is indicative of the output current IoutThe speed of the vehicle can be controlled, the current can be continuously reduced, and if the current real-time speed of the vehicle is [ V ]m-г，Vm+г]When the speed is within the range (namely the real-time speed is matched with the constant-speed cruising speed information), the electric vehicle can be controlled to enter the constant-speed cruising state. When a is2＞a1At this time, it means that there may be a situation of a gradient force or other auxiliary acceleration, and if entering the constant-speed cruise state, there may be a dangerous situation that the vehicle speed is not subjected to current control, so that the constant-speed cruise state cannot be entered.
Wherein acceleration is (V)2–V1)/Tj，V1Representing the starting speed, V, of a cycle2Indicating the end speed, T, of a cyclejIndicating the acceleration period.
When acceleration a of the electric vehicle1When the value is less than beta, the electric vehicle is in a deceleration state at the present time, the acceleration is larger, and the output current I of the electric vehicle needs to be increasedoutTo increase the acceleration if the current vehicle speed is [ V ]m-г，Vm+г]When the range is within, the electric vehicle can be controlled to enter a constant-speed cruising state. If the current real-time vehicle speed is greater than the target speed VmR is decreased to reduce the output current IoutUntil the real-time vehicle speed is [ V ]m-г，Vm+г]Controlling the electric vehicle to enter a constant-speed cruising state within the range; if the current real-time vehicle speed is less than the target speed VmR is increased by the output current IoutUntil the real-time vehicle speed is [ V ]m-г，Vm+г]Within the range, the electric vehicle is controlled to enter a constant-speed cruise state.
In step S2, when the electric vehicle is in the safe state, if a cruise control command is acquired, it may be determined whether the current vehicle speed can enter a cruise control state according to speed information fed back by a motor of the electric vehicle, and the current vehicle speed is used as a target speed during cruise control. Therefore, the constant-speed cruise state can be accurately and quickly entered at the constant speed.
In the embodiment, the output current of the electric vehicle is adjusted, so that the real-time speed of the electric vehicle is matched with the constant-speed cruising speed information, the electric vehicle is controlled to enter the constant-speed cruising state, the real-time speed is effectively adjusted before entering the constant-speed cruising state, and the purpose of safely and comfortably entering the constant-speed cruising state under the complex road condition is achieved.
And S3, when the electric vehicle is in a constant-speed cruising state, correcting the real-time speed of the electric vehicle according to the constant-speed cruising speed information of the constant-speed cruising instruction so as to realize the constant-speed cruising of the electric vehicle.
In step S3, when the electric vehicle is in the constant-speed cruising state, the entire vehicle will control the real-time vehicle speed in the manner of speed loop control to ensure the constant-speed cruising of the electric vehicle.
Specifically, referring to fig. 3 to 4, the specific process of the step S3 using the speed loop is as follows:
it should be noted that: the speed loop (refer to fig. 4) mainly comprises a collecting module for collecting the current real-time speed of the electric vehicle, a calculating module for calculating a correction difference value, a PWM (duty ratio) driving module and a PID adjusting module.
S31, when the electric vehicle is in a constant-speed cruising state, acquiring the current real-time speed of the electric vehicle;
s32, calculating a correction difference value according to the cruising speed and the current real-time speed;
the cruising speed may be a preset speed or a real-time speed of the electric vehicle at the last moment.
Specifically, by way of example and not limitation, the current real-time vehicle speed V of the electric vehicletObtaining a cruise vehicle speed V as a target cruise vehicle speeddAccording to V is calculatedtAnd VdCalculating a corrected difference α ═ Vd-Vt。
S33, judging whether the correction difference value meets a preset condition, if so, returning to execute the step S31; if not, go to step S34;
specifically, by way of example and not limitation, the preset condition may be that whether the correction difference α is zero (or α is within a preset range) is determined, and if so, the current real-time vehicle speed V is indicatedtAnd cruising speed VdIf the current driving output is consistent, the electric vehicle only needs to maintain the current driving output; if not, the real-time speed of the electric vehicle can be adjusted in a PID (proportion integration differentiation) adjusting mode, so that alpha is rapidly and slowly reduced to zero, and the current real-time speed V is ensuredtAnd cruising speed VdAnd (5) the consistency is achieved.
And S34, after the real-time speed of the electric vehicle is adjusted by adopting a PID adjusting mode, returning to execute the step S31.
In this embodiment, the process of PID adjustment is as follows:
the mode of PWM control is adopted for regulation, and the output of the PWM driving module and the current real-time vehicle speed V are regulatedtIs in a one-to-one correspondence.
The sampling period of the system is T, and the control vehicle speed variable V output at the sampling time(n),V(0)A vehicle speed input signal indicating the start of PID regulation, a(n)Is a control vehicle speed and a cruising vehicle speed V output at the sampling momentdA difference of (a)(n)＝Vd-V(n)
According to PID regulation formula
Where i denotes the sampling instant kpFor proportional adjustment constants, TITo integrate the time constant, TDIs a differential time coefficient.
From input V(n)And generating a corresponding output value of the PWM driving module, and driving the motor to a set rotating speed according to the PWM output value. When the vehicle speed is high, kpThe value is increased, and the adjustment of the system is accelerated; when the vehicle speed is slow, kpThe value is turned down, slowing down the adjustment of the system. Through kpThe comfort and the rapidness of the vehicle speed adjustment can be better realized through the adjustment of the speed adjusting device. Aiming at different vehicle speed sections, different k values are set due to different PWM regulation speedspAnd the coefficient ensures corresponding rapidness and smoothness in adjustment.
When the output of the PWM driving module of the electric vehicle reaches 100%, the cruising speed V can not be reacheddWhen the load is too large or the battery voltage is too low, the power is limited, and the current vehicle speed is maintained according to 100% of the output of the PWM driving module. When the load is weakened, if the current real-time speed V istHigher than cruising speed VdSlowly reducing the output of the PWM driving module of the electric vehicle until the cruising speed V is reached through the regulation processing of a PID regulation module of controller software of the electric vehicled。
When the output of the PWM driving module is reduced to 0 percent, the current real-time vehicle speed V is representedtIs still greater than cruising speed VdIndicating that the electric vehicle may be coasting downhill or the like, and maintaining the existing output state until it is detected when the vehicle speed is lower than the cruising vehicle speed VdIn time, the output of the PWM driving module is slowly increased to the cruising speed V through the PID regulating moduled。
In step S3, when the electric vehicle is in the constant-speed-cruise state, the cruise vehicle speed obtained at the constant speed is used as the input of the speed loop. The controller is adjusted through the speed ring to output driving PWM to control the vehicle speed until the cruising vehicle speed is reached, the speed ring is applied to keep the stability of the cruising vehicle speed, and the difficulty that the cruising vehicle speed cannot maintain the cruising set vehicle speed due to the changes of resistance, battery voltage and the like is solved by adopting the strategy.
The electric vehicle in the present embodiment is applied to an electric motorcycle and an electric bicycle.
In the embodiment, the control method of the electric vehicle judges whether the electric vehicle can enter the constant-speed cruising state or not by detecting whether the electric vehicle is in the safe state or not, so as to prevent the electric vehicle from switching the constant-speed cruising state to generate danger (such as suddenly too fast speed or suddenly too slow speed) when the electric vehicle is in the unsafe state; when the electric vehicle is in a safe state, controlling the electric vehicle to enter a constant-speed cruising state according to the collected constant-speed cruising instruction, thereby ensuring the driving safety when the electric vehicle is switched to the constant-speed cruising state; the real-time speed of the electric vehicle is corrected according to the constant-speed cruising speed information, so that the speed per hour of the electric vehicle is kept within a target speed range in the constant-speed cruising state, the travelling comfort and the stability are improved, and the purpose of constant-speed cruising of the electric vehicle is achieved.
Example two
As shown in fig. 5, the present embodiment provides a control method of an electric vehicle including:
s1, detecting whether an electric vehicle is in a safe state;
s2, when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, controlling the electric vehicle to enter a constant-speed cruise state;
s3, when the electric vehicle is in a constant-speed cruising state, correcting the real-time speed of the electric vehicle according to the cruising speed so as to realize constant-speed cruising of the electric vehicle;
and S4, when the electric vehicle is in the constant-speed cruising state, if the constant-speed cruising command is collected, controlling the electric vehicle to exit the constant-speed cruising state.
The cruise release command is triggered by any one of a brake operation, a shift operation, a reset operation, a vehicle speed falling below a minimum threshold value, and a cruise release button.
In the cruising process, if an emergency situation occurs, the cruise control device can quickly exit the cruise control state in a mode of triggering and releasing the cruise control command, so that danger is avoided.
EXAMPLE III
As shown in fig. 6, the present embodiment provides a control device 1 of an electric vehicle that may include a detection unit 11, a constant-speed-cruise unit 12, and a correction unit 13:
a detection unit 11 for detecting whether the electric vehicle is in a safe state;
the constant-speed cruise unit 12 is used for controlling the electric vehicle to enter a constant-speed cruise state if a constant-speed cruise instruction is acquired when the electric vehicle is in a safe state;
referring to fig. 7, the constant speed cruise unit 12 may include: a first control module 121, a second control module 122, a third control module 123, a fourth control module 124, and a fifth control module 125, wherein:
the first control module 121 is configured to acquire a cruise control command when the electric vehicle is in a safe state, acquire a current vehicle speed of the electric vehicle, and determine whether the current vehicle speed meets a preset vehicle speed range;
the second control module 122 is configured to, when the current vehicle speed meets the preset vehicle speed range, take the current vehicle speed as a target speed, and calculate a preset fluctuation range according to the target speed;
the third control module 123 is configured to obtain a current acceleration of the electric vehicle, and determine whether the acceleration is within the preset fluctuation range;
a fourth control module 124 for controlling the electric vehicle to enter a constant-speed cruise state when the acceleration is within a preset fluctuation range;
and a fifth control module 125, configured to adjust an output current of the electric vehicle when the acceleration is not within a preset fluctuation range, so as to control the electric vehicle to enter a cruise control state after a real-time vehicle speed of the electric vehicle is matched with the cruise control speed information.
And the correcting unit 13 is used for correcting the real-time speed of the electric vehicle according to the cruising speed when the electric vehicle is in the constant-speed cruising state so as to realize the constant-speed cruising of the electric vehicle.
The correcting unit 13 shown with reference to fig. 8 may include: acquisition module 131, calculation module 132 and judgment module 133, wherein:
the acquisition module 131 is used for acquiring the current real-time speed of the electric vehicle when the electric vehicle is in a constant-speed cruising state;
a calculating module 132, configured to calculate a correction difference according to the cruising speed and the current real-time speed;
the cruising speed may be a preset speed or a real-time speed of the electric vehicle at the last moment.
Specifically, by way of example and not limitation, the current real-time vehicle speed V of the electric vehicletObtaining a cruise vehicle speed V as a target cruise vehicle speeddAccording to V is calculatedtAnd VdCalculating a corrected difference α ═ Vd-Vt。
The judging module 133 is configured to judge whether the correction difference meets a preset condition;
specifically, by way of example and not limitation, the preset condition may be that whether the correction difference α is zero (or α is within a preset range) is determined, and if so, the current real-time vehicle speed V is indicatedtAnd cruising speed VdIf the current driving output is consistent, the electric vehicle only needs to maintain the current driving output; if not, the real-time speed of the electric vehicle can be adjusted in a PID (proportion integration differentiation) adjusting mode, so that alpha is rapidly and slowly reduced to zero, and the current real-time speed V is ensuredtAnd cruising speed VdAnd (5) the consistency is achieved.
And the PID adjusting module is used for acquiring the real-time speed of the electric vehicle after adjusting the real-time speed of the electric vehicle in a PID adjusting mode.
In the present embodiment, the control device 1 of the electric vehicle detects whether the electric vehicle is in a safe state by the detection unit 11; when the electric vehicle is in a safe state, the constant-speed cruise unit 12 is used for controlling the electric vehicle to enter a constant-speed cruise state according to the collected constant-speed cruise instruction; the real-time speed of the electric vehicle is corrected by the correction unit 13 according to the constant-speed cruising speed information so as to realize the constant-speed cruising of the electric vehicle.
In a preferred embodiment, the control device 1 of the electric vehicle may further include an unlocking unit, where the unlocking unit is configured to collect a constant-speed-cruise cancellation command when the electric vehicle is in the constant-speed-cruise state, and control the electric vehicle to exit the constant-speed-cruise state. The constant-speed cruise releasing instruction is triggered by any one of brake operation, gear shifting operation, resetting operation, vehicle speed being lower than a lowest threshold value or triggering a constant-speed cruise releasing button.
The control device 1 of the electric vehicle adopts a mode of simultaneously detecting and controlling the speed and the acceleration, thereby ensuring the accuracy of the constant speed cruise. The cruise control system realizes feedback regulation through speed loop control in the cruise process, and realizes the good effects of stability, safety and comfort during riding through the feedback regulation. The problem of ordinary electric motor car get into the cruise constant speed inaccurate, the speed is unstable under the state of cruising is solved. The purpose of rapidness, accuracy and stability of the constant-speed cruise function under the complex and variable use environment is achieved.
Example four
In order to achieve the above object, the present invention further provides an electric vehicle 2, and components of the control device 1 of the electric vehicle according to the second embodiment may be dispersed in different electric vehicles 2, and the electric vehicle 2 may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server, or a rack server (including an independent server or a server cluster composed of a plurality of servers) for executing programs. The electric vehicle 2 of the embodiment includes at least, but is not limited to: a memory 21, a processor 23, a network interface 22, and the control device 1 of the electric vehicle (refer to fig. 9) that can be communicatively connected to each other through a system bus. It is noted that fig. 9 only shows the electric vehicle 2 with components, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the memory 21 includes at least one type of computer-readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 21 may be an internal storage unit of the electric vehicle 2, such as a hard disk or an internal memory of the electric vehicle 2. In other embodiments, the memory 21 may also be an external storage device of the electric vehicle 2, such as a plug-in hard disk provided on the electric vehicle 2, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Of course, the memory 21 may also include both an internal storage unit of the electric vehicle 2 and an external storage device thereof. In the present embodiment, the memory 21 is generally used to store an operating system installed in the electric vehicle 2 and various types of application software, such as a program code of the control method of the electric vehicle according to the first embodiment. Further, the memory 21 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 23 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip in some embodiments. The processor 23 is generally used to control the overall operation of the electric vehicle 2, such as performing control and processing related to data interaction or communication with the electric vehicle 2. In the present embodiment, the processor 23 is configured to operate the program code or the processing data stored in the memory 21, for example, operate the control device 1 of the electric vehicle.
The network interface 22 may include a wireless network interface or a wired network interface, and the network interface 22 is generally used to establish communication connections between the electric vehicle 2 and other electric vehicles 2. For example, the network interface 22 is used to connect the electric vehicle 2 with an external terminal through a network, establish a data transmission channel and a communication connection between the electric vehicle 2 and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.
It is noted that fig. 9 only shows the electric vehicle 2 with components 21-23, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In the present embodiment, the control device 1 of the electric vehicle stored in the memory 21 may also be divided into one or more program modules, which are stored in the memory 21 and executed by one or more processors (in the present embodiment, the processor 23) to complete the present invention.
In the present embodiment, the electric vehicle 2 may further include a motor, a collection unit, a handle unit, a control device of the electric vehicle, a battery for supplying power, and the like. In practical application, the rotating handle unit outputs a speed regulating signal to the control unit, and the control unit controls the motor to output corresponding driving current according to the speed regulating signal, so that the rotating speed and the torque of the motor are controlled, and the rotating speed information of the motor is wiped through the acquisition unit.
The process of controlling the electric vehicle to enter the constant-speed cruising state comprises the following steps: the handle unit outputs a speed regulating signal to control the motor to operate, and a control device of the electric vehicle realizes constant speed by taking the current speed as a cruise set speed according to a constant speed cruise command and then performs cruise by the speed. The handle unit is effective only when the constant-speed cruise operation is performed in a state where the drive motor is operated. The effect of accurate set speed and stable cruise according to the set speed is realized by the control method of the electric vehicle.
EXAMPLE five
To achieve the above objects, the present invention also provides a computer-readable storage medium including a plurality of storage media such as a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by the processor 23, implements corresponding functions. The computer-readable storage medium of the present embodiment is used to store the control device 1 of the electric vehicle, and when executed by the processor 23, implements the control method of the electric vehicle of the first or second embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A control method of an electric vehicle, characterized by comprising:
detecting whether the electric vehicle is in a safe state;
when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, controlling the electric vehicle to enter a constant-speed cruise state;
when the electric vehicle is in a constant-speed cruising state, correcting the real-time speed of the electric vehicle according to the cruising speed so as to realize constant-speed cruising of the electric vehicle;
when the electric vehicle is in the safe state, if the constant-speed cruise command is acquired, the electric vehicle is controlled to enter the constant-speed cruise state, and the method comprises the following steps:
when the electric vehicle is in a safe state, if a constant-speed cruise instruction is acquired, acquiring the current speed of the electric vehicle, and judging whether the current speed meets a preset speed range;
when the current vehicle speed accords with the preset vehicle speed range, taking the current vehicle speed as a target speed, and calculating a preset fluctuation range according to the target speed;
acquiring the current acceleration of the electric vehicle, and judging whether the acceleration is within the preset fluctuation range;
when the acceleration is within a preset fluctuation range, controlling the electric vehicle to enter a constant-speed cruise state;
and when the acceleration is not in a preset fluctuation range, adjusting the output current of the electric vehicle, and controlling the electric vehicle to enter a constant-speed cruising state after the real-time speed of the electric vehicle is matched with the constant-speed cruising speed.
2. The control method of an electric vehicle according to claim 1, wherein the detecting whether the electric vehicle is in a safe state includes:
and when the electric vehicle is in a starting state, a non-braking state and a vehicle speed is in a threshold range, determining that the electric vehicle is in a safe state.
3. The control method of an electric vehicle according to claim 1, wherein the correcting the real-time vehicle speed of the electric vehicle according to a cruising vehicle speed when the electric vehicle is in a constant-speed cruising state includes:
when the electric vehicle is in a constant-speed cruising state, acquiring the current real-time speed of the electric vehicle;
calculating a correction difference value according to the cruising speed and the current real-time speed;
judging whether the correction difference value meets a preset condition or not;
when the correction difference value meets a preset condition, acquiring the real-time speed of the electric vehicle, and recalculating the correction difference value;
and when the correction difference value does not accord with the preset condition, acquiring the real-time speed of the electric vehicle after adjusting the real-time speed of the electric vehicle in a PID (proportion integration differentiation) adjusting mode, and recalculating the correction difference value.
4. The control method of an electric vehicle according to claim 1, characterized by further comprising:
when the electric vehicle is in the constant-speed cruising state, if the constant-speed cruising command is collected, the electric vehicle is controlled to exit the constant-speed cruising state.
5. The control method of an electric vehicle according to claim 4, characterized in that the release of the cruise control command is triggered by any one of a brake operation, a shift operation, a reset operation, a vehicle speed below a minimum threshold value, or a release of a cruise control button.
6. A control device of an electric vehicle, characterized by comprising:
a detection unit for detecting whether the electric vehicle is in a safe state;
the constant-speed cruise unit is used for controlling the electric vehicle to enter a constant-speed cruise state if a constant-speed cruise instruction is acquired when the electric vehicle is in a safe state;
the correction unit is used for correcting the real-time speed of the electric vehicle according to the cruising speed when the electric vehicle is in the constant-speed cruising state so as to realize the constant-speed cruising of the electric vehicle;
the constant-speed cruise unit comprises:
the first control module is used for acquiring a constant-speed cruise instruction when the electric vehicle is in a safe state, acquiring the current speed of the electric vehicle and judging whether the current speed meets a preset speed range or not;
the second control module is used for taking the current vehicle speed as a target speed when the current vehicle speed accords with the preset vehicle speed range, and calculating a preset fluctuation range according to the target speed;
the third control module is used for acquiring the current acceleration of the electric vehicle and judging whether the acceleration is in the preset fluctuation range;
the fourth control module is used for controlling the electric vehicle to enter a constant-speed cruising state when the acceleration is within a preset fluctuation range;
and the fifth control module is used for adjusting the output current of the electric vehicle when the acceleration is not in a preset fluctuation range, so that the electric vehicle is controlled to enter a constant-speed cruising state after the real-time speed of the electric vehicle is matched with the constant-speed cruising speed.
7. An electric vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 5 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN112208526A (en) * | 2020-10-09 | 2021-01-12 | 潍柴动力股份有限公司 | Cruise control method and device, vehicle and storage medium |
| CN113353075A (en) * | 2021-07-09 | 2021-09-07 | 浙江吉利控股集团有限公司 | Method, system and equipment for vehicle cruise at constant speed and storage medium thereof |
| CN114435334B (en) * | 2022-03-14 | 2023-05-05 | 上海钧正网络科技有限公司 | Brake detection method and device and computer storage medium |
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