CN112895916A - Throttle self-adaptive control system and method based on road condition perception - Google Patents
Throttle self-adaptive control system and method based on road condition perception Download PDFInfo
- Publication number
- CN112895916A CN112895916A CN202110305391.8A CN202110305391A CN112895916A CN 112895916 A CN112895916 A CN 112895916A CN 202110305391 A CN202110305391 A CN 202110305391A CN 112895916 A CN112895916 A CN 112895916A
- Authority
- CN
- China
- Prior art keywords
- module
- speed
- electric vehicle
- control module
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000008447 perception Effects 0.000 title claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000011084 recovery Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 15
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 9
- 238000005265 energy consumption Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Images
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
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a throttle self-adaptive control system and a method based on road condition perception, the system comprises a radar module, a vision module, a sensor module, a throttle control module, an electric vehicle control module, a motor driving module and an external transmission mechanism, the method is characterized in that the sensor module sends acquired acceleration data information in real time to obtain road condition information, the radar module acquires the distance between an electric vehicle and an obstacle in real time, the vision module acquires real-time road video image data in real time to obtain speed limit information, the electric vehicle control module accurately adjusts the driving speed of the electric vehicle by judging the road condition information and combining the actual driving speed and the target speed of the electric vehicle, when the target speed dynamically changes, the system can adaptively adjust the driving speed of the electric vehicle in time, the real-time performance of speed adjustment is improved, and simultaneously, a power supply module performs energy recovery during the speed adjustment, the cruising ability of the electric automobile is improved.
Description
Technical Field
The invention relates to the field of throttle self-adaptive control, in particular to a throttle self-adaptive control system and method based on road condition perception.
Background
The electric automobile is a new energy vehicle, and is a novel environment-friendly automobile under the current emission policy. Generally, the accelerator of a fuel vehicle controls the opening and closing angle of a throttle valve through an electronic accelerator to control the rotation speed of an engine, the accelerator of an electric vehicle is actually an accelerator pedal of the electric vehicle, and an accelerator pedal controls a driver of the electric vehicle to control the rotation speed of a motor of the electric vehicle so as to control the speed of the vehicle.
At present, whether the automobile is a fuel automobile or an electric automobile, the automatic control of the throttle is usually realized in constant-speed cruising or adaptive cruising. The cruise Control is to set the speed as the target value, ECU (Electronic Control Unit) controls the speed of the engine to match the set speed, after stepping on the accelerator pedal or the brake pedal again, the cruise Control is automatically cancelled. The adaptive cruise is that the speed is increased or decreased according to the speed of the front vehicle within a set speed range, namely a cruise mode with speed following is wider in application range than the cruise mode with constant speed, but has certain limitation on different road conditions.
Therefore, in the current stage, no matter constant-speed cruising or self-adaptive cruising, the automatic control of the accelerator is based on the set speed or the speed of the front vehicle, closed-loop control is carried out by calculating the speed of the vehicle and the target value to achieve the automatic control of the accelerator, and the accelerator is automatically controlled to be closed after the accelerator or the brake of a driver intervenes, so that the automatic control and the speed regulation of the accelerator cannot exist at the same time, meanwhile, the road condition is not considered in the automatic control of the accelerator, the control mode is passive, the driving comfort of the driver is not high enough, and the energy consumption of a fuel vehicle.
How to ensure that the automatic control of the accelerator of the electric automobile takes effect in the whole driving process, and the problems of improving the driving comfort and reducing the energy consumption become the problems to be solved at present.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcome the above-mentioned defect that prior art exists, provide a throttle self-adaptation control system based on road conditions perception, contain radar module, vision module, sensor module, throttle control module, electric automobile control module, motor drive module, power module, outside drive mechanism, wherein:
the throttle control module is connected with the electric automobile control module and sends the target speed to the electric automobile control module;
the radar module is connected with the electric vehicle control module, sends monitored distance data to the electric vehicle control module, and receives a distance detection control instruction sent by the electric vehicle control module;
the vision module is connected with the electric automobile control module, sends the acquired real-time video image data to the electric automobile control module, and receives an image detection control instruction sent by the electric automobile control module;
the sensor module is connected with the electric automobile control module, sends acquired acceleration data information to the electric automobile control module, and receives an acceleration detection control instruction sent by the electric automobile control module;
the electric vehicle control module is connected with the motor driving module and used for obtaining a speed control instruction according to target speed, distance data, real-time video image data and acceleration data information, sending the speed control instruction to the motor driving module and receiving state data fed back by the motor driving module;
the power supply module is connected with the electric automobile control module, receives an energy recovery instruction sent by the electric automobile control module, and feeds back the state data of the power supply module to the electric automobile control module;
the power supply module is also connected with the motor driving module, and converts kinetic energy into electric energy through the rotation of the motor driving module to charge the power supply module;
the external transmission mechanism is connected with the motor driving module and the electric automobile control module respectively, and drives the external transmission mechanism to act according to the motor rotating speed output by the motor driving module so as to drive the electric automobile to run, and the external transmission mechanism sends the actual running speed to the electric automobile control module through the vehicle speed detection part of the external transmission mechanism.
Further, the target speed output by the accelerator control module is a digital quantity signal, and the digital quantity signal is transmitted to the electric vehicle control module through a vehicle-mounted CAN bus.
Furthermore, the vision module comprises an image recognition module and a camera, the image recognition module is connected with the camera, the camera sends the collected real-time video image data to the image recognition module, the image recognition module acquires road condition mark information in the real-time video image data through a preset image recognition algorithm, and the image recognition module sends the road condition mark information to the electric vehicle control module through the vehicle-mounted CAN bus.
Further, the camera is a 1300W high-definition camera.
Further, the sensor module is a 6-axis acceleration sensor.
Further, the motor drive module contains motor driver, driving motor, motor driver links to each other with electric automobile control module and driving motor respectively, driving motor links to each other with outside drive mechanism, motor driver receives the speed control instruction that electric automobile control module sent, send driving signal to driving motor, driving motor receives the driving signal that motor driver sent, rotate according to driving signal, and drive the action of outside drive mechanism, thereby drive electric automobile traveles, driving motor links to each other with power module simultaneously, turn into the electric energy with kinetic energy, charge for power module.
The invention also provides a throttle self-adaptive control method based on road condition perception, which comprises the following steps:
s1: the throttle control module sets the target speed of the electric automobile;
s2: the electric automobile control module acquires the real-time running speed and the motor rotating speed of the electric automobile;
s3: the sensor module sends acquired acceleration data information in real time, the radar module acquires distance data between the electric automobile and the obstacle in real time, and the vision module acquires real-time road surface video image data in real time;
s4: the electric vehicle control module analyzes acceleration data information, distance data between the electric vehicle and the barrier and real-time video image data, and obtains a speed value to be adjusted by combining the actual driving speed of the electric vehicle and a set target speed;
s5: the electric vehicle control module sends a speed control command to the motor driving module according to a speed value to be adjusted, the motor driving module drives the external transmission mechanism to act to adjust the speed of the electric vehicle, and the electric vehicle control module sends an energy recovery command to the power supply module to recover energy;
s6: steps S2-S5 are repeatedly executed until the target speed is reached.
Further, the step S4 includes the following specific steps:
s41: the electric vehicle control module receives acceleration data information sent by the sensor module, analyzes the acceleration data information next to the electric vehicle control module, acquires an acceleration component, obtains the current driving direction of the electric vehicle through the acceleration component, and acquires a gravity component in the acceleration component;
s42: the electric vehicle control module receives the distance between the electric vehicle and the obstacle sent by the radar module, and compares the distance with a preset limit distance to obtain an adjustable distance of the electric vehicle;
s43: the electric vehicle control module receives the real-time video image data sent by the vision module, extracts a speed limit sign contained in the real-time video image data, and obtains the speed limit information of the current road surface;
s44: after the electric vehicle control module obtains the road condition, the adjustable distance and the speed limit information of the electric vehicle, the speed value to be adjusted is obtained according to the preset rule.
Further, the step S44 includes the following specific steps:
s441, the electric vehicle control module compares the obtained road condition, the adjustable distance and the speed limit information of the electric vehicle:
if the current running speed of the electric automobile is greater than the speed limit, the speed value to be adjusted is the speed limit speed value minus the current running speed value, and the calculation is finished;
if the current running speed of the electric automobile is less than or equal to the speed limit and the adjustable distance is less than 0, the speed value to be adjusted is the speed value obtained by dividing the adjustable distance by the preset time, and the calculation is finished;
if the current driving speed of the electric vehicle is less than or equal to the speed limit and the adjustable distance is greater than or equal to 0, executing step S442;
s442: if the road condition is an uphill slope, the speed value to be adjusted is the sum of the difference between the given target speed and the current running speed and the speed required for overcoming the gravity work of the uphill slope, and the calculation is finished;
if the road condition is a downhill, the speed value to be adjusted is the difference between the given target speed and the current running speed and the difference between the speeds increased by gravity work of the downhill, and the calculation is finished;
if the road condition is a level road, the speed value to be adjusted is the difference between the given target speed and the current running speed, and the calculation is finished.
Further, the step S5 includes the following steps:
s51: after the electric vehicle control module receives the speed value to be adjusted, if the speed value is larger than 0, sending an acceleration speed control command, turning to step S52, if the speed value is smaller than 0, sending a deceleration speed control command to the motor driving module, sending an energy recovery command to the power supply module, turning to step S53, if the speed value is equal to 0, not sending the speed control command;
s52, after receiving the control instruction of the acceleration speed, the motor driving module sends a driving signal to the driving motor, the driving motor operates in an acceleration mode to drive the external transmission mechanism to act, the electric automobile runs in an acceleration mode, the electric automobile control module detects the current running speed and the given target speed of the electric automobile in real time at preset time intervals, and after the target given speed is reached, the speed regulation is finished;
s53: the electric automobile speed reduction control system comprises a motor driving module, a power supply module, a driving signal transmission module, a motor control module and an energy conversion driving module, wherein the motor driving module sends an energy recovery command to the power supply module after receiving a speed reduction control command, a charging mode is started after the power supply module receives the energy recovery command, meanwhile, the driving signal transmission module sends a driving signal to the driving motor, the driving motor converts kinetic energy into electric energy to charge the power supply module, the rotating speed of the driving motor is reduced through energy conversion, an external transmission mechanism is driven to act, the electric automobile runs in a speed reduction mode, the electric automobile control module detects the current.
The invention has the following beneficial effects: the invention autonomously develops an accelerator self-adaptive control system and method based on road condition sensing, and solves the problems that the accelerator of an electric automobile is poor in control self-adaptability, inflexible in speed regulation, incapable of simultaneously controlling the speed regulation and the accelerator and large in accelerator self-adaptive control energy consumption. The invention applies the automatic control of the accelerator to the complete driving process of the electric automobile, so that the self-adaptive control part of the accelerator is limited by speed change, meanwhile, the detection of real-time road conditions of the driving of the automobile is introduced in the automatic control process of the accelerator, the driving speed of the electric automobile is accurately adjusted through the judgment of the road conditions in the speed regulation process, meanwhile, the energy recovery is carried out in real time, and the cruising ability of the electric automobile is improved.
Drawings
FIG. 1 is a block diagram of a throttle adaptive control system based on road condition sensing provided by the invention;
FIG. 2 is a schematic diagram illustrating a principle of determining a road condition by an acceleration sensor according to the present invention;
fig. 3 is a flow chart of an accelerator adaptive control method based on road condition sensing provided by the invention.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite, the present invention is further described in detail below with reference to the embodiments and the drawings, it should be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.
As shown in fig. 1, an embodiment of the present invention provides a throttle adaptive control system based on road condition sensing, including a radar module 102, a vision module 103, a sensor module 104, a throttle control module 100, an electric vehicle control module 105, a power module 106, a motor drive module 107, and an external transmission mechanism 108, wherein:
the accelerator control module 100 is connected to the electric vehicle control module 105, the accelerator control module 100 includes an accelerator pedal, a target speed value is generated by the accelerator pedal, the target speed value is sent to the electric vehicle control module 105, the accelerator pedal is different from a conventional accelerator pedal, an output signal of the accelerator pedal is a digital quantity signal, the digital quantity signal is transmitted through a vehicle-mounted CAN (Controller Area Network) bus or a Local Interconnect Network (Local Interconnect Network) bus, wherein the CAN (c) bus is a standard bus of an automobile computer control system and an embedded industrial control Area Network, and the LIN bus is a low-cost serial communication Network defined for an automobile distributed electronic system.
The radar module 102 is connected with the electric vehicle control module 105, sends detected distance data between the electric vehicle and the obstacle to the electric vehicle control module 105, receives a distance detection control instruction sent by the electric vehicle control module 105, the electric vehicle control module 105 sends the distance detection control instruction in the driving process of the electric vehicle, the radar module 100 receives the instruction, starts distance detection of the radar module 100, sends the detected distance data between the electric vehicle and the obstacle to the electric vehicle control module 105 in real time, and the radar module 100 sends the distance data between the electric vehicle and the obstacle to the electric vehicle control module 105 through the CAN bus.
The vision module 103 is connected with the electric vehicle control module 105, sends the acquired real-time video image data to the electric vehicle control module 105, receives an image detection control instruction sent by the electric vehicle control module 105, the electric vehicle control module 105 sends a speed limit detection starting control instruction in the running process of the electric vehicle, the vision module 103 receives the instruction and starts the speed limit detection of the vision module 103, the vision module 103 comprises an image recognition module and a camera, the image recognition module is connected with the camera, wherein the camera adopts a 1300W high-definition camera, the camera transmits the collected real-time video image data to the image recognition module, the image recognition module obtains the road condition sign information in the real-time video image data through a preset image recognition algorithm, the image recognition module sends the road condition flag information to the electric vehicle control module 105 through the vehicle-mounted CAN bus.
The sensor module 104 is a six-axis acceleration sensor, is connected with the electric vehicle control module 105, sends acquired acceleration data information to the electric vehicle control module 105, receives an acceleration detection control instruction sent by the electric vehicle control module 105, the electric vehicle control module 105 sends a starting acceleration detection control instruction in the running process of the electric vehicle, the sensor module 104 receives the instruction, starts acceleration detection of the sensor module 104, and sends detected acceleration data to the electric vehicle control module 105 in real time through a CAN bus, wherein the six-axis acceleration sensor is used for judging the road condition of vehicle running and judging the uphill and downhill conditions of the road surface through the positive and negative of a gravity acceleration component, referring to (a) in FIG. 2, under the condition that the friction force of the road surface is certain, the six-axis acceleration sensor identifies that the current running direction of the electric vehicle is the upper left direction, at this time, the gravity acceleration component measured by the six-axis acceleration sensor is downward right, which is opposite to the actual electric vehicle driving direction, and therefore the gravity acceleration component is negative, and it is determined that the electric vehicle is driving uphill, and referring to (b) in fig. 2, when the road surface friction is constant, the six-axis acceleration sensor recognizes that the current electric vehicle driving direction is downward right, and at this time, the gravity acceleration component measured by the six-axis acceleration sensor is downward right, which is the same as the actual electric vehicle driving direction, and therefore, the gravity acceleration component is positive, and it is determined that the electric vehicle is driving downhill.
The electric vehicle control module 105 is connected with the motor drive module 107, the electric vehicle control module 105 is a core of the whole throttle self-adaptive control system and is used for obtaining a speed control command according to target speed, distance data, real-time video image data and acceleration data information, sending the speed control command to the motor drive module 105 and receiving state data fed back by the motor drive module 107, in the driving process of the electric vehicle, the electric vehicle control module 105 receives a target speed value sent by the throttle control module 100 in real time, through the target speed value, the electric vehicle control module 105 obtains a current target in the self-adaptive control process, the electric vehicle control module 105 synchronously receives distance data between the electric vehicle and an obstacle sent by the radar module 102 in real time, receives road surface speed limit data sent by the vision module 103 and receives acceleration information data sent by the sensor module 104, the motor rotating speed sent by the motor driving module 107 is received, the actual speed of the electric automobile is obtained by monitoring the external transmission mechanism 108, all the received data are analyzed and processed by an accelerator self-adaptive control method, a speed control instruction is output to the motor driving module 107, and the running speed of the electric automobile is dynamically adjusted.
The motor driving module 107 is further connected with the external transmission mechanism 108, receives a speed control instruction output by the electric vehicle control module 105, drives the external transmission mechanism 108 to act, and simultaneously sends motor rotation speed data to the electric vehicle control module 105, the motor driving module 107 comprises a motor driver and a driving motor, the motor driver is connected with the driving motor, the motor driver receives the speed control instruction sent by the electric vehicle control module 105, obtains the rotation speed of the driving motor to be adjusted according to the speed control instruction, outputs a corresponding driving signal to the driving motor according to the rotation speed, receives the driving signal sent by the motor driver, adjusts the rotation speed of the driving motor, so that the external transmission mechanism 108 is driven to adjust the rotation speed, and finally adjusts the running speed of the electric vehicle.
The power module 106 is connected to the electric vehicle control module 105 and the motor drive module 107, receives an energy recovery instruction sent by the electric vehicle control module 105, and sends state data of the power module 106 to the electric vehicle control module 105, when the electric vehicle control module 105 sends a deceleration speed control instruction to the motor drive module 107 during the driving of the electric vehicle, that is, the rotation speed of the drive motor needs to be reduced, at this time, the electric vehicle control module 105 synchronously sends an energy recovery instruction to the power module 106, after receiving the energy recovery instruction sent by the electric vehicle control module 105, the power module 106 starts a charging mode, the drive motor converts kinetic energy into electric energy, so as to reduce the rotation speed, and at the same time, the electric energy of the power module 106 is supplemented, and after the electric vehicle control module 105 detects that the driving speed of the electric vehicle reaches a target value, sends an energy recovery stopping instruction to the power module 106, after receiving the instruction, the power module 106 ends the charging mode;
the external transmission mechanism 108 is connected to the motor driving module 107 and the electric vehicle control module 105, and drives the external transmission mechanism 108 according to the motor speed output by the motor driving module 107, so as to drive the electric vehicle to run, and the external transmission mechanism 108 sends the actual running speed to the electric vehicle control module 105 through the vehicle speed detection component.
Referring to fig. 3, the invention further provides a throttle self-adaptive control method based on road condition sensing, which comprises the following steps:
s1: the throttle control module 100 sets a target speed of the electric vehicle;
the target speed of the electric automobile is set by stepping on an accelerator pedal by a driver, and the target speed of the electric automobile is obtained through the opening and closing angle of the accelerator pedal.
S2: the electric vehicle control module 105 acquires the real-time running speed of the electric vehicle and the rotating speed of the motor;
the electric vehicle control module obtains the real-time running speed of the electric vehicle through real-time detection of the external transmission mechanism 108, and the motor rotating speed is obtained through the motor driving module 107.
S3: the sensor module 104 sends acquired acceleration data information in real time, the radar module 102 acquires the distance between the front vehicle and the obstacle in real time, and the vision module 103 acquires real-time road surface video image data in real time;
s4: the electric vehicle control module 105 analyzes acceleration data information, distance data between the electric vehicle and the obstacle, and real-time video image data, and obtains a speed value to be adjusted by combining an actual driving speed of the electric vehicle and a set target speed, specifically:
s41: the electric vehicle control module 105 receives the acceleration data information sent by the sensor module 104, and then the electric vehicle control module 105 analyzes the acceleration data information to obtain an acceleration component, obtains the current electric vehicle driving direction through the acceleration component, and then obtains a gravity component in the acceleration component, the electric vehicle control module 105 compares the electric vehicle driving direction with a gravity component in the acceleration data information, if the gravity component is the same as the electric vehicle driving direction, the electric vehicle driving road condition is a downhill slope, and if the gravity component is opposite to the driving direction, the electric vehicle driving road condition is an uphill slope;
s42: the electric vehicle control module 105 receives distance data between the electric vehicle and the obstacle sent by the radar module 102, and the electric vehicle control module 105 compares the distance with a preset limit distance to obtain an adjustable distance of the electric vehicle;
s43: the electric vehicle control module 105 receives the real-time video image data sent by the vision module 103, and the electric vehicle control module 105 extracts the speed limit sign contained in the real-time video image data to obtain the speed limit information of the current road surface;
s44: after obtaining the driving road condition, the adjustable distance and the speed limit information of the electric vehicle, the electric vehicle control module 105 obtains the speed value to be adjusted according to the preset rule.
S441, the electric vehicle control module 105 compares the obtained road condition, adjustable distance and speed limit information of the electric vehicle, if the current driving speed of the electric vehicle is greater than the speed limit, the speed value to be adjusted is the speed limit speed value minus the current driving speed value, the calculation is finished, if the current driving speed of the electric vehicle is less than or equal to the speed limit, the adjustable distance is less than 0, the speed value to be adjusted is the speed value obtained by dividing the adjustable distance by the preset time, the calculation is finished, if the current driving speed of the electric vehicle is less than or equal to the speed limit, the adjustable distance is greater than or equal to 0, the step S342 is executed;
s442: if the road condition is an uphill slope, the speed value to be adjusted is the sum of the difference between the given target speed and the current running speed and the speed required for overcoming the gravity work of the uphill slope, the calculation is finished, if the road condition is a downhill slope, the speed value to be adjusted is the difference between the given target speed and the current running speed and the speed increased by the gravity work of the downhill slope, the calculation is finished, and if the road condition is a level road, the speed value to be adjusted is the difference between the given target speed and the current running speed, and the calculation is finished.
S5: the electric vehicle control module 105 sends a speed control instruction according to the speed value to be adjusted to adjust the speed of the electric vehicle, and the power supply module 106 recovers energy;
s51: after the electric vehicle control module 106 receives the speed value to be adjusted, if the speed value is greater than 0, an acceleration speed control instruction is sent, the step S52 is performed, if the speed value is less than 0, a deceleration speed control instruction is sent to the motor driving module 107, an energy recovery instruction is sent to the power module 106, the step S53 is performed, the speed value is equal to 0, and the speed control instruction is not sent;
s52, after receiving the control instruction of the acceleration speed, the motor driving module 107 sends a driving signal to the driving motor, the driving motor operates in an acceleration mode to drive the external transmission mechanism 108 to act, the electric automobile runs in an acceleration mode, the electric automobile control module 105 detects the current running speed and the given target speed of the electric automobile in real time at preset time intervals, and after the target given speed is reached, the speed regulation is finished;
s53: after receiving the deceleration speed control instruction, the motor driving module 107 sends an energy recovery instruction to the power module 106, after receiving the energy recovery instruction, the power module 106 starts a charging mode, and simultaneously sends a driving signal to the driving motor, the driving motor converts kinetic energy into electric energy to charge the power module 106, and the rotating speed of the driving motor is reduced through energy conversion, so as to drive an external transmission mechanism to act, so that the electric vehicle decelerates and runs, the electric vehicle control module 105 detects the current running speed and the given target speed of the electric vehicle in real time at a preset time interval, and after the target given speed is reached, the speed regulation and the energy recovery are finished.
S6: steps S2-S5 are repeatedly executed until the target speed is reached.
In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore should not be construed as limiting the scope of the present invention.
In conclusion, although the present invention has been described with reference to the preferred embodiments, it should be noted that, although various changes and modifications may be made by those skilled in the art, they should be included in the scope of the present invention unless they depart from the scope of the present invention.
Claims (10)
1. The utility model provides a throttle self-adaptation control system based on road conditions perception which characterized in that contains radar module, vision module, sensor module, throttle control module, electric automobile control module, motor drive module, power module, outside drive mechanism, wherein:
the throttle control module is connected with the electric automobile control module and sends the target speed to the electric automobile control module;
the radar module is connected with the electric vehicle control module, sends monitored distance data to the electric vehicle control module, and receives a distance detection control instruction sent by the electric vehicle control module;
the vision module is connected with the electric automobile control module, sends the acquired real-time video image data to the electric automobile control module, and receives an image detection control instruction sent by the electric automobile control module;
the sensor module is connected with the electric automobile control module, sends acquired acceleration data information to the electric automobile control module, and receives an acceleration detection control instruction sent by the electric automobile control module;
the electric vehicle control module is connected with the motor driving module and used for obtaining a speed control instruction according to target speed, distance data, real-time video image data and acceleration data information, sending the speed control instruction to the motor driving module and receiving state data fed back by the motor driving module;
the power supply module is connected with the electric automobile control module, receives an energy recovery instruction sent by the electric automobile control module, and feeds back the state data of the power supply module to the electric automobile control module;
the power supply module is also connected with the motor driving module, and converts kinetic energy into electric energy through the rotation of the motor driving module to charge the power supply module;
the external transmission mechanism is connected with the motor driving module and the electric automobile control module respectively, and drives the external transmission mechanism to act according to the motor rotating speed output by the motor driving module so as to drive the electric automobile to run, and the external transmission mechanism sends the actual running speed to the electric automobile control module through the vehicle speed detection part of the external transmission mechanism.
2. The adaptive throttle control system based on road condition perception according to claim 1, wherein the target speed output by the throttle control module is a digital signal, and the digital signal is transmitted to the electric vehicle control module through a vehicle-mounted CAN bus.
3. The throttle self-adaptive control system based on road condition perception according to claim 1, wherein the vision module comprises an image recognition module and a camera, the image recognition module is connected with the camera, the camera sends acquired real-time video image data to the image recognition module, the image recognition module obtains road condition sign information in the real-time video image data through a preset image recognition algorithm, and the image recognition module sends the road condition sign information to the electric vehicle control module through a vehicle-mounted CAN bus.
4. The throttle adaptive control system based on road condition perception according to claim 3, wherein the camera is a 1300W high definition camera.
5. The throttle adaptive control system based on road condition perception according to claim 1, wherein the sensor module is a 6-axis acceleration sensor.
6. The throttle adaptive control system based on road condition perception according to claim 1, wherein the motor driving module comprises a motor driver and a driving motor, the motor driver is respectively connected with the electric vehicle control module and the driving motor, the driving motor is connected with an external transmission mechanism, the motor driver receives a speed control command sent by the electric vehicle control module and sends a driving signal to the driving motor, the driving motor receives the driving signal sent by the motor driver, rotates according to the driving signal and drives the external transmission mechanism to act, so that the electric vehicle is driven to run, and meanwhile, the driving motor is connected with the power supply module and converts kinetic energy into electric energy to charge the power supply module.
7. A throttle self-adaptive control method based on road condition perception is characterized by comprising the following steps:
s1: the throttle control module sets the target speed of the electric automobile;
s2: the electric automobile control module acquires the real-time running speed and the motor rotating speed of the electric automobile;
s3: the sensor module sends acquired acceleration data information in real time, the radar module acquires distance data between the electric automobile and the obstacle in real time, and the vision module acquires real-time road surface video image data in real time;
s4: the electric vehicle control module analyzes acceleration data information, distance data between the electric vehicle and the barrier and real-time video image data, and obtains a speed value to be adjusted by combining the actual driving speed of the electric vehicle and a set target speed;
s5: the electric vehicle control module sends a speed control command to the motor driving module according to a speed value to be adjusted, the motor driving module drives the external transmission mechanism to act to adjust the speed of the electric vehicle, and the electric vehicle control module sends an energy recovery command to the power supply module to recover energy;
s6: steps S2-S5 are repeatedly executed until the target speed is reached.
8. The throttle adaptive control method based on road condition perception according to claim 7, wherein the step S4 comprises the following steps:
s41: the electric vehicle control module receives acceleration data information sent by the sensor module, analyzes the acceleration data information next to the electric vehicle control module, acquires an acceleration component, obtains the current driving direction of the electric vehicle through the acceleration component, and acquires a gravity component in the acceleration component;
s42: the electric vehicle control module receives the distance between the electric vehicle and the obstacle sent by the radar module, and compares the distance with a preset limit distance to obtain an adjustable distance of the electric vehicle;
s43: the electric vehicle control module receives the real-time video image data sent by the vision module, extracts a speed limit sign contained in the real-time video image data, and obtains the speed limit information of the current road surface;
s44: after the electric vehicle control module obtains the road condition, the adjustable distance and the speed limit information of the electric vehicle, the speed value to be adjusted is obtained according to the preset rule.
9. The throttle adaptive control method based on road condition perception according to claim 8, wherein the step S44 comprises the following steps:
s441: the electric vehicle control module compares the obtained road condition, the adjustable distance and the speed limit information of the electric vehicle, and comprises the following steps:
if the current running speed of the electric automobile is greater than the speed limit, the speed value to be adjusted is the speed limit speed value minus the current running speed value, and the calculation is finished;
if the current running speed of the electric automobile is less than or equal to the speed limit and the adjustable distance is less than 0, the speed value to be adjusted is the speed value obtained by dividing the adjustable distance by the preset time, and the calculation is finished;
if the current driving speed of the electric vehicle is less than or equal to the speed limit and the adjustable distance is greater than or equal to 0, executing step S442;
s442: if the road condition is an uphill slope, the speed value to be adjusted is the sum of the difference between the given target speed and the current running speed and the speed required for overcoming the gravity work of the uphill slope, and the calculation is finished;
if the road condition is a downhill, the speed value to be adjusted is the difference between the given target speed and the current running speed and the difference between the speeds increased by gravity work of the downhill, and the calculation is finished;
if the road condition is a level road, the speed value to be adjusted is the difference between the given target speed and the current running speed, and the calculation is finished.
10. The throttle adaptive control method based on road condition perception according to claim 7, wherein the step S5 comprises the following steps:
s51: after the electric vehicle control module receives the speed value to be adjusted, if the speed value is larger than 0, sending an acceleration speed control command, turning to step S52, if the speed value is smaller than 0, sending a deceleration speed control command to the motor driving module, sending an energy recovery command to the power supply module, turning to step S53, if the speed value is equal to 0, not sending the speed control command;
s52: the motor driving module sends a driving signal to the driving motor after receiving an acceleration speed control instruction, the driving motor operates in an acceleration mode to drive the external transmission mechanism to act, the electric automobile runs in an acceleration mode, the electric automobile control module detects the current running speed and the given target speed of the electric automobile in real time at a preset time interval, and the speed regulation is finished after the target given speed is reached;
s53: the electric automobile speed reduction control system comprises a motor driving module, a power supply module, a driving signal transmission module, a motor control module and an energy conversion driving module, wherein the motor driving module sends an energy recovery command to the power supply module after receiving a speed reduction control command, a charging mode is started after the power supply module receives the energy recovery command, meanwhile, the driving signal transmission module sends a driving signal to the driving motor, the driving motor converts kinetic energy into electric energy to charge the power supply module, the rotating speed of the driving motor is reduced through energy conversion, an external transmission mechanism is driven to act, the electric automobile runs in a speed reduction mode, the electric automobile control module detects the current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110305391.8A CN112895916A (en) | 2021-03-22 | 2021-03-22 | Throttle self-adaptive control system and method based on road condition perception |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110305391.8A CN112895916A (en) | 2021-03-22 | 2021-03-22 | Throttle self-adaptive control system and method based on road condition perception |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112895916A true CN112895916A (en) | 2021-06-04 |
Family
ID=76106014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110305391.8A Pending CN112895916A (en) | 2021-03-22 | 2021-03-22 | Throttle self-adaptive control system and method based on road condition perception |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112895916A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335428A (en) * | 2021-07-14 | 2021-09-03 | 广东高标电子科技有限公司 | Control equipment of electric vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103121449A (en) * | 2011-11-18 | 2013-05-29 | 北汽福田汽车股份有限公司 | Method and system for cruise control of electric automobile |
| CN105711441A (en) * | 2016-01-20 | 2016-06-29 | 奇瑞汽车股份有限公司 | Vehicle speed control method and system |
| CN108058615A (en) * | 2016-11-09 | 2018-05-22 | 华为技术有限公司 | The recovery method and device of vehicle braking energy |
| CN108340810A (en) * | 2018-01-24 | 2018-07-31 | 新日(无锡)发展有限公司 | Electric automobile during traveling control system based on electric machine speed regulation |
| CN109532483A (en) * | 2019-01-09 | 2019-03-29 | 北京理工华创电动车技术有限公司 | A kind of control device for automobile accelerator and method |
| CN110370940A (en) * | 2019-06-19 | 2019-10-25 | 四川野马汽车股份有限公司 | A kind of abrupt slope is slow to drop constant speed cruising system and method |
-
2021
- 2021-03-22 CN CN202110305391.8A patent/CN112895916A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103121449A (en) * | 2011-11-18 | 2013-05-29 | 北汽福田汽车股份有限公司 | Method and system for cruise control of electric automobile |
| CN105711441A (en) * | 2016-01-20 | 2016-06-29 | 奇瑞汽车股份有限公司 | Vehicle speed control method and system |
| CN108058615A (en) * | 2016-11-09 | 2018-05-22 | 华为技术有限公司 | The recovery method and device of vehicle braking energy |
| CN108340810A (en) * | 2018-01-24 | 2018-07-31 | 新日(无锡)发展有限公司 | Electric automobile during traveling control system based on electric machine speed regulation |
| CN109532483A (en) * | 2019-01-09 | 2019-03-29 | 北京理工华创电动车技术有限公司 | A kind of control device for automobile accelerator and method |
| CN110370940A (en) * | 2019-06-19 | 2019-10-25 | 四川野马汽车股份有限公司 | A kind of abrupt slope is slow to drop constant speed cruising system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335428A (en) * | 2021-07-14 | 2021-09-03 | 广东高标电子科技有限公司 | Control equipment of electric vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108058615B (en) | Method and device for recovering braking energy of vehicle | |
| CN110083109B (en) | Unmanned vehicle remote control system and method thereof | |
| CN112078576B (en) | Adaptive cruise control method for simulating driver characteristics based on fuzzy control | |
| CN108790945B (en) | Single-pedal brake control method, device and equipment for electric automobile and automobile | |
| CN109649389B (en) | Acceleration-adjustable self-adaptive cruise control system and control method | |
| CN107867283B (en) | Integrated FCW/ACC/AEB system based on prediction model and vehicle | |
| CN110696833B (en) | Vehicle self-adaptive speed limit control method | |
| CN108045268B (en) | Energy recovery method and system for pure electric vehicle | |
| CN107791887B (en) | Electric automobile hill start auxiliary control method | |
| CN107067753B (en) | Automatic following driving method based on driving safety distance | |
| CN110816530A (en) | Speed following control method and system of adaptive cruise system | |
| CN112440756B (en) | Constant-speed cruise torque control method, controller, constant-speed cruise system and vehicle | |
| US10150477B2 (en) | Control device for vehicle | |
| CN109017784A (en) | A kind of self-adapting cruise control method based on pure electric automobile | |
| CN112356825B (en) | Automatic driving vehicle parking control method and device | |
| CN110386139B (en) | Adaptive cruise control method, processor and system | |
| US20200377091A1 (en) | Vehicle control system | |
| CN112895916A (en) | Throttle self-adaptive control system and method based on road condition perception | |
| CN114670659B (en) | Vehicle torque control method and device and electric automobile | |
| CN114013436A (en) | Torque distribution method for electric automobile adaptive cruise control | |
| CN109808691A (en) | Self-adapting cruise control method, system, device, storage medium and automobile | |
| CN110979028B (en) | Control method for acceleration limitation of pure electric bus | |
| CN110723143B (en) | Economical self-adaptive cruise control system and method suitable for multiple driving conditions | |
| CN110667403B (en) | Control system and method for turning speed limit of electric vehicle | |
| CN112959996A (en) | Vehicle control method and device and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |