CN113428143A

CN113428143A - Control system and method for vehicle constant-speed cruising based on fault level

Info

Publication number: CN113428143A
Application number: CN202110790537.2A
Authority: CN
Inventors: 何春芳; 王成; 杨军; 刘莹; 吴肇苏
Original assignee: Dongfeng Motor Group Co Ltd
Current assignee: Dongfeng Motor Group Co Ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2021-09-24
Anticipated expiration: 2041-07-13
Also published as: CN113428143B

Abstract

The invention discloses a control system and a method for vehicle constant-speed cruising based on fault grade, which are used for acquiring the current fault information of a vehicle; judging the fault grade of the current vehicle according to the current fault information; and determining whether to continue cruising or to exit cruising after adjusting the vehicle operation parameters or directly exiting cruising according to the fault level of the vehicle. By utilizing the method, whether the control right is continuously given to the vehicle or the driver takes over part of the control right or is selected by the driver, so that the situations of vehicle over-control and frequent control by the driver are reduced. While increasing the safety of the vehicle cruise conditions.

Description

Control system and method for vehicle constant-speed cruising based on fault level

Technical Field

The invention belongs to the technical field of vehicle control, and particularly relates to a control system and method for vehicle constant-speed cruising based on fault level.

Background

Constant speed cruising has become one of the functions that most vehicles have. The purpose of constant-speed cruising is to use the device, when a driver drives on a highway for a long time, the driver does not need to control an accelerator pedal any more, thereby reducing fatigue and unnecessary speed change. And when the vehicle control right is given to the vehicle or the driver, it is very important to select a proper time to enter the constant-speed cruise and exit the constant-speed cruise.

CN201410830204.8 discloses a method for controlling cruise control of an automobile, which includes inputting a cruise key signal to an instrument IC, simultaneously sending a cruise status of the automobile to the instrument IC through a CAN bus by an engine management system EMS of the automobile, outputting a cruise request signal and a target vehicle speed signal to the engine management system EMS through the CAN bus by the instrument IC according to the received cruise key signal and cruise status, and switching the cruise status by the engine management system EMS according to the received cruise request signal, target vehicle speed signal and vehicle status signal. This patent has solved and has relied on the engine management system EMS alone to judge the problem in the work load of cruising. But the problem that the control right is distributed according to classification after the faults occurring in the constant-speed cruising of the new energy vehicle are classified is not involved. It may cause a state in which the control right of the vehicle is excessively concentrated or the control right is frequently handed to the driver.

The CN201910353281.1 patent discloses a system and method for identifying and mitigating malfunctions of sensors for Adaptive Cruise Control (ACC) in a vehicle that involves identifying malfunctions of the sensors. The patent adopts a set of system and method for judging the fault of a sensor of Adaptive Cruise Control (ACC), and when the sensor is in fault during the cruise process, the problem that the driver feels inconvenience because the driver continues the cruise or whether the cruise can be started infrequently is solved according to the process flow of the method for confirming the fault of the sensor in one or more embodiments. However, this patent relates to a problem of attributing the control right to the new energy vehicle only when the sensor fails, and a problem of attributing the control right to the vehicle should be judged if a failure other than the sensor occurs during the cruising of the vehicle.

Disclosure of Invention

The invention aims to provide a control system and a control method for vehicle constant-speed cruising based on fault grades, which are used for identifying and classifying faults occurring in the vehicle constant-speed cruising and then grading the faults. And when one or more faults occur, judging whether the vehicle continues to cruise or not under the current vehicle state, or giving the vehicle control right to the driver, or enabling the driver to judge whether the vehicle control right needs to be handed over or not.

The technical scheme of the method for achieving the vehicle constant-speed cruising based on the fault grade, which is one of the purposes of the invention, is as follows: acquiring current fault information of a vehicle; judging the fault grade of the current vehicle according to the current fault information; and determining whether to continue cruising or to exit cruising after adjusting the vehicle operation parameters or directly exiting cruising according to the fault level of the vehicle.

The further technical scheme comprises the following steps: the method for judging the fault level of the current vehicle according to the current fault information comprises the following steps:

step 201, judging whether a third type of fault exists at present, if so, judging that the fault level is three levels; ending the judgment, otherwise, jumping to the next step;

step 202, judging whether a second type of fault exists at present, if not, skipping to the next step, otherwise, judging as follows:

if the fault exists and only one second type fault exists, the fault level is two-level, and the judgment is finished;

if two or more than two second-class faults exist, the fault level is three-level, and the judgment is finished;

and step 203, if the first type of fault exists, the fault level is the first level, and the judgment is finished.

And the first type, the second type and the third type of faults are comprehensively evaluated and classified according to three dimensions of 'probability of causing accidents', 'degree of causing injury to people' and 'degree of acceptability to faults', and the faults are sorted according to the severity of the faults, and the third type of faults > the second type of faults > the first type of faults.

The further technical scheme comprises the following steps: the method for determining whether to exit from cruising after adjusting the vehicle operation parameters or directly exit from cruising according to the fault level of the vehicle comprises the following steps:

judging whether the current vehicle fault level is in three levels, if so, processing strategies comprise limiting the torque of a power output end, or taking over the control of the vehicle by a driver, or limiting vehicle running parameters of the limping capability of the vehicle;

judging whether the current vehicle fault level is the second level, if so, selecting whether to take over the vehicle control right by the driver;

and judging whether the current vehicle fault level is the first level, and if so, keeping the current cruising state of the vehicle unchanged.

If the fault level of the current vehicle is three levels, the processing strategy is as follows:

limiting torque at the power output when a fault involving a torque or vehicle speed differential fault is involved;

when the switch failure of the power output part is involved, the control right of the vehicle is taken over by the driver;

the maximum vehicle speed of the limp home capability of the vehicle is set to a set value when a malfunction, including loss of signal of the power output portion, vehicle speed signal, EPB signal malfunction, is involved.

If the fault occurs involving two or more of the above, the torque at the power take-off is prioritized, followed by setting the maximum vehicle speed in the limp home mode of the vehicle.

The further technical scheme comprises the following steps: if the current fault level of the vehicle is two levels, the system prompts the driver to select whether to continue cruising, and records each selection of the driver under the fault level.

The further technical scheme comprises the following steps: if the current fault level of the vehicle is two levels, the system displays the historical decision condition under the fault level to the driver for the driver to make decision reference.

The system displays the historical selection condition under the fault level to the driver, namely displays the historical decision under the current fault level to the driver, records the number of times of selecting continuous cruising as A, and records the number of times of taking over the vehicle control right by the driver as B, for example:

directly displaying the number A of continuous cruising and/or the number B of the vehicle control right taken over by the driver;

compare a and B: if A > B, prompting the driver to favor cruising according to the cruise history; if A < B, prompting the driver to favor the selection of the cruise history to take over the control right of the vehicle; and if A is equal to B, prompting the driver that the selection number in the cruise history is equal.

The further technical scheme comprises the following steps: and if the current vehicle has the three-level fault level, before the cruise is stopped, whether the cruise is stopped after the vehicle operation parameters are adjusted or not is determined according to the current fault type after the current vehicle state is kept for a period of time, or the cruise is stopped directly.

When the vehicle fault level is three levels, the display screen prompts the fault and prompts the cruise state to be jumped out. Before jumping out of the cruise state, the vehicle state changes in the later period, so that the time for the reaction of a driver needs to be reserved, and the vehicle is kept in the current state for a period of time so as to reduce the probability of accidents.

The technical scheme of the control system for vehicle constant-speed cruising based on the fault grade for realizing the second aim of the invention is as follows: the method comprises the following steps: a fault acquisition module: the system is used for acquiring the current fault of the vehicle; a fault classification module: the system is used for judging the current fault level according to the vehicle fault; a decision judgment module: the system is used for judging the subsequent cruising state of the vehicle according to the current fault level of the vehicle; an execution module: for performing a cruise action at the current fault level.

The decision-making judgment module is used for judging the subsequent cruising state of the vehicle according to the current vehicle fault level, and the cruising state comprises the following steps: the cruise mode is exited, the control right of the vehicle is given to the driver, the current cruise is continued, and the cruise is continued after the current cruise parameters are changed;

the execution module is used for executing the cruise actions under the current fault level, and the cruise actions comprise continuing cruising according to the current mode; continuing cruising after limiting the torque of the power output end; setting the highest speed in the limp mode of the vehicle as a set value and then continuing cruising; exiting cruise mode passes vehicle control to the driver.

The further technical scheme comprises the following steps: the decision-making judging module also comprises a self-learning module which is used for counting and analyzing the historical selection of the driver when the vehicle fault is in a certain grade and the driver needs to decide whether to take over the control right or not, so that the driver can make decision-making reference.

The self-learning module further comprises a calculation module for performing statistical analysis on the historical selection of the driver acquired in the self-learning module.

The further technical scheme comprises the following steps: the decision-making judgment module also comprises a fault type judgment module which is used for judging whether to adjust the vehicle operation parameters according to the fault type when the vehicle fault level is three-level.

When the fault type relates to a torque and vehicle speed difference fault, limiting the torque of a power output end and then exiting the cruise;

when the fault type relates to signal loss of a power output component or vehicle speed signal and EPB signal fault, limiting the highest vehicle speed of a vehicle speed limp vehicle speed to be the lowest vehicle speed when the vehicle is reversed, and then stopping cruising;

the further technical scheme comprises the following steps: the fault classification module also comprises a fault classification module which is used for classifying faults occurring in the current vehicle.

By utilizing the method, whether the control right is continuously given to the vehicle or the driver takes over part of the control right or is selected by the driver, so that the situations of vehicle over-control and frequent control by the driver are reduced. While increasing the safety of the vehicle cruise conditions.

Drawings

FIG. 1 is a cruise control logic schematic according to the present invention.

Detailed Description

The following detailed description is provided for the purpose of explaining the claimed embodiments of the present invention so that those skilled in the art can understand the claims. The scope of the invention is not limited to the following specific implementation configurations. It is intended that the scope of the invention be determined by those skilled in the art from the following detailed description, which includes claims that are directed to this invention.

Referring to fig. 1, fig. 1 is a schematic diagram of a cruise control logic according to the present invention.

In one embodiment, the invention provides a method for vehicle cruise control based on fault level, comprising the steps of:

s1: receiving a cruise request; a driver's cruise request may be received for an overall vehicle control system.

S2: entering a cruise mode; the whole vehicle control system is automatically controlled according to the target vehicle speed, and the specific control process refers to a constant-speed cruise mode in the prior art, which is not limited specifically here.

S3: the fault acquisition module acquires the fault information of the current vehicle from the CAN network, CAN actively acquire the current fault information of the vehicle from the CAN network at a fixed frequency, and CAN also trigger the fault acquisition module by the current fault so as to acquire the fault information of the vehicle.

S4: classifying the acquired faults: a first type of fault, a second type of fault, and a third type of fault. The fault is classified based on the "fault automatic recovery probability", "damage degree of fault to human", and "acceptable degree", as shown in table 1, a direct classification method is adopted, but not limited to the contents of the table.

TABLE 1

The fault type can also be determined by weighting, as shown in table 2 below, for each fault, based on the "fault automatic recovery probability", "damage degree to human caused by the fault", and "acceptable degree", the fault type is determined according to the final score, but not limited to these three dimensions for evaluation or value taking, and can be determined according to actual requirements.

TABLE 2

S5: and judging the fault level according to the fault of the vehicle, wherein the judgment logic is as follows:

step 1, judging whether a third type of fault exists at present, and if so, setting the fault level as one level; ending the judgment, otherwise jumping to the step 2;

step 2, judging whether a second type of fault exists at present, if not, skipping to step 3, otherwise, judging as follows:

and 3, if the first type of fault exists, the fault grade is the first grade, and the judgment is finished.

S6: judging whether the vehicle continues cruising according to the fault level:

when the vehicle fault level is the first level, only the display screen prompts the fault, and the vehicle is still in a cruising state;

when the vehicle fault level is the second level, the display screen prompts the fault and enables the driver to select whether to take over the vehicle control right, namely, the driver can autonomously judge whether to jump out of the cruise state;

preferably, before the driver's judgment, the system gives a historical decision condition for the driver to refer to, for example, as follows:

when the first vehicle fault level is the second level, the driver selects to continue cruising;

when the second vehicle fault level is the second level, the system pops the window or prompts the driver whether to continue cruising through voice, and meanwhile, the system prompts the driver to select yes last time, and at the moment, the driver is supposed to select no;

and when the third vehicle fault level is the second level, the system pops the window or prompts the driver whether to continue cruising through voice, and the system does not prompt at the moment because whether the first two times are equal in number or not.

Preferably, the system can prompt the number of times that the current historical decision is yes and no for the driver to refer to at the moment; it may also be further prompted which of the number of choices yes or no is greater and the difference between the two for better driver decision making.

When the vehicle fault level is three levels, the display screen prompts the fault and prompts the cruise state to be jumped out. Before jumping out of the cruise state, the vehicle state changes in the later period, so that the time for the reaction of a driver needs to be reserved, and the vehicle is kept in the current state for a period of time so as to reduce the probability of accidents. Such as but not limited to, maintaining the current state for 3 s. And 3s later, the capability of later vehicle limp is determined according to the current cruise fault category.

If the fault involves a torque and vehicle speed differential fault, limiting the torque at the power take off, such as above idle, the resistance may just be overcome and the vehicle may be allowed to creep.

If the failure involves a failure of a switch of the power take-off, the vehicle control is handed over to the driver for control.

If the fault involves loss of signal from the power take-off, the vehicle limp home capability is limited for safety, such as limiting the maximum vehicle speed to the minimum vehicle speed for reversing.

If the fault relates to a vehicle speed signal, the EPB signal fails, limiting the vehicle limp home capability for safety, such as limiting the maximum vehicle speed to the minimum vehicle speed for reversing.

Claims

1. A method for vehicle constant-speed cruising based on fault level is characterized in that:

acquiring current fault information of a vehicle;

judging the fault grade of the current vehicle according to the current fault information;

and determining whether to continue cruising or to exit cruising after adjusting the vehicle operation parameters or directly exiting cruising according to the fault level of the vehicle.

2. The method for vehicle cruise control according to claim 1, wherein said determining a current vehicle fault level based on current fault information comprises the steps of:

3. The method for vehicle cruise control according to claim 1, wherein said determining whether to continue cruising, or to exit cruising after adjusting vehicle operating parameters, or to exit cruising directly, according to the vehicle's fault level, comprises the following method:

4. The method for vehicle cruise control based on fault level of claim 3, wherein if the current vehicle fault level is secondary, the system will prompt the driver to choose whether to continue cruising, and record each driver selection at this fault level.

5. The method for vehicle cruise control based on fault level as claimed in claim 3, wherein if the current vehicle fault level is secondary, the system will show the driver the historical decision condition at this fault level for the driver to make decision reference.

6. The method for vehicle cruise control based on the fault level according to claim 3, characterized in that if the current vehicle has a three-level fault level, before exiting cruise, it is determined whether to exit cruise after adjusting the vehicle operation parameters or directly exit cruise according to the current fault type after keeping the current vehicle state for a while.

7. A fail-level based vehicle cruise control system, comprising: a fault acquisition module: the system is used for acquiring the current fault of the vehicle; a fault classification module: the system is used for judging the current fault level according to the vehicle fault; a decision judgment module: the system is used for judging the subsequent cruising state of the vehicle according to the current fault level of the vehicle; an execution module: for performing a cruise action at the current fault level.

8. The system as claimed in claim 7, wherein the decision-making module further comprises a self-learning module for counting and analyzing the historical choices of the driver for the driver to make decision reference when the vehicle fault is in a certain class and the driver's own decision is required to take over the control right.

9. The system as claimed in claim 7, wherein the decision-making module further includes a fault type determining module for determining whether to adjust the vehicle operation parameters according to the fault type when the vehicle fault level is three-level.

10. The fault-class-based vehicle cruise control system according to claim 7, wherein said fault classification module further comprises a fault classification module for classifying a fault present in a current vehicle.