CN116238500A - Control method of vehicle and vehicle with same - Google Patents
Control method of vehicle and vehicle with same Download PDFInfo
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- CN116238500A CN116238500A CN202310397874.4A CN202310397874A CN116238500A CN 116238500 A CN116238500 A CN 116238500A CN 202310397874 A CN202310397874 A CN 202310397874A CN 116238500 A CN116238500 A CN 116238500A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003044 adaptive effect Effects 0.000 claims abstract description 14
- 230000005484 gravity Effects 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a control method of a vehicle and the vehicle with the same, and the control method of the vehicle comprises the following steps: s1, starting an adaptive cruise system of a vehicle; s2, judging whether a target vehicle exists in front of the vehicle; s3, if the judgment result of the step S2 is yes, controlling the self-adaptive cruise system to enter a distance control mode; s4, judging whether the vehicle runs to a downhill section or not; s5, if the judgment result of the step S4 is yes, calculating the deceleration required by the vehicle, and controlling a braking system of the vehicle to enable the vehicle to perform deceleration movement. According to the control method of the vehicle, the self-adaptive cruise system can control the speed of the vehicle more accurately when the vehicle follows a downhill road, and the distance between the vehicle and the target vehicle can be kept within a safe range, so that the running safety of the vehicle is ensured, and the use experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and a vehicle with the same.
Background
Adaptive cruise is an extended function of conventional constant speed cruising. In the speed cruising range required by the driver, the self-adaptive cruising system can automatically adjust the speed of the self-vehicle and keep a set safe distance from the front vehicle. The main purpose of self-adaptive cruising is to improve the comfort of driving, improve the fuel economy of the whole vehicle and reduce the abrasion of a braking system of the vehicle.
In the related art, a vehicle can stably follow a preceding vehicle when traveling on a straight road, and the vehicle speed and the vehicle distance can be controlled within a design range. However, when the vehicle follows a downhill road, because the vehicle can generate acceleration in the traveling direction of the ramp under the action of gravity, the speed of the vehicle is greater than the set speed, and then the distance between the vehicle and the front vehicle is smaller than the set safety distance, which is not beneficial to driving safety and the use experience of a driver. In addition, when the vehicle speed and the vehicle distance are not well controlled, panic of the driver and the passengers is also caused.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a vehicle control method, so that a vehicle speed control of a vehicle by a vehicle adaptive cruise system is more accurate when the vehicle follows a vehicle on a downhill road, and a distance between the vehicle and a target vehicle is ensured to be kept within a safe range, thereby ensuring running safety of the vehicle and improving use experience of a user.
Another object of the present invention is to propose a vehicle employing the control method of the above vehicle.
According to a first aspect of the present invention, a control method of a vehicle includes the steps of:
s1, starting an adaptive cruise system of the vehicle;
s2, judging whether a target vehicle exists in front of the vehicle;
s3, if the judgment result of the step S2 is yes, controlling the self-adaptive cruise system to enter a distance control mode;
s4, judging whether the vehicle runs to a downhill section or not;
s5, if the judgment result of the step S4 is yes, calculating the deceleration required by the vehicle, and controlling a braking system of the vehicle to enable the vehicle to perform deceleration movement.
According to the vehicle control method, the deceleration of the vehicle when the vehicle runs on the ramp is calculated, and the vehicle is controlled to perform deceleration movement on the downhill section, so that compared with a traditional vehicle, the vehicle speed control method of the vehicle is more accurate in control of the vehicle speed of the self-adaptive cruise system when the vehicle follows the vehicle on the downhill section, the distance between the vehicle and the target vehicle is ensured to be kept in a safe range, running safety of the vehicle is ensured, and use experience of a user is improved.
According to some embodiments of the invention, step S5 specifically comprises:
s51, measuring the gradient of the downhill road section through a gradient sensor, and calculating the gravity component of the vehicle according to the gradient;
s52, calculating the deceleration of the vehicle from the gravity component.
According to some embodiments of the invention, the absolute value of the deceleration is a sum of the absolute value of the deceleration of the vehicle before entering the downhill section and the gravity component.
According to some embodiments of the invention, before step S3 and after step S2, further comprises:
s3', if the judgment result of the step S2 is negative, controlling the self-adaptive cruise system to enter a constant-speed cruise mode.
According to some embodiments of the invention, step S5 further comprises:
s6, controlling the current speed of the vehicle so as to keep the distance between the vehicle and the target vehicle unchanged or increase.
According to some embodiments of the invention, a vehicle speed difference between a current vehicle speed of the vehicle and a vehicle speed of the target vehicle is Δv, the Δv satisfying: -2 km/h.ltoreq.DeltaV.ltoreq.2 km/h.
According to some embodiments of the invention, before step S2 and after step S1, further comprises:
s1', setting the speed and the workshop time of the vehicle.
According to some embodiments of the invention, the gradient sensor is provided on a gearbox of the vehicle.
According to an embodiment of the second aspect of the present invention, the vehicle employs the vehicle control method according to the embodiment of the first aspect of the present invention described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present invention.
Detailed Description
A control method of a vehicle according to an embodiment of the first aspect of the invention is described below with reference to fig. 1.
As shown in fig. 1, a control method of a vehicle according to an embodiment of a first aspect of the present invention includes the steps of:
s1, starting an adaptive cruise system of the vehicle. The self-adaptive cruise system can automatically adjust the speed of the vehicle, and enables the vehicle and the target vehicle to keep a safe distance under the current gear according to different gears set by a user. The self-adaptive cruise system is arranged on the vehicle, so that the driving comfort can be improved, meanwhile, according to the driving habits of different drivers, the self-adaptive cruise system can also improve the fuel economy of the whole vehicle, and therefore the abrasion to the braking system of the vehicle can be reduced, and the maintenance cost is reduced.
S2, judging whether a target vehicle exists in front of the vehicle. By judging whether the target vehicle is in front of the vehicle, the mode in which the adaptive cruise system of the vehicle operates can be made different, for example, when the target vehicle is in front of the vehicle, the vehicle needs to keep a safe distance from the target vehicle at all times so as to ensure the running safety of the vehicle and the safety of passengers, and the vehicle is required to be capable of automatically adjusting the vehicle distance at the moment.
And S3, if the judgment result of the step S2 is yes, controlling the adaptive cruise system to enter a distance control mode. Thus, the distance between the vehicle and the target vehicle can be controlled in real time by the distance control mode when the vehicle is running, so that the distance between the vehicle and the target vehicle is kept within the safety range.
S4, judging whether the vehicle runs to a downhill road section. When the vehicle runs on a downhill section, if the vehicle does not perform braking control, the gravity of the vehicle generates acceleration, so that the speed of the vehicle is increased, the distance between the vehicle and the target vehicle is reduced, and the driving safety is affected. In order to maintain the safe distance between the vehicle and the target vehicle, it is necessary to determine whether the vehicle is traveling to the downhill road side, so that the speed of the vehicle is controlled according to the determination result so that the vehicle distance between the vehicle and the target vehicle is maintained within the safe range.
S5, if the judgment result of the step S4 is yes, calculating the deceleration required by the vehicle, and controlling a braking system of the vehicle to enable the vehicle to perform deceleration movement. In order to keep a safe distance between the vehicle and the target vehicle, the vehicle needs to be decelerated in the downhill process, the speed of the vehicle is reduced by a certain deceleration through the braking of the braking system, the safe distance between the vehicle and the target vehicle is further kept, meanwhile, the vehicle speed needs to be continuously monitored, the distance between the vehicle and the target vehicle is kept within a set range, and the situation that the distance between the vehicle and the target vehicle is overlarge is avoided.
According to the vehicle control method, the deceleration of the vehicle when the vehicle runs on the ramp is calculated, and the vehicle is controlled to perform deceleration movement on the downhill section, so that compared with a traditional vehicle, the vehicle speed control method of the vehicle is more accurate in control of the vehicle speed of the self-adaptive cruise system when the vehicle follows the vehicle on the downhill section, the distance between the vehicle and the target vehicle is ensured to be kept in a safe range, running safety of the vehicle is ensured, and use experience of a user is improved.
According to some embodiments of the invention, step S5 specifically comprises:
s51, measuring the gradient of the downhill road section through a gradient sensor, and calculating the gravity component of the vehicle according to the gradient. Since the gravity of the vehicle is decomposed into a component in the traveling direction of the vehicle when the vehicle travels on a slope, the vehicle may generate acceleration for the traveling of the vehicle due to the component of gravity, which includes the gravity of the vehicle itself and the gravity of objects (including various articles and persons) carried on the vehicle. When the braking system on the ramp carries out braking control on the vehicle, the control on the speed of the vehicle can be more accurately realized by adding a gravity component during the speed calculation of the vehicle, and the overlarge running speed of the vehicle on the ramp is avoided, so that the distance between the vehicle and the target vehicle is prevented from being smaller than the set distance, and the distance between the vehicle and the target vehicle can be effectively controlled within a safety range.
The magnitude f=sinα×gq of the component force of gravity, where α is the angle between the ramp and the horizontal plane, g is the acceleration of gravity, and q is the weight of the vehicle.
S52, calculating the deceleration of the vehicle according to the gravity component. When the vehicle runs on the slope, the acceleration a=g=sin alpha caused by the gravity component is received by the vehicle due to the influence of gravity, and when the braking system needs to brake the vehicle, the deceleration is calculated according to the gravity component and the speed of the vehicle, so that the speed of the vehicle is regulated through the transmission, and the vehicle speed is equal to the set vehicle speed.
According to some embodiments of the invention, the absolute value of the deceleration is the sum of the absolute value of the deceleration of the vehicle before entering the downhill path and the gravity component. Specifically, since the vehicle has a deceleration before traveling on the entry ramp to increase the vehicle distance between the vehicle and the target vehicle, the vehicle distance can reach the set safe distance. When the vehicle runs on the ramp, the gravity component can cause the vehicle to generate acceleration on the ramp, if the gravity component is not added for calculation when the vehicle is braked, the speed of the vehicle is still greater than the set speed after the vehicle is braked, and the distance between the vehicle and the target vehicle is smaller than the set distance. Therefore, the action of the component of gravity is needed to be considered when the vehicle is braked, the absolute value of the deceleration of the vehicle when the vehicle brakes on the ramp is the sum of the absolute value of the deceleration before entering the downhill road section and the gravity component, so that the speed of the vehicle is controlled more accurately in a distance control mode, and the distance between the vehicle and the target vehicle is ensured to be kept within a safe distance range.
According to some embodiments of the invention, before step S3 and after step S2, further comprises:
s3', if the judgment result of the step S2 is negative, controlling the self-adaptive cruise system to enter a constant-speed cruise mode. At this time, no target vehicle is in front of the vehicle, and the vehicle does not need to control the distance and the speed immediately, that is, the adaptive cruise system of the vehicle can enter a constant-speed cruise mode, so that the vehicle can run at a constant speed.
According to some embodiments of the invention, step S5 further comprises:
s6, controlling the current speed of the vehicle so as to keep the distance between the vehicle and the target vehicle unchanged or increase. At this time, the braking system brakes the vehicle, and the distance between the vehicle and the target vehicle is within the safe distance, so that the vehicle speed of the vehicle is continuously controlled in order to ensure the driving safety of the adaptive cruise system during driving, and the vehicle speed of the target vehicle is prevented from suddenly slowing down to reduce the vehicle distance.
According to some embodiments of the invention, a vehicle speed difference between a current vehicle speed of the vehicle and a vehicle speed of the target vehicle is Δv, Δv satisfying: -2 km/h.ltoreq.DeltaV.ltoreq.2 km/h. When the vehicle distance between the vehicle and the target vehicle is to be kept within a certain range, the current speed of the vehicle and the speed of the target vehicle cannot be excessively different, otherwise, the vehicle distance between the vehicle and the target vehicle can be reduced to influence the driving safety; or the current speed of the vehicle is too small, so that the running time of the vehicle is prolonged, and the travel arrangement of passengers is influenced. Therefore, the speed difference between the current speed of the vehicle and the speed of the target vehicle is within +/-2 km/h, and the safe distance between vehicles and the normal running of the vehicles can be ensured.
According to some embodiments of the invention, before step S2 and after step S1, further comprises:
s1', setting the speed and the workshop time of the vehicle. Specifically, the adaptive cruise control system includes a time switch having five gear positions, each gear position having a number of seconds. When the vehicle needs to be kept at a certain distance from the target vehicle, the kept distance is the length of the distance obtained by multiplying the current speed of the vehicle by the number of seconds from the switch gear when the vehicle is running. Before driving, the driver can adjust the time switch to a required gear, and in the driving process, the self-adaptive cruise system can adjust the vehicle distance and the vehicle speed according to the gear of the time switch after entering the distance control mode.
According to some embodiments of the invention, the gradient sensor is provided on a gearbox of the vehicle. The gradient sensor can sense the gradient of the ramp where the vehicle is located, so that gradient information is transmitted to the adaptive cruise system, and the adaptive cruise system carries out adaptive speed adjustment according to the ramp where the vehicle is located. Since the gearbox is generally arranged at the front part of the vehicle, the front part of the vehicle enters a downhill road section when the vehicle runs, and whether the vehicle runs to the downhill road section can be quickly judged by arranging the gradient sensor on the gearbox, so that the current speed of the vehicle can be quickly regulated.
According to the vehicle of the embodiment of the second aspect of the present invention, the vehicle employs the vehicle control method according to the embodiment of the first aspect of the present invention described above.
According to the vehicle provided by the embodiment of the invention, the vehicle speed can be controlled more accurately by adopting the control method, so that the vehicle separation between the vehicle and the target vehicle is in a safety range when the vehicle runs on a downhill road section, the safety of the vehicle is ensured, and the use experience of a user is improved.
Other components and operations of a vehicle according to embodiments of the invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the term "lower" or the like is based on the orientation or positional relationship shown in the drawings, only for convenience of description and simplification of the description, and is not indicative or implying that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A control method of a vehicle, characterized by comprising the steps of:
s1, starting an adaptive cruise system of the vehicle;
s2, judging whether a target vehicle exists in front of the vehicle;
s3, if the judgment result of the step S2 is yes, controlling the self-adaptive cruise system to enter a distance control mode;
s4, judging whether the vehicle runs to a downhill section or not;
s5, if the judgment result of the step S4 is yes, calculating the deceleration required by the vehicle, and controlling a braking system of the vehicle to enable the vehicle to perform deceleration movement.
2. The control method of a vehicle according to claim 1, characterized in that step S5 specifically includes:
s51, measuring the gradient of the downhill road section through a gradient sensor, and calculating the gravity component of the vehicle according to the gradient;
s52, calculating the deceleration of the vehicle from the gravity component.
3. The control method of a vehicle according to claim 2, characterized in that the absolute value of the deceleration is a sum of the absolute value of the deceleration of the vehicle before entering the downhill section and the gravitational component.
4. The control method of a vehicle according to claim 1, characterized by further comprising, before step S3 and after step S2:
s3', if the judgment result of the step S2 is negative, controlling the self-adaptive cruise system to enter a constant-speed cruise mode.
5. The control method of a vehicle according to claim 1, characterized by further comprising, after step S5:
s6, controlling the current speed of the vehicle so as to keep the distance between the vehicle and the target vehicle unchanged or increase.
6. The control method of the vehicle according to claim 5, characterized in that a vehicle speed difference between a current vehicle speed of the vehicle and a vehicle speed of the target vehicle is Δv, the Δv satisfying: -2 km/h.ltoreq.DeltaV.ltoreq.2 km/h.
7. The control method of a vehicle according to any one of claims 1 to 6, characterized by further comprising, before step S2 and after step S1:
s1', setting the speed and the workshop time of the vehicle.
8. The control method of a vehicle according to claim 2, characterized in that the gradient sensor is provided on a transmission of the vehicle.
9. A vehicle characterized in that the vehicle employs the vehicle control method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310397874.4A CN116238500A (en) | 2023-04-14 | 2023-04-14 | Control method of vehicle and vehicle with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310397874.4A CN116238500A (en) | 2023-04-14 | 2023-04-14 | Control method of vehicle and vehicle with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116238500A true CN116238500A (en) | 2023-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310397874.4A Pending CN116238500A (en) | 2023-04-14 | 2023-04-14 | Control method of vehicle and vehicle with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116238500A (en) |
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2023
- 2023-04-14 CN CN202310397874.4A patent/CN116238500A/en active Pending
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