Vehicle speed control method, device, equipment and storage medium

Abstract

The invention discloses a vehicle speed control method, device, equipment and storage medium. The method runs a simulation model through an engine simulation platform, sends a sensor signal to an engine controller according to the simulation model, and receives a control signal from an ECU controller; reads and writes control variables of the engine controller and simulation variables of the engine simulation platform by a host computer using a calibration measurement tool; controls a load box to perform corresponding actions according to the sensor signal and the control signal, collects actuator state information, determines engine adjustment parameters according to the actuator state information, the control variables and the simulation variables, and controls the speed of the current vehicle according to the engine adjustment parameters, thereby realizing vehicle speed control under different road conditions, reducing test costs and actual vehicle test risks, reducing safety hazards, improving the accuracy of vehicle speed control, and improving the speed and efficiency of vehicle speed control.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic control testing, and in particular to a vehicle speed control method, device, equipment and storage medium. Background Art

[0002] With the rapid increase in the number of cars around the world, road safety has become a social issue that has received increasing attention. A series of studies at home and abroad have shown that the most important factor affecting road traffic safety is speeding; studies have shown that as the speed of a vehicle increases, the probability of a traffic accident increases rapidly; therefore, it is necessary to increase the function of limiting the vehicle speed; in order for the electronic control unit to limit the vehicle speed, it must first accurately obtain the vehicle's speed, and on this basis, combine other factors to strengthen the control of the engine fuel supply system, and more flexibly control the engine's power output, thereby achieving the ideal effect of limiting the vehicle's speed.

[0003] The existing electronic speed control method usually requires verification of the speed control on a real vehicle, and it is necessary to verify whether the vehicle speed can be limited within the set range under different working conditions. It has the following disadvantages: the safety of the tester cannot be guaranteed when testing the extreme speed on a real vehicle; different road environments are required, which is inconvenient for testing; and speed control is more dangerous under simulated sensor failure conditions. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle speed control method, device, equipment and storage medium, aiming to solve the technical problems in the prior art that actual test cannot guarantee the safety of testers, the testing process is cumbersome, requires cooperation in different road environments, and the vehicle speed control accuracy is low when the sensor fails, making the vehicle dangerous.

[0005] In a first aspect, the present invention provides a vehicle speed control method, the vehicle speed control method comprising the following steps:

[0006] Running the simulation model through the engine simulation platform, sending sensor signals to the engine controller according to the simulation model, and receiving control signals from the ECU controller;

[0007] Using a calibration measurement tool on a host computer, the control variables of the engine controller and the simulation variables of the engine simulation platform are read and written;

[0008] The load box is controlled to perform corresponding actions according to the sensor signal and the control signal, actuator status information is collected, engine adjustment parameters are determined according to the actuator status information, the control variables and the simulation variables, and the speed of the current vehicle is controlled according to the engine adjustment parameters.

[0009] Optionally, the running of the simulation model through the engine simulation platform, sending a sensor signal to the engine controller according to the simulation model, and receiving a control signal from the ECU controller includes:

[0010] Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform;

[0011] The engine model in the simulation model collects sensor signals from the engine controller and receives control signals from the ECU controller.

[0012] Optionally, collecting sensor signals from an engine controller according to the engine model in the simulation model and receiving control signals from an ECU controller includes:

[0013] The engine model in the simulation model responds to the control command of the engine controller to work and outputs the simulation speed to the vehicle model;

[0014] The simulated vehicle speed is calculated by the vehicle model according to the simulated rotation speed and the environmental parameters of the environmental model, the simulated vehicle speed is used as a sensor signal, and a control signal of an ECU controller is received.

[0015] Optionally, the reading and writing of the control variables of the engine controller and the simulation variables of the engine simulation platform by a host computer using a calibration measurement tool includes:

[0016] Conducting real-time observation of control variables of the engine controller and simulation variables of the engine simulation platform;

[0017] The observed control variables and simulation variables are read and written by a host computer using a calibration measurement tool.

[0018] Optionally, controlling the load box to perform corresponding actions according to the sensor signal and the control signal, collecting actuator state information, determining an engine adjustment parameter according to the actuator state information, the control variable and the simulation variable, and controlling the speed of the current vehicle according to the engine adjustment parameter includes:

[0019] According to the sensor signal and the control signal, the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled to perform corresponding actions, and the actuator status information is collected;

[0020] Adjust the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain the engine adjustment parameter;

[0021] The vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

[0022] Optionally, controlling the speed of the current vehicle according to the engine adjustment parameter includes:

[0023] Determine whether the current vehicle is in a stable idling state and obtain a determination result;

[0024] When the judgment result is that the current vehicle is in a stable idle state, obtaining a current vehicle speed, and judging whether the current vehicle speed meets a preset vehicle speed requirement;

[0025] When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed of the current vehicle is controlled according to the engine adjustment parameter.

[0026] Optionally, when the current vehicle speed does not meet the preset vehicle speed requirement, controlling the vehicle speed of the current vehicle according to the engine adjustment parameter includes:

[0027] When the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain an adjusted engine output speed and engine output torque;

[0028] The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

[0029] In a second aspect, in order to achieve the above-mentioned object, the present invention further provides a vehicle speed control device, the vehicle speed control device comprising:

[0030] A simulation module, used to run a simulation model through an engine simulation platform, send sensor signals to an engine controller according to the simulation model, and receive control signals from an ECU controller;

[0031] A variable reading module, used to read and write control variables of the engine controller and simulation variables of the engine simulation platform through a host computer using a calibration measurement tool;

[0032] The vehicle speed control module is used to control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator status information, determine the engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and control the vehicle speed of the current vehicle according to the engine adjustment parameters.

[0033] In the third aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a vehicle speed control device, which includes: a memory, a processor, and a vehicle speed control program stored in the memory and executable on the processor, and the vehicle speed control program is configured to implement the steps of the vehicle speed control method described above.

[0034] In a fourth aspect, in order to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a vehicle speed control program is stored, and when the vehicle speed control program is executed by a processor, the steps of the vehicle speed control method as described above are implemented.

[0035] The vehicle speed control method proposed in the present invention runs a simulation model through an engine simulation platform, sends a sensor signal to an engine controller according to the simulation model, and receives a control signal from an ECU controller; reads and writes the control variables of the engine controller and the simulation variables of the engine simulation platform through a host computer using a calibration measurement tool; controls the load box to perform corresponding actions according to the sensor signal and the control signal, collects actuator status information, determines engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and controls the speed of the current vehicle according to the engine adjustment parameters, so as to more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the whole vehicle, realizing speed control under different road conditions, reducing the test cost, realizing the test of the extreme speed, reducing the risk of actual vehicle testing, and realizing the speed control test under the fault state of the speed sensor, reducing safety hazards, improving the accuracy of speed control, and improving the speed and efficiency of speed control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0037] Figure 2 It is a flow chart of a first embodiment of a vehicle speed control method of the present invention;

[0038] Figure 3 It is a schematic diagram of the test system in the vehicle speed control method of the present invention;

[0039] Figure 4 It is a schematic diagram of the structure of the simulation platform in the vehicle speed control method of the present invention;

[0040] Figure 5 It is a flow chart of a second embodiment of a vehicle speed control method of the present invention;

[0041] Figure 6 It is a flow chart of a third embodiment of a vehicle speed control method of the present invention;

[0042] Figure 7 It is a schematic diagram of the simulation model structure in the vehicle speed control method;

[0043] Figure 8 A schematic flow chart of a fourth embodiment of a vehicle speed control method according to the present invention;

[0044] Fig. 9It is a schematic diagram of the structure of the upper computer in the vehicle speed control method of the present invention;

[0045] Fig.10 A schematic flow chart of a fifth embodiment of a vehicle speed control method according to the present invention;

[0046] Fig.11 It is a schematic diagram of engine model signal transmission in the vehicle speed control method of the present invention;

[0047] Fig.12 It is a flowchart of a sixth embodiment of a vehicle speed control method of the present invention;

[0048] Fig.13 It is a flow chart of vehicle speed control test in the vehicle speed control method of the present invention;

[0049] Fig.14 It is a functional module diagram of the first embodiment of the vehicle speed control device of the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0052] The solution of the embodiment of the present invention is mainly: running the simulation model through the engine simulation platform, sending the sensor signal to the engine controller according to the simulation model, and receiving the control signal of the ECU controller; reading and writing the control variable of the engine controller and the simulation variable of the engine simulation platform by the upper computer using the calibration measurement tool; controlling the load box to perform corresponding actions according to the sensor signal and the control signal, collecting the actuator state information, determining the engine adjustment parameter according to the actuator state information, the control variable and the simulation variable, and controlling the speed of the current vehicle according to the engine adjustment parameter, which can more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the whole vehicle, realizing the speed control under different road conditions, reducing the test cost, realizing the test of the extreme speed, reducing the risk of actual vehicle testing, and realizing the speed control test under the fault state of the speed sensor, reducing the safety hazards, improving the accuracy of the speed control, and improving the speed and efficiency of the speed control, solving the technical problems that the actual test in the prior art cannot ensure the safety of the test personnel, the test process is cumbersome, and different road environments need to cooperate, and the speed control accuracy is low when the sensor fails, making the vehicle dangerous.

[0053] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0054] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (Non-Volatile Memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0056] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating device, a network communication module, a user interface module and a vehicle speed control program.

[0057] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0058] Running the simulation model through the engine simulation platform, sending sensor signals to the engine controller according to the simulation model, and receiving control signals from the ECU controller;

[0059] Using a calibration measurement tool on a host computer, the control variables of the engine controller and the simulation variables of the engine simulation platform are read and written;

[0060] The load box is controlled to perform corresponding actions according to the sensor signal and the control signal, actuator status information is collected, engine adjustment parameters are determined according to the actuator status information, the control variables and the simulation variables, and the speed of the current vehicle is controlled according to the engine adjustment parameters.

[0061] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0062] Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform;

[0063] The engine model in the simulation model collects sensor signals from the engine controller and receives control signals from the ECU controller.

[0064] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0065] The engine model in the simulation model responds to the control command of the engine controller to work and outputs the simulation speed to the vehicle model;

[0066] The simulated vehicle speed is calculated by the vehicle model according to the simulated rotation speed and the environmental parameters of the environmental model, the simulated vehicle speed is used as a sensor signal, and a control signal of an ECU controller is received.

[0067] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0068] Conducting real-time observation of control variables of the engine controller and simulation variables of the engine simulation platform;

[0069] The observed control variables and simulation variables are read and written by a host computer using a calibration measurement tool.

[0070] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0071] According to the sensor signal and the control signal, the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled to perform corresponding actions, and the actuator status information is collected;

[0072] Adjust the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain the engine adjustment parameter;

[0073] The vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

[0074] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0075] Determine whether the current vehicle is in a stable idling state and obtain a determination result;

[0076] When the judgment result is that the current vehicle is in a stable idle state, obtaining a current vehicle speed, and judging whether the current vehicle speed meets a preset vehicle speed requirement;

[0077] When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed of the current vehicle is controlled according to the engine adjustment parameter.

[0078] The device of the present invention calls the vehicle speed control program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0079] When the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain an adjusted engine output speed and engine output torque;

[0080] The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

[0081] Through the above scheme, this embodiment runs the simulation model through the engine simulation platform, sends sensor signals to the engine controller according to the simulation model, and receives control signals from the ECU controller; reads and writes control variables of the engine controller and simulation variables of the engine simulation platform through the upper computer using a calibration measurement tool; controls the load box to perform corresponding actions according to the sensor signals and the control signals, collects actuator status information, determines engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and controls the speed of the current vehicle according to the engine adjustment parameters, which can more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the whole vehicle, and can realize speed control under different road conditions, reduce testing costs, realize the test of extreme speeds, reduce the risk of actual vehicle testing, and realize speed control testing under the fault state of the speed sensor, reduce safety hazards, improve the accuracy of speed control, and improve the speed and efficiency of speed control.

[0082] Based on the above hardware structure, an embodiment of the vehicle speed control method of the present invention is proposed.

[0083] Reference Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a vehicle speed control method according to the present invention.

[0084] In a first embodiment, the vehicle speed control method comprises the following steps:

[0085] Step S10: running the simulation model through the engine simulation platform, sending sensor signals to the engine controller according to the simulation model, and receiving control signals from the ECU controller.

[0086] It should be noted that the engine simulation platform can be used to run the simulation model, and then send sensor signals to the engine controller according to the simulation model, and receive control signals from the Electronic Control Unit (ECU) controller.

[0087] Step S20: reading and writing the control variables of the engine controller and the simulation variables of the engine simulation platform by using a calibration measurement tool on a host computer.

[0088] It is understandable that the control variables of the engine controller and the simulation variables of the engine simulation platform can be read and written by the host computer using the calibration measurement tool.

[0089] Step S30, controlling the load box to perform corresponding actions according to the sensor signal and the control signal, collecting actuator state information, determining engine adjustment parameters according to the actuator state information, the control variables and the simulation variables, and controlling the speed of the current vehicle according to the engine adjustment parameters.

[0090] It should be understood that the load box may include a real load, and perform corresponding actions according to the control signal of the engine simulation platform, so as to collect feedback actuator status information; and the engine controller writes a control program, that is, controls the load box to perform corresponding actions through the sensor signal and the control signal, and can collect actuator status information, and then determine the engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and control the speed of the current vehicle according to the engine adjustment parameters, which can reduce the risk of actual vehicle testing, ensure test safety, and at the same time reduce costs and shorten the development cycle.

[0091] In the specific implementation, Figure 3 As shown, Figure 3 This is a schematic diagram of the test system in the vehicle speed control method of the present invention. The test system for vehicle speed control can be found in Figure 3 As shown, the engine simulation platform is connected to the host computer, the engine controller and the load box respectively, and the host computer is connected to the controller through a calibration measurement tool.

[0092] like Figure 4 As shown, Figure 4 This is a schematic diagram of the simulation platform structure in the vehicle speed control method of the present invention, see Figure 4As shown, the platform is based on the DS1006 platform. The DS1006 platform is a hardware and software product developed by dSPACE. It consists of a real-time processor, a DS2211 IO board, a programmable power supply, an engine and a vehicle model. The DS2211 board is used to connect the physical input and output signals of the engine controller. The real-time processor is used to run the physical model in the ds1006 platform. The programmable power supply is used to power the engine controller to meet the power supply voltage requirements of the engine controller.

[0093] Through the above scheme, this embodiment runs the simulation model through the engine simulation platform, sends sensor signals to the engine controller according to the simulation model, and receives control signals from the ECU controller; reads and writes control variables of the engine controller and simulation variables of the engine simulation platform through the upper computer using a calibration measurement tool; controls the load box to perform corresponding actions according to the sensor signals and the control signals, collects actuator status information, determines engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and controls the speed of the current vehicle according to the engine adjustment parameters, which can more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the whole vehicle, and can realize speed control under different road conditions, reduce testing costs, realize the test of extreme speeds, reduce the risk of actual vehicle testing, and realize speed control testing under the fault state of the speed sensor, reduce safety hazards, improve the accuracy of speed control, and improve the speed and efficiency of speed control.

[0094] Further, Figure 5 FIG. 2 is a flow chart of a second embodiment of a vehicle speed control method according to the present invention. Figure 5 As shown, a second embodiment of the vehicle speed control method of the present invention is proposed based on the first embodiment. In this embodiment, the step S10 specifically includes the following steps:

[0095] Step S11: running the engine model, vehicle model and environment model in the simulation model through the engine simulation platform.

[0096] It should be noted that the simulation model includes an engine model, a vehicle model and an environmental model, and the engine model, vehicle model and environmental model in the simulation model can be run through the engine simulation platform.

[0097] In the specific implementation, the engine model includes an engine sub-model, a sensor signal processing sub-model, an actuator signal processing sub-model and a CAN communication sub-model, which can simulate the working process of the engine and calculate the engine speed; the environmental model includes a driver model and a road model, which are used to simulate the driver's operation and set road environmental conditions; the vehicle model includes a transmission model and a vehicle speed calculation model, which can calculate the current vehicle speed.

[0098] Step S12: collecting sensor signals from the engine controller according to the engine model in the simulation model, and receiving control signals from the ECU controller.

[0099] It should be understood that, according to the engine model in the simulation model, sensor signals can be collected from the engine controller, and control signals from the ECU controller can be received.

[0100] Through the above scheme, this embodiment runs the engine model, vehicle model and environment model in the simulation model through the engine simulation platform; collects sensor signals from the engine controller according to the engine model in the simulation model, and receives control signals from the ECU controller, so as to quickly obtain sensor signals and control signals, and more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the entire vehicle.

[0101] Further, Figure 6 FIG. 1 is a flow chart of a third embodiment of a vehicle speed control method according to the present invention. Figure 6 As shown, a third embodiment of the vehicle speed control method of the present invention is proposed based on the second embodiment. In this embodiment, the step S12 specifically includes the following steps:

[0102] Step S121: The engine model in the simulation model responds to the control command of the engine controller to operate and outputs the simulated speed to the vehicle model.

[0103] It should be noted that the engine model works according to the control command of the engine controller and outputs the rotation speed to the vehicle model, that is, the engine model in the simulation model responds to the control command of the engine controller and works, and outputs the simulated rotation speed to the vehicle model.

[0104] Step S122: Calculate the simulated vehicle speed according to the simulated rotation speed and the environmental parameters of the environmental model through the vehicle model, use the simulated vehicle speed as a sensor signal, and receive a control signal from an ECU controller.

[0105] It can be understood that the vehicle model calculates the current vehicle speed according to the engine speed and environmental conditions, that is, obtains the simulated vehicle speed, and then uses the simulated vehicle speed as a sensor signal and receives a control signal from the ECU controller.

[0106] In the specific implementation, Figure 7 As shown, Figure 7 This is a schematic diagram of the simulation model structure in the vehicle speed control method, see Figure 7, including engine model, vehicle model and environmental model. The engine model works according to the control command of the engine controller and outputs the speed to the vehicle model. The vehicle model then calculates the current vehicle speed according to the engine speed and environmental conditions, and feeds the speed back to the engine controller to form a closed loop, in which the engine model is used to simulate the engine working process.

[0107] Through the above scheme, this embodiment operates by the engine model in the simulation model in response to the control command of the engine controller, and outputs the simulated speed to the vehicle model; the vehicle model calculates the simulated vehicle speed according to the simulated speed and the environmental parameters of the environmental model, uses the simulated vehicle speed as a sensor signal, and receives the control signal of the ECU controller, so as to quickly obtain the sensor signal and the control signal, and can more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the entire vehicle.

[0108] Further, Figure 8 FIG. 4 is a flow chart of a fourth embodiment of a vehicle speed control method according to the present invention. Figure 8 As shown, a fourth embodiment of the vehicle speed control method of the present invention is proposed based on the first embodiment. In this embodiment, step S20 specifically includes the following steps:

[0109] Step S21: observe the control variables of the engine controller and the simulation variables of the engine simulation platform in real time.

[0110] It should be noted that the control variables of the engine controller and the simulation variables of the engine simulation platform are observed in real time.

[0111] Step S22: using a calibration measurement tool on a host computer to read and write the observed control variables and simulation variables.

[0112] It should be understood that the host computer can use a calibration measurement tool to read and write the observed control variables and simulation variables.

[0113] In the specific implementation, Fig. 9 As shown, Fig. 9 This is a schematic diagram of the upper computer structure in the vehicle speed control method of the present invention, see Fig. 9, ControlDesk software for real-time change of model parameters and observation variables, MATLAB / Simulink software for modeling, and INCA software for engine controller calibration and measurement; ControlDesk software is used to write values ​​to the parameters of the engine and vehicle models and read the variables of the engine and vehicle models for observation; MATLAB / Simulink software is used to build engine and vehicle models and their sub-models; calibration and measurement software INCA software is used to observe the calibration variables and measurement variables in the engine controller, and to grasp the operating status of each variable in the controller in real time; the load box fixes all the main engine actuators including the injector section, fuel metering unit, throttle and EGR valve in a box through a bracket, and the pins of the solenoid valve are connected to the wiring harness and then connected to the simulation platform through the DS2211 board.

[0114] The software running on the simulation platform is a model built by software matlab / simulink, which is compiled and downloaded to the ds1006 board through ControlDesk software. Through the above scheme, this embodiment can observe the control variables of the engine controller and the simulation variables of the engine simulation platform in real time; the host computer uses a calibration measurement tool to read and write the observed control variables and simulation variables, so as to more flexibly control the power output of the engine, thereby achieving the ideal effect of vehicle speed limit, realizing vehicle speed control under different road conditions, reducing the test cost, and improving the accuracy of vehicle speed control.

[0115] Through the above scheme, this embodiment can realize vehicle speed control under different road conditions by real-time observation of the control variables of the engine controller and the simulation variables of the engine simulation platform, and read and write the observed control variables and simulation variables through the upper computer using a calibration measurement tool, thereby reducing the test cost, realizing the test of the extreme vehicle speed, and reducing the risk of actual vehicle testing.

[0116] Further, Fig.10 FIG. 5 is a flow chart of a fifth embodiment of a vehicle speed control method according to the present invention. Fig.10 As shown, a fifth embodiment of the vehicle speed control method of the present invention is proposed based on the first embodiment. In this embodiment, step S30 specifically includes the following steps:

[0117] Step S31, controlling the fuel injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collecting actuator status information.

[0118] It should be noted that the load box generally includes the real load of the injector, the fuel metering valve, the throttle valve (TVA) valve and the exhaust gas recirculation (EGR) valve. The injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled by the sensor signal and the control signal to perform corresponding actions, thereby collecting the actuator status information.

[0119] Step S32: adjusting the engine controller calibration quantity according to the actuator state information, the control variable and the simulation variable to obtain the engine adjustment parameter.

[0120] It should be understood that the calibration quantity preset by the engine controller can be quickly adjusted through the actuator state information, the control variable and the simulation variable, so that the adjusted engine adjustment parameters can be obtained.

[0121] Step S33: controlling the speed of the current vehicle according to the engine adjustment parameters.

[0122] It can be understood that the speed of the current vehicle can be controlled by adjusting the engine parameters.

[0123] In the specific implementation, Fig.11 As shown, Fig.11 This is a schematic diagram of the engine model signal transmission in the vehicle speed control method of the present invention, see Fig.11 The engine sub-model receives the control signals of the injector, fuel metering unit, EGR valve and throttle input by the actuator signal processing sub-model, and outputs the rail pressure, crankshaft, camshaft and temperature pressure signals to the engine controller through the sensor signal processing sub-model. The CAN signal processing sub-model realizes the communication between the engine controller and the external device; the vehicle model includes the transmission system model and the vehicle dynamics model, wherein the transmission system model is a longitudinal vehicle transmission model used to transfer the engine output torque to the wheels, and the vehicle dynamics model is used to calculate the external load torque and calculate the final vehicle speed, and output it to the engine controller; the environmental model includes two parts: the road module and the output driver model. The road model is mainly used to set the road environment such as temperature, pressure and slope, as well as different altitude environments, and output them to the vehicle model. The driver model can simulate driving operations such as stepping on the accelerator and braking, and output them to the engine model.

[0124] Through the above scheme, this embodiment controls the injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collects actuator status information; adjusts the engine controller calibration according to the actuator status information, the control variable and the simulation variable to obtain the engine adjustment parameter; controls the speed of the current vehicle according to the engine adjustment parameter, and can more flexibly control the power output of the engine, so as to achieve the ideal effect of limiting the speed of the whole vehicle, and can realize speed control under different road conditions, reduce the test cost, realize the test of the extreme speed, reduce the risk of actual vehicle testing, and realize the speed control test under the fault state of the speed sensor, reduce safety hazards, improve the accuracy of speed control, and improve the speed and efficiency of speed control.

[0125] Further, Fig.12 FIG. 6 is a flow chart of a sixth embodiment of a vehicle speed control method according to the present invention. Fig.12 As shown, a sixth embodiment of the vehicle speed control method of the present invention is proposed based on the fifth embodiment. In this embodiment, the step S33 specifically includes the following steps:

[0126] Step S331, determine whether the current vehicle is in a stable idle state, and obtain a determination result.

[0127] It should be noted that before controlling the speed of the current vehicle according to the engine adjustment parameters, it is necessary to first determine the current state of the current vehicle, that is, determine whether the current vehicle is in a stable idle state, and obtain a corresponding determination result.

[0128] Step S332: when the judgment result is that the current vehicle is in a stable idle state, obtain the current vehicle speed and judge whether the current vehicle speed meets the preset vehicle speed requirement.

[0129] It can be understood that when the judgment result is that the current vehicle is in a stable idle state, the current vehicle speed can be obtained, that is, acceleration can be performed after judging whether the idle speed can be stabilized, and then the vehicle speed is read to further judge whether the current vehicle speed meets the pre-set preset speed requirement.

[0130] Step S333: When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed of the current vehicle is controlled according to the engine adjustment parameter.

[0131] It should be understood that when the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed of the current vehicle can be controlled according to the engine adjustment parameters.

[0132] Furthermore, the step S333 specifically includes the following steps:

[0133] When the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain an adjusted engine output speed and engine output torque;

[0134] The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

[0135] It can be understood that when the current vehicle speed does not meet the preset vehicle speed requirement, the engine of the current vehicle is adjusted according to the engine adjustment parameters to obtain the adjusted engine output speed and engine output torque, and then the vehicle speed is controlled according to the output speed and torque.

[0136] In the specific implementation, Fig.13 As shown, Fig.13 This is a flow chart of the vehicle speed control test in the vehicle speed control method of the present invention, see Fig.13 First, power on the engine controller through the ControlDesk software in the host computer, then turn the key to the engine ignition position and start the engine. If the speed cannot be stabilized, check whether the synchronization signal of the EECU is correct through the INCA software in the host computer, otherwise check the camshaft crankshaft signal; if the speed can be stabilized, compare the injection signal (including timing and pulse width) and idle speed fed back in the ControlDesk of the host computer with the target value of the EECU in INCA of the host computer. If they are consistent, the idle speed is normal, otherwise the injection signal needs to be checked; after normal idling, the road and environmental conditions, such as ambient temperature, pressure and slope, can be set through the ControlDesk software. Then perform driving operations such as stepping on the accelerator and shifting gears; after receiving the signals input from the accelerator and other sensor sub-modules, the engine controller calculates the required intake and fuel injection amounts according to the current working conditions, drives the real load to work, and then the ds2211 board collects the load electrical signals, passes through the actuator sub-signal processing module, and inputs them to the model to calculate the current vehicle speed. At the same time, the vehicle speed is fed back to the engine controller through the CAN signal module; read the target speed of the controller in the upper computer INCA software and compare it with the speed fed back by the model. If the actual speed is inconsistent with the target speed, first check the observed quantity related to the engine controller speed, then check the actuator and sensor signals, and readjust the calibration quantity if necessary; then retest until the actual speed meets the target speed requirement and the test ends.

[0137] After powering on, starting the engine and entering normal idle, any given road condition, then shifting gears, stepping on the accelerator, the vehicle enters the driving state, and the speed quickly increases to the pre-speed limit threshold VH (VH≈Vmax-10), at which time it will enter the pre-speed limit state; in the pre-speed limit state, continue to step on the accelerator, the vehicle speed continues to increase, but the increase is slow, gradually approaching the maximum speed Vmax, if the vehicle speed can be stabilized at the maximum speed, the test passes, otherwise it fails; re-enter the pre-speed limit state, step on the accelerator to make the vehicle speed greater than the maximum speed, immediately release the accelerator, the vehicle speed decreases, and after it stabilizes, step on the accelerator to the bottom again, so that the vehicle speed is greater than the maximum speed. If the vehicle speed is stabilized at the maximum speed, the test passes, otherwise it fails; through this test platform, different road environments can be simulated, the speed control strategy can be verified, and the number of actual vehicle tests can be reduced. In addition, tests under extreme working conditions can be carried out to reduce the risks of actual vehicle testing and greatly improve safety. In actual use, the quality of the vehicle speed sensor is crucial. Once the sensor fails, it will affect the normal operation of the engine ECU. Through this test platform, the sensor failure state can also be simulated through messages to test the control of vehicle speed under the failure state.

[0138] Through the above scheme, this embodiment obtains a judgment result by judging whether the current vehicle is in a stable idle state; when the judgment result is that the current vehicle is in a stable idle state, the current vehicle speed is obtained to judge whether the current vehicle speed meets the preset vehicle speed requirement; when the current vehicle speed does not meet the preset vehicle speed requirement, the speed of the current vehicle is controlled according to the engine adjustment parameters, which can realize speed control under different road conditions, reduce the testing cost, realize the test of the extreme vehicle speed, reduce the risk of actual vehicle testing, and realize the speed control test under the speed sensor failure state, reduce safety hazards, improve the accuracy of speed control, and improve the speed and efficiency of speed control.

[0139] Accordingly, the present invention further provides a vehicle speed control device.

[0140] Reference Fig.14 , Fig.14 It is a functional module diagram of the first embodiment of the vehicle speed control device of the present invention.

[0141] In a first embodiment of the vehicle speed control device of the present invention, the vehicle speed control device comprises:

[0142] The simulation module 10 is used to run the simulation model through the engine simulation platform, send sensor signals to the engine controller according to the simulation model, and receive control signals from the ECU controller.

[0143] The variable reading module 20 is used to read and write the control variables of the engine controller and the simulation variables of the engine simulation platform through the host computer using a calibration measurement tool.

[0144] The vehicle speed control module 30 is used to control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator status information, determine the engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and control the vehicle speed of the current vehicle according to the engine adjustment parameters.

[0145] The simulation module 10 is also used to run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform; collect sensor signals from the engine controller according to the engine model in the simulation model, and receive control signals from the ECU controller.

[0146] The simulation module 10 is also used to respond to the control command of the engine controller through the engine model in the simulation model to work, and output the simulated speed to the vehicle model; calculate the simulated vehicle speed through the vehicle model according to the simulated speed and the environmental parameters of the environmental model, use the simulated vehicle speed as a sensor signal, and receive the control signal of the ECU controller.

[0147] The variable reading module 20 is also used to observe the control variables of the engine controller and the simulation variables of the engine simulation platform in real time; the observed control variables and simulation variables are read and written by the host computer using a calibration measurement tool.

[0148] The vehicle speed control module 30 is also used to control the injector, fuel metering valve, TVA valve and EGR valve of the load box to perform corresponding actions according to the sensor signal and the control signal, and collect actuator status information; adjust the engine controller calibration according to the actuator status information, the control variable and the simulation variable to obtain the engine adjustment parameter; and control the vehicle speed of the current vehicle according to the engine adjustment parameter.

[0149] The vehicle speed control module 30 is also used to determine whether the current vehicle is in a stable idle state and obtain a determination result; when the determination result is that the current vehicle is in a stable idle state, obtain the current vehicle speed and determine whether the current vehicle speed meets the preset vehicle speed requirement; when the current vehicle speed does not meet the preset vehicle speed requirement, control the speed of the current vehicle according to the engine adjustment parameters.

[0150] The vehicle speed control module 30 is also used to adjust the engine of the current vehicle according to the engine adjustment parameters to obtain the adjusted engine output speed and engine output torque when the current vehicle speed does not meet the preset vehicle speed requirement; and control the vehicle speed of the current vehicle according to the engine output speed and the engine output torque.

[0151] Among them, the steps implemented by each functional module of the vehicle speed control device can refer to the various embodiments of the vehicle speed control method of the present invention, and will not be repeated here.

[0152] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle speed control program is stored. When the vehicle speed control program is executed by a processor, the following operations are implemented:

[0153] Running the simulation model through the engine simulation platform, sending sensor signals to the engine controller according to the simulation model, and receiving control signals from the ECU controller;

[0154] Using a calibration measurement tool on a host computer, the control variables of the engine controller and the simulation variables of the engine simulation platform are read and written;

[0155] The load box is controlled to perform corresponding actions according to the sensor signal and the control signal, actuator status information is collected, engine adjustment parameters are determined according to the actuator status information, the control variables and the simulation variables, and the speed of the current vehicle is controlled according to the engine adjustment parameters.

[0156] Furthermore, when the vehicle speed control program is executed by the processor, the following operations are also implemented:

[0157] Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform;

[0158] The engine model in the simulation model collects sensor signals from the engine controller and receives control signals from the ECU controller.

[0159] Furthermore, when the vehicle speed control program is executed by the processor, the following operations are also implemented:

[0160] The engine model in the simulation model responds to the control command of the engine controller to work and outputs the simulation speed to the vehicle model;

[0161] The simulated vehicle speed is calculated by the vehicle model according to the simulated rotation speed and the environmental parameters of the environmental model, the simulated vehicle speed is used as a sensor signal, and a control signal of an ECU controller is received.

[0162] Furthermore, when the vehicle speed control program is executed by the processor, the following operations are also implemented:

[0163] Conducting real-time observation of control variables of the engine controller and simulation variables of the engine simulation platform;

[0164] The observed control variables and simulation variables are read and written by a host computer using a calibration measurement tool.

[0165] Furthermore, when the vehicle speed control program is executed by the processor, the following operations are also implemented:

[0166] According to the sensor signal and the control signal, the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled to perform corresponding actions, and the actuator status information is collected;

[0167] Adjust the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain the engine adjustment parameter;

[0168] The vehicle speed of the current vehicle is controlled according to the engine adjustment parameters.

[0169] Furthermore, when the vehicle speed control program is executed by the processor, the following operations are also implemented:

[0170] Determine whether the current vehicle is in a stable idling state and obtain a determination result;

[0171] When the judgment result is that the current vehicle is in a stable idle state, obtaining a current vehicle speed, and judging whether the current vehicle speed meets a preset vehicle speed requirement;

[0172] When the current vehicle speed does not meet the preset vehicle speed requirement, the vehicle speed of the current vehicle is controlled according to the engine adjustment parameter.

[0173] Furthermore, when the vehicle speed control program is executed by the processor, the following operations are also implemented:

[0174] When the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain an adjusted engine output speed and engine output torque;

[0175] The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

[0176] Through the above scheme, this embodiment runs the simulation model through the engine simulation platform, sends sensor signals to the engine controller according to the simulation model, and receives control signals from the ECU controller; reads and writes control variables of the engine controller and simulation variables of the engine simulation platform through the upper computer using a calibration measurement tool; controls the load box to perform corresponding actions according to the sensor signals and the control signals, collects actuator status information, determines engine adjustment parameters according to the actuator status information, the control variables and the simulation variables, and controls the speed of the current vehicle according to the engine adjustment parameters, which can more flexibly control the power output of the engine, thereby achieving the ideal effect of limiting the speed of the whole vehicle, and can realize speed control under different road conditions, reduce testing costs, realize the test of extreme speeds, reduce the risk of actual vehicle testing, and realize speed control testing under the fault state of the speed sensor, reduce safety hazards, improve the accuracy of speed control, and improve the speed and efficiency of speed control.

[0177] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0178] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0179] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle speed control method, characterized in that: The vehicle speed control method comprises: Running the simulation model through the engine simulation platform, sending sensor signals to the engine controller according to the simulation model, and receiving control signals from the ECU controller; Using a calibration measurement tool on a host computer, the control variables of the engine controller and the simulation variables of the engine simulation platform are read and written; Controlling the load box to perform corresponding actions according to the sensor signal and the control signal, collecting actuator state information, determining engine adjustment parameters according to the actuator state information, the control variable and the simulation variable, and controlling the speed of the current vehicle according to the engine adjustment parameters; The method controls the load box to perform corresponding actions according to the sensor signal and the control signal, collects actuator state information, determines engine adjustment parameters according to the actuator state information, the control variable and the simulation variable, and controls the speed of the current vehicle according to the engine adjustment parameters, including: According to the sensor signal and the control signal, the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled to perform corresponding actions, and the actuator status information is collected; Adjust the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain the engine adjustment parameter; Controlling the speed of the current vehicle according to the engine adjustment parameter; The controlling the speed of the current vehicle according to the engine adjustment parameter comprises: Determine whether the current vehicle is in a stable idling state and obtain a determination result; When the judgment result is that the current vehicle is in a stable idle state, obtaining a current vehicle speed, and judging whether the current vehicle speed meets a preset vehicle speed requirement; When the current vehicle speed does not meet the preset vehicle speed requirement, controlling the vehicle speed of the current vehicle according to the engine adjustment parameter; When the current vehicle speed does not meet the preset vehicle speed requirement, controlling the vehicle speed of the current vehicle according to the engine adjustment parameter includes: When the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain an adjusted engine output speed and engine output torque; The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

2. The vehicle speed control method according to claim 1, characterized in that: The method of running the simulation model through the engine simulation platform, sending a sensor signal to the engine controller according to the simulation model, and receiving a control signal from the ECU controller includes: Run the engine model, vehicle model and environment model in the simulation model through the engine simulation platform; The engine model in the simulation model collects sensor signals from the engine controller and receives control signals from the ECU controller.

3. The vehicle speed control method according to claim 2, characterized in that: The collecting sensor signals from the engine controller according to the engine model in the simulation model and receiving the control signal of the ECU controller includes: The engine model in the simulation model responds to the control command of the engine controller to work and outputs the simulation speed to the vehicle model; The simulated vehicle speed is calculated by the vehicle model according to the simulated rotation speed and the environmental parameters of the environmental model, the simulated vehicle speed is used as a sensor signal, and a control signal of an ECU controller is received.

4. The vehicle speed control method according to claim 1, characterized in that: The method of reading and writing the control variables of the engine controller and the simulation variables of the engine simulation platform by using a calibration measurement tool on a host computer includes: Conducting real-time observation of control variables of the engine controller and simulation variables of the engine simulation platform; The observed control variables and simulation variables are read and written by a host computer using a calibration measurement tool.

5. A vehicle speed control device, characterized in that: The vehicle speed control device comprises: A simulation module, used to run a simulation model through an engine simulation platform, send sensor signals to an engine controller according to the simulation model, and receive control signals from an ECU controller; A variable reading module, used to read and write control variables of the engine controller and simulation variables of the engine simulation platform through a host computer using a calibration measurement tool; A vehicle speed control module, used to control the load box to perform corresponding actions according to the sensor signal and the control signal, collect actuator state information, determine engine adjustment parameters according to the actuator state information, the control variable and the simulation variable, and control the speed of the current vehicle according to the engine adjustment parameters; The method controls the load box to perform corresponding actions according to the sensor signal and the control signal, collects actuator state information, determines engine adjustment parameters according to the actuator state information, the control variable and the simulation variable, and controls the speed of the current vehicle according to the engine adjustment parameters, including: According to the sensor signal and the control signal, the fuel injector, the fuel metering valve, the TVA valve and the EGR valve of the load box are controlled to perform corresponding actions, and the actuator status information is collected; Adjust the engine controller calibration amount according to the actuator state information, the control variable and the simulation variable to obtain the engine adjustment parameter; Controlling the speed of the current vehicle according to the engine adjustment parameter; The controlling the speed of the current vehicle according to the engine adjustment parameter comprises: Determine whether the current vehicle is in a stable idling state and obtain a determination result; When the judgment result is that the current vehicle is in a stable idle state, obtaining a current vehicle speed, and judging whether the current vehicle speed meets a preset vehicle speed requirement; When the current vehicle speed does not meet the preset vehicle speed requirement, controlling the vehicle speed of the current vehicle according to the engine adjustment parameter; When the current vehicle speed does not meet the preset vehicle speed requirement, controlling the vehicle speed of the current vehicle according to the engine adjustment parameter includes: When the current vehicle speed does not meet the preset vehicle speed requirement, adjusting the engine of the current vehicle according to the engine adjustment parameter to obtain an adjusted engine output speed and engine output torque; The vehicle speed of the current vehicle is controlled according to the engine output speed and the engine output torque.

6. A vehicle speed control device, characterized in that: The vehicle speed control device includes: a memory, a processor, and a vehicle speed control program stored in the memory and executable on the processor, wherein the vehicle speed control program is configured to implement the steps of the vehicle speed control method according to any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores a vehicle speed control program, and when the vehicle speed control program is executed by the processor, the steps of the vehicle speed control method according to any one of claims 1 to 4 are implemented.

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