Vehicle and speed limiting control method and device thereof

Abstract

The present disclosure provides a vehicle and a speed limiting control method and device thereof. The method comprises: obtaining a current speed and a limit speed of the vehicle; determining a speed control stage of the vehicle according to the current speed and the limit speed, wherein the speed control stage comprises a driving stage, a driving buffer stage, a braking stage and a braking buffer stage; determining a driving torque or a braking deceleration of the vehicle according to the speed control stage; and controlling the vehicle according to the driving torque or the braking deceleration. The method can make the vehicle run smoothly at the limit speed, and smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching between driving and braking, and ensure the smoothness of the vehicle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a speed limiting control method of a vehicle, a speed limiting control device of a vehicle and a vehicle. BACKGROUND

[0002] In the related art, the demarcation point between the driving mode and the downhill speed limiting mode is not clear. In actual operation, the vehicle driving brake is frequently switched due to the jumping of the vehicle speed near the demarcation point, so that the vehicle appears to be stuck in the driving process, thereby affecting the smoothness of the vehicle driving. SUMMARY

[0003] The present disclosure aims to at least partially solve one of the technical problems in the related art. To this end, a first object of the present disclosure is to provide a speed limiting control method of a vehicle, which can enable the vehicle to smoothly drive at a limited speed and smoothly transition between driving and braking, thereby reducing the vehicle stuck condition caused by frequent switching of driving and braking and ensuring the smoothness of the vehicle driving.

[0004] A second object of the present disclosure is to provide a speed limiting control device of a vehicle.

[0005] A third object of the present disclosure is to provide a vehicle.

[0006] To achieve the above objects, a speed limiting control method of a vehicle according to a first aspect of the present disclosure comprises: obtaining a current vehicle speed and a limited speed of the vehicle; determining a speed control phase of the vehicle according to the current vehicle speed and the limited speed, wherein the speed control phase comprises a driving phase, a driving buffer phase, a braking phase and a braking buffer phase; determining a driving torque or a braking deceleration of the vehicle according to the speed control phase; and controlling the vehicle according to the driving torque or the braking deceleration.

[0007] The speed limiting control method of the vehicle according to the embodiments of the present disclosure first obtains the current vehicle speed and the limited speed of the vehicle, then determines the speed control phase of the vehicle according to the current vehicle speed and the limited speed, and finally determines the driving torque or the braking deceleration of the vehicle according to the speed control phase, and controls the vehicle according to the driving torque or the braking deceleration. Thus, the method can enable the vehicle to smoothly drive at a limited speed and smoothly transition between driving and braking, thereby reducing the vehicle stuck condition caused by frequent switching of driving and braking and ensuring the smoothness of the vehicle driving.

[0008] In addition, the speed limiting control method of the vehicle according to the above embodiments of the present disclosure can have the following additional technical features:

[0009] According to one embodiment of the present disclosure, the speed control phase of the vehicle is determined according to the current vehicle speed and the limit speed, comprising: determining the preset minimum buffer vehicle speed and the preset maximum buffer vehicle speed of the vehicle according to the limit speed; when the vehicle is in an accelerating state and the current vehicle speed is less than the preset minimum buffer vehicle speed, determining the speed control phase of the vehicle as a driving phase; when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to the preset minimum buffer vehicle speed and less than or equal to the preset maximum buffer vehicle speed, determining the speed control phase of the vehicle as a driving buffer phase; when the current vehicle speed is greater than the preset maximum buffer vehicle speed, determining the speed control phase of the vehicle as a braking phase; when the vehicle is in a decelerating state and the current vehicle speed is less than or equal to the maximum buffer vehicle speed, determining the speed control phase of the vehicle as a braking buffer phase.

[0010] According to one embodiment of the present disclosure, the driving torque or braking deceleration of the vehicle is determined, comprising: when the vehicle is in the driving phase, obtaining a first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and the current request torque; when the vehicle is in the driving buffer phase, determining a second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed, and determining the driving torque of the vehicle according to the second driving compensation torque and the current request torque; when the vehicle is in the braking phase, determining the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed; when the vehicle is in the braking buffer phase, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed.

[0011] According to one embodiment of the present disclosure, the first driving compensation torque is obtained, comprising: determining a feedforward compensation value; determining the first driving compensation torque according to the feedforward compensation value and the current vehicle speed; wherein the calculation method of the feedforward compensation value is:

[0012] V - =k*T q +b

[0013] wherein V - is the feedforward compensation value, T q is the request driving torque, k is a straight line slope calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle does not compensate under different request driving torques, and b is an offset calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle does not compensate under different request driving torques.

[0014] According to one embodiment of the present disclosure, determining the first driving compensation torque according to the feedforward compensation value and the current vehicle speed comprises: obtaining a speed difference value between the preset minimum buffer vehicle speed and the feedforward compensation value; taking a difference value between the speed difference value and the current vehicle speed as an input of a driving PID (Proportional Integral Derivative) closed loop operation, and taking an output of the driving PID closed loop operation as a first compensation acceleration; and determining the first driving compensation torque according to the first compensation acceleration.

[0015] According to one embodiment of the present disclosure, determining the second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed comprises: taking a difference value between the preset maximum buffer vehicle speed and the current vehicle speed as an input of a driving PID (Proportional Integral Derivative) closed loop operation, and taking an output of the driving PID closed loop operation as a second compensation acceleration; and determining the second driving compensation torque according to the second compensation acceleration.

[0016] According to one embodiment of the present disclosure, determining the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed comprises: taking a difference value between the preset maximum buffer vehicle speed and the current vehicle speed as an input of a braking PID (Proportional Integral Derivative) closed loop operation, and taking an output of the braking PID closed loop operation as the braking deceleration of the vehicle.

[0017] According to one embodiment of the present disclosure, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed comprises: taking a difference value between the preset minimum buffer vehicle speed and the current vehicle speed as an input of a braking PID (Proportional Integral Derivative) closed loop operation, and taking an output of the braking PID closed loop operation as the braking deceleration of the vehicle.

[0018] According to one embodiment of the present disclosure, the speed limiting control method of the vehicle further comprises: when the deceleration instruction is received, controlling the current request torque of the vehicle to be zero; and controlling the vehicle according to the deceleration instruction.

[0019] To achieve the above object, the second aspect of the present disclosure provides a speed limiting control device of a vehicle, comprising: an obtaining module, configured to obtain a current vehicle speed and a limit speed of the vehicle; a first determining module, configured to determine a speed control stage of the vehicle according to the current vehicle speed and the limit speed, wherein the speed control stage comprises a driving stage, a driving buffer stage, a braking stage and a braking buffer stage; a second determining module, configured to determine a driving torque or a braking deceleration of the vehicle according to the speed control stage; and a control module, configured to control the vehicle according to the driving torque or the braking deceleration.

[0020] The speed limiting control device of the vehicle according to the embodiment of the present disclosure comprises: a obtaining module, configured to obtain a current speed of the vehicle and a limiting speed; a first determining module, configured to determine a speed control stage of the vehicle according to the current speed and the limiting speed; a second determining module, configured to determine a driving torque or a braking deceleration of the vehicle according to the speed control stage; and a control module, configured to control the vehicle according to the driving torque or the braking deceleration. Thus, the device can make the vehicle run smoothly at the limiting speed, and smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching between driving and braking, and ensure the smoothness of the vehicle running.

[0021] To achieve the above object, the third aspect of the present disclosure provides a vehicle, comprising a memory, a processor, and a speed limiting control program of the vehicle stored in the memory and executable on the processor, and when the processor executes the speed limiting control program of the vehicle, the speed limiting control method of the vehicle is realized.

[0022] The vehicle according to the embodiment of the present disclosure, by executing the speed limiting control method of the vehicle, can make the vehicle run smoothly at the limiting speed, and smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching between driving and braking, and ensure the smoothness of the vehicle running.

[0023] Additional aspects and advantages of the present disclosure will be made apparent from the following description, which is given merely by way of non-limiting example, in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Flow chart of the speed limiting control method of the vehicle according to an embodiment of the present disclosure;

[0025] Figure 2 Flow chart of the speed limiting control method of the vehicle according to an embodiment of the present disclosure;

[0026] Figure 3 Flow chart of the speed limiting control method of the vehicle according to an embodiment of the present disclosure;

[0027] Figure 4 Flow chart of the speed limiting control method of the vehicle according to an embodiment of the present disclosure;

[0028] Figure 5 Block diagram of the speed limiting control device of the vehicle according to an embodiment of the present disclosure;

[0029] Figure 6 Block diagram of the vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] Embodiments of the present disclosure are described below in detail, examples of which are shown in the accompanying drawings, in which the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present disclosure, and are not to be understood as limiting the present disclosure.

[0031] A speed limiting control method of a vehicle, a speed limiting control device of a vehicle, and a vehicle according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0032] Figure 1 A flowchart of a speed limiting control method of a vehicle according to embodiments of the present disclosure.

[0033] As shown in the accompanying drawings, the speed limiting control method of a vehicle according to embodiments of the present disclosure can include the following steps: Figure 1

[0034] S1, obtaining a current vehicle speed and a limit speed of the vehicle.

[0035] In embodiments of the present disclosure, the vehicle has an ADAS (Advanced Driving Assistance System) system and a sensor platform, where the sensor platform is a fusion of multiple sensors, such as front-view cameras, front radars, front corner radars, rear corner radars, surround-view cameras, side-view cameras, laser radars, torque sensors, and the like. The ADAS system can monitor the wheel speed information, lateral and longitudinal acceleration, yaw rate, throttle opening, brake pedal information, and the like of the vehicle in real time. During vehicle travel, the current requested drive torque, the limit speed, and the current vehicle speed of the vehicle can be obtained through the ADAS system and the sensor platform and transmitted to the vehicle controller through the body bus signal. The limit speed can be obtained through a speed limit sign on the road or through other means, which is not limited here. For example, the speed limit sign on the road displays the current road speed limit as 80Km / h, so the limit speed is 80Km / h; or the vehicle owner limits the maximum driving speed of the vehicle to not more than 130Km / h through the vehicle-mounted host computer, so the limit speed is 130Km / h.

[0036] S2, determining a speed control phase of the vehicle according to the current vehicle speed and the limit speed, where the speed control phase includes a drive phase, a drive buffer phase, a brake phase, and a brake buffer phase.

[0037] ​According to one embodiment of the present disclosure, determining the speed control stage of the vehicle comprises: determining the speed control stage of the vehicle as a driving stage when the vehicle is in an accelerating state and the current vehicle speed is less than a preset minimum buffer vehicle speed; determining the speed control stage of the vehicle as a driving buffer stage when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to the preset minimum buffer vehicle speed and less than or equal to a preset maximum buffer vehicle speed; determining the speed control stage of the vehicle as a braking stage when the current vehicle speed is greater than the preset maximum buffer vehicle speed; and determining the speed control stage of the vehicle as a braking buffer stage when the vehicle is in a decelerating state and the current vehicle speed is less than or equal to the maximum buffer vehicle speed.

[0038] Specifically, in the embodiments of the present disclosure, the vehicle includes the following stages during driving: a driving stage, a buffer stage and a braking stage. The buffer stage has a preset minimum buffer vehicle speed and a preset maximum buffer vehicle speed, that is, when the vehicle is in the buffer stage, the speed range of the vehicle is between the preset minimum buffer vehicle speed and the preset maximum buffer vehicle speed, forming a buffer interval. The minimum buffer vehicle speed and the maximum buffer vehicle speed can be set according to the specific parameters of the vehicle. When the vehicle is in an accelerating state and the current vehicle speed is less than the preset minimum buffer vehicle speed, the speed control stage of the vehicle is the driving stage, and the speed of the vehicle needs to be increased. When the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to the preset minimum buffer vehicle speed and less than or equal to the preset maximum buffer vehicle speed, the speed control stage of the vehicle is determined as the driving buffer stage, and at this time, the speed control stage of the vehicle is converted from the driving stage to the driving buffer stage, and the acceleration of the vehicle needs to be controlled to prevent the vehicle from overspeeding. When the vehicle speed rises due to downhill and other conditions, so that the current vehicle speed is greater than the preset maximum buffer vehicle speed, the vehicle needs to be decelerated to reduce the speed of the vehicle to prevent the vehicle from overspeeding, and at this time, the speed control stage of the vehicle is the braking stage. When the vehicle is in a decelerating state and the current vehicle speed is less than or equal to the maximum buffer vehicle speed, the speed control stage of the vehicle is determined as the braking buffer stage, and at this time, the speed control stage of the vehicle is converted from the braking stage to the braking buffer stage. Thus, through the buffer interval, the problem of unclear setting of the dividing point between the driving mode and the downhill speed limit mode can be effectively solved, and the vehicle speed can be buffered in the buffer interval to prevent the vehicle driving and braking from frequently switching due to the jumping of the vehicle speed near the dividing point.

[0039] S3, determining the driving torque or braking deceleration of the vehicle according to the speed control stage.

[0040] S4, controlling the vehicle according to the driving torque or braking deceleration.

[0041] Specifically, after determining the speed control phase of the vehicle through the above step S2, the vehicle controller can determine the driving torque or braking deceleration of the vehicle according to the speed control phase of the vehicle, so as to control the vehicle according to the driving torque or braking deceleration. For example, when the speed control phase of the vehicle is the driving phase or the driving buffer phase, the vehicle controller can compensate the driving torque of the vehicle to increase the output torque of the vehicle, so as to control the vehicle to accelerate driving according to the driving torque; when the speed control phase of the vehicle is the braking phase or the braking buffer phase, the vehicle controller can determine the corresponding braking deceleration, and control the vehicle to decelerate driving according to the braking deceleration, so as to avoid overspeed of the vehicle.

[0042] Therefore, the method of the present disclosure can enable the vehicle to smoothly drive at the limit speed, and smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching between driving and braking, and ensure the smoothness of the vehicle driving.

[0043] The specific process of determining the driving torque or braking deceleration of the vehicle according to the speed control phase by the vehicle controller will be described in detail below in combination with specific embodiments.

[0044] According to an embodiment of the present disclosure, determining the driving torque or braking deceleration of the vehicle according to the current speed and the limit speed comprises: determining the preset minimum buffer speed and the preset maximum buffer speed of the vehicle according to the limit speed; when the vehicle is in the driving phase, obtaining a first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and the current request torque; when the vehicle is in the driving buffer phase, determining a second driving compensation value according to the preset maximum buffer speed and the current speed, and determining the driving torque of the vehicle according to the second driving compensation value and the current request torque; when the vehicle is in the braking phase, determining the braking deceleration of the vehicle according to the preset maximum buffer speed and the current speed; and when the vehicle is in the braking buffer phase, determining the braking deceleration of the vehicle according to the preset minimum buffer speed and the current speed.

[0045] According to an embodiment of the present disclosure, the preset minimum buffer speed and the preset maximum buffer speed of the vehicle can be determined according to the limit speed. For example, when it is identified that the current road speed limit is 80Km / h, the preset minimum buffer speed and the preset maximum buffer speed of the vehicle can be set to 75Km / h and 85Km / h respectively; when it is identified that the highest driving speed limit set by the vehicle is 130Km / h, the preset minimum buffer speed and the preset maximum buffer speed of the vehicle can be set to 120Km / h and 140Km / h respectively.

[0046] According to one embodiment of the present disclosure, the first driving compensation torque is obtained by: determining a feedforward compensation value; determining the first driving compensation torque according to the feedforward compensation value and the current vehicle speed; wherein the feedforward compensation value is determined by the following calculation method:

[0047] V - = k*T q + b (1)

[0048] wherein V - is the feedforward compensation value, T q is the requested driving torque, k is a straight line slope calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle does not compensate at different requested driving torques, and b is an offset calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle does not compensate at different requested driving torques.

[0049] Specifically, as shown in Figure 3 , when the vehicle is in an accelerating state and the current vehicle speed is less than the preset minimum buffer vehicle speed, the speed control phase of the vehicle at this time is a driving phase, and the feedforward compensation value can be obtained by calculating the current requested driving torque through the feedforward compensation link. The corresponding relationship between the requested driving torque and the feedforward compensation value is shown in the above formula (1).

[0050] When the current vehicle speed is less than the preset minimum buffer vehicle speed, the vehicle controller can obtain the requested driving torque T q of the vehicle according to the torque sensor, and determine the straight line slope k and the offset b according to the requested driving torque T q and the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed. The current requested driving torque T q of the vehicle, the straight line slope k and the offset b are brought into the above formula (1), and the feedforward compensation value V - can be obtained.

[0051] According to one embodiment of the present disclosure, the first driving compensation torque is determined according to the feedforward compensation value and the current vehicle speed, including: obtaining the speed difference value between the preset minimum buffer vehicle speed and the feedforward compensation value; taking the difference between the speed difference value and the current vehicle speed as the input of the driving PID closed loop operation, and taking the output of the driving PID closed loop operation as the first compensation acceleration; determining the first driving compensation torque according to the first compensation acceleration.

[0052] Specifically, continuing to refer to Figure 3 , after the feedforward compensation value is obtained, the preset minimum buffer vehicle speed is taken as the reference vehicle speed, and the difference between the preset minimum buffer vehicle speed and the feedforward compensation value is taken as the input item of the driving PID closed loop operation link, and the first compensation acceleration can be obtained after the PID operation. The PID output calculation formula is:

[0053]

[0054] wherein, u(k) is the output of the PID closed loop operation link at k time, K p is a proportional coefficient, K i is an integral coefficient, K d is a differential coefficient.

[0055] The first compensation acceleration is taken as the input of the acceleration and torque conversion link, and after calculation by the acceleration and torque conversion link, the first drive compensation torque is output. Since the first drive compensation torque is negative, the first drive compensation torque needs to be inverted, and after inversion, the drive torque of the vehicle is obtained by summing the inverted first drive compensation torque and the current requested drive torque. The vehicle controller controls the vehicle to drive the vehicle at the drive torque to drive the vehicle to accelerate.

[0056] According to one embodiment of the present disclosure, the second drive compensation value is determined according to the preset maximum buffer vehicle speed and the current vehicle speed, including: taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the drive PID closed loop operation, and taking the output of the drive PID closed loop operation as the second compensation acceleration; determining the second drive compensation torque according to the second compensation acceleration.

[0057] Specifically, when the vehicle is converted from the driving stage to the buffer stage, at this time the current vehicle speed of the vehicle just enters the buffer interval, at this time the vehicle is in an accelerating state, and the current vehicle speed is greater than or equal to the preset minimum buffer vehicle speed and less than or equal to the preset maximum buffer vehicle speed, the vehicle is in the driving buffer stage, the vehicle can be controlled to accelerate and take the preset maximum buffer vehicle speed as the reference speed, so that the current vehicle speed of the vehicle is within the buffer interval. As shown in Figure 2 the vehicle controller takes the preset maximum buffer vehicle speed as the reference speed, subtracts the current vehicle speed from the preset maximum buffer vehicle speed, and takes the difference between the two as the input of the drive PID closed loop operation link to perform PID operation, and the output is the second compensation acceleration. The second compensation acceleration is taken as the input of the acceleration and torque conversion link, and after calculation by the acceleration and torque conversion link, the second drive compensation torque is output. Since the second drive compensation torque is negative, the second drive compensation torque needs to be inverted, and after inversion, the drive torque of the vehicle is obtained by summing the inverted second drive compensation torque and the current requested drive torque. The vehicle controller controls the vehicle to drive the vehicle at the drive torque to drive the vehicle to accelerate.

[0058] According to one embodiment of the present disclosure, the braking deceleration of the vehicle is determined according to the preset maximum buffer vehicle speed and the current vehicle speed, including: taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed loop operation, and taking the output of the braking PID closed loop operation as the braking deceleration of the vehicle.

[0059] Specifically, when the vehicle speed of the vehicle increases due to a downhill or the like, so that the current vehicle speed of the vehicle is greater than the preset maximum buffer vehicle speed, the vehicle is in a braking stage, and the speed of the vehicle needs to be reduced to prevent the vehicle from overspeeding, the vehicle control unit can determine the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed, and control the vehicle to reduce the speed at the preset maximum buffer vehicle speed as the reference vehicle speed according to the braking deceleration, to prevent the vehicle from overspeeding.

[0060] When the current vehicle speed of the vehicle is greater than the preset maximum buffer vehicle speed, the vehicle control unit subtracts the preset maximum buffer vehicle speed from the current vehicle speed, and takes the difference between the two as the input of the braking PID closed-loop operation, and performs PID operation. After the difference between the preset maximum buffer vehicle speed and the current vehicle speed is subjected to the PID closed-loop operation, the output is the braking deceleration of the vehicle, and the vehicle control unit can control the vehicle to reduce the speed according to the braking deceleration and take the preset maximum buffer vehicle speed as the reference vehicle speed.

[0061] According to one embodiment of the present disclosure, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed comprises: taking the difference between the preset minimum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle.

[0062] Specifically, during the downhill driving of the vehicle, when the vehicle is switched from the braking stage to the buffer stage, at this time, the current vehicle speed of the vehicle just enters the buffer interval, the vehicle is in a deceleration state, and the current vehicle speed is less than or equal to the preset maximum buffer vehicle speed, the vehicle is in a braking and buffering stage, and the vehicle can be controlled to reduce the speed and take the preset minimum buffer vehicle speed as the reference vehicle speed, so that the current vehicle speed of the vehicle is within the buffer interval. The vehicle control unit subtracts the preset minimum buffer vehicle speed from the current vehicle speed, and takes the difference between the two as the input of the braking PID closed-loop operation, and the output value after the PID operation is the braking deceleration of the vehicle. The vehicle control unit can control the vehicle to reduce the speed according to the braking deceleration, so that the speed of the vehicle is maintained within the buffer interval to prevent the vehicle from overspeeding.

[0063] It should be noted that in some embodiments of the present disclosure, the coefficients of the proportional-integral-derivative terms in the braking PID closed-loop operation and the driving PID closed-loop operation can be the same or different.

[0064] According to one embodiment of the present disclosure, the above-mentioned speed limiting control method of the vehicle further comprises: when the deceleration instruction is received, controlling the current requested torque of the vehicle to be zero; and controlling the vehicle according to the deceleration instruction.

[0065] Specifically, in the automatic driving process of the vehicle, when the vehicle encounters an obstacle and needs to be parked urgently, the vehicle issues a deceleration instruction to make the vehicle park urgently to avoid a collision accident. When the vehicle control unit receives the deceleration instruction, the current torque request of the vehicle is set to zero, and the vehicle is controlled to decelerate according to the deceleration instruction until the vehicle speed is zero, so that the vehicle completes the emergency parking and avoids the collision accident, thereby improving the safety of the vehicle.

[0066] It should be noted that, regardless of whether the vehicle is in the braking or driving or buffer stage, after receiving the deceleration instruction, the vehicle is controlled to park urgently to avoid a collision accident.

[0067] As a specific example, as shown in Figure 4 The speed control method of the vehicle can include the following steps:

[0068] Step S101, obtaining the current vehicle speed and the limit speed of the vehicle.

[0069] Step S102, determining whether a deceleration instruction is received. If yes, step S103 is performed; if no, step S104 is performed.

[0070] Step S103, controlling the current request torque of the vehicle to be zero, and controlling the vehicle according to the deceleration instruction.

[0071] Step S104, determining the speed control stage of the vehicle according to the current vehicle speed and the limit speed of the vehicle.

[0072] Step S105, determining that the speed control stage of the vehicle is the driving stage when the vehicle is in the acceleration state and the current vehicle speed is less than the preset minimum buffer speed.

[0073] Step S106, obtaining a feedforward compensation value.

[0074] Step S107, obtaining a speed difference value between the preset minimum buffer speed and the feedforward compensation value.

[0075] Step S108, performing a PID closed loop operation on the difference between the speed difference value and the current vehicle speed to obtain a first compensation acceleration.

[0076] Step S109, determining a first driving compensation torque according to the first compensation acceleration.

[0077] Step S110, taking the first driving compensation torque to be opposite, and then summing the opposite value and the current request driving torque, and the sum is the driving torque of the vehicle.

[0078] Step S111, when the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to the preset minimum buffer speed and less than or equal to the preset maximum buffer speed, determining that the speed control phase of the vehicle is a driving buffer phase.

[0079] Step S112, performing a PID closed loop operation on the difference between the preset maximum buffer speed and the current vehicle speed to obtain a second compensation acceleration.

[0080] Step S113, determining a second driving compensation torque according to the second compensation acceleration.

[0081] Step S114, taking the complement of the second driving compensation torque, and then summing the complement with the current requested driving torque, and the sum is the driving torque of the vehicle.

[0082] Step S115, when the vehicle is in a decelerating state and the current vehicle speed is less than or equal to the preset maximum buffer speed, determining that the speed control phase of the vehicle is a braking buffer phase.

[0083] Step S116, performing a PID closed loop operation on the difference between the preset minimum buffer speed and the current vehicle speed to obtain a braking deceleration of the vehicle.

[0084] Step S117, controlling the vehicle to decelerate according to the braking deceleration.

[0085] Step S118, when the current vehicle speed is greater than the preset maximum buffer speed, determining that the speed control phase of the vehicle is a braking phase.

[0086] Step S119, performing a PID closed loop operation on the difference between the preset maximum buffer speed and the current vehicle speed to obtain a braking deceleration of the vehicle.

[0087] Step S120, controlling the vehicle to decelerate according to the braking deceleration.

[0088] Thus, the speed limiting control method of the vehicle of the embodiment of the present disclosure can determine the speed control phase of the vehicle according to the current vehicle speed of the vehicle, and respond to different control strategies according to the speed control phase of the vehicle, compensate the driving torque of the vehicle to make the vehicle accelerate or control the vehicle to decelerate, so as to enable the vehicle to smoothly travel at a limited speed, and enable the vehicle to smoothly transition between driving and braking, reduce the vehicle jamming caused by frequent switching between driving and braking, and ensure the smoothness of the vehicle travel.

[0089] In summary, according to the speed limiting control method of the vehicle of the embodiment of the present disclosure, firstly, the current speed and the limiting speed of the vehicle are obtained, then the speed control stage of the vehicle is determined according to the current speed and the limiting speed, and finally the driving torque or the braking deceleration of the vehicle is determined according to the speed control stage, and the vehicle is controlled according to the driving torque and the braking deceleration. Thus, the method can enable the vehicle to smoothly travel at the limiting speed, and enable the vehicle to smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching of driving and braking, and ensure the smoothness of the vehicle travel.

[0090] Corresponding to the above embodiment, the present disclosure further provides a speed limiting control device of a vehicle.

[0091] Figure 5 A block schematic diagram of the speed limiting control device of the vehicle according to the embodiment of the present disclosure.

[0092] As Figure 5 shown, the speed limiting control device 100 of the vehicle according to the embodiment of the present disclosure can include an obtaining module 110, a first determining module 120, a second determining module 130 and a control module 140.

[0093] The obtaining module 110 is configured to obtain the current speed and the limiting speed of the vehicle. The first determining module 120 is configured to determine the speed control stage of the vehicle according to the current speed and the limiting speed, wherein the speed control stage includes a driving stage, a driving buffer stage, a braking stage and a braking buffer stage. The second determining module 130 is configured to determine the driving torque or the braking deceleration of the vehicle according to the speed control stage. The control module 140 is configured to control the vehicle according to the driving torque or the braking deceleration.

[0094] According to one embodiment of the present disclosure, the first determining module 120 determines the speed control stage of the vehicle according to the current speed and the limiting speed, specifically configured to determine the preset minimum buffer speed and the preset maximum buffer speed of the vehicle according to the limiting speed; when the vehicle is in an accelerating state and the current speed is less than the preset minimum buffer speed, determine the speed control stage of the vehicle as the driving stage; when the vehicle is in an accelerating state and the current speed is greater than or equal to the preset minimum buffer speed and less than or equal to the preset maximum buffer speed, determine the speed control stage of the vehicle as the driving buffer stage; when the current speed is greater than the preset maximum buffer speed, determine the speed control stage of the vehicle as the braking stage; when the vehicle is in a decelerating state and the current speed is less than or equal to the maximum buffer speed, determine the speed control stage of the vehicle as the braking buffer stage.

[0095] According to one embodiment of the present disclosure, the second determining module 130 determines the driving torque or braking deceleration of the vehicle, specifically for, when the vehicle is in the driving phase, obtaining the first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and the current requested torque; when the vehicle is in the driving buffer phase, determining the second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed, and determining the driving torque of the vehicle according to the second driving compensation torque and the current requested torque; when the vehicle is in the braking phase, determining the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed; when the vehicle is in the braking buffer phase, determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed.

[0096] According to one embodiment of the present disclosure, the second determining module 130 obtains the first driving compensation torque, specifically for, determining a feedforward compensation value; determining the first driving compensation torque according to the feedforward compensation value and the current vehicle speed; wherein the calculation method of determining the feedforward compensation value is:

[0097] V - = k*T q +b

[0098] Wherein, V - is the feedforward compensation value, T q is the requested driving torque, k is a straight line slope calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle does not compensate at different requested driving torques, and b is an offset value calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer vehicle speed when the vehicle does not compensate at different requested driving torques.

[0099] According to one embodiment of the present disclosure, the second determining module 130 determines the first driving compensation torque according to the feedforward compensation value and the current vehicle speed, specifically for, obtaining the speed difference value between the preset minimum buffer vehicle speed and the feedforward compensation value; taking the difference between the speed difference value and the current vehicle speed as the input of the driving PID closed loop operation, and taking the output of the driving PID closed loop operation as the first compensation acceleration; determining the first driving compensation torque according to the first compensation acceleration.

[0100] According to one embodiment of the present disclosure, the second determining module 130 determines the second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed, specifically for, taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the driving PID closed loop operation, and taking the output of the driving PID closed loop operation as the second compensation acceleration; determining the second driving compensation torque according to the second compensation acceleration.

[0101] According to one embodiment of the present disclosure, the second determining module 130 determines the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed, specifically, taking the difference between the preset maximum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle.

[0102] According to one embodiment of the present disclosure, the second determining module 130 determines the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed, including: taking the difference between the preset minimum buffer vehicle speed and the current vehicle speed as the input of the braking PID closed-loop operation, and taking the output of the braking PID closed-loop operation as the braking deceleration of the vehicle. According to one embodiment of the present disclosure, the control module 140 is further configured to, when receiving the deceleration instruction, control the current request torque of the vehicle to be zero; and control the vehicle according to the deceleration instruction.

[0103] It should be noted that the details of the speed limiting control device of the vehicle in the embodiments of the present disclosure are not disclosed, please refer to the details disclosed in the speed limiting control method of the vehicle in the embodiments of the present disclosure, which will not be described here.

[0104] According to the speed limiting control device of the vehicle in the embodiments of the present disclosure, the obtaining module obtains the current vehicle speed and the limit speed of the vehicle, the first determining module determines the speed control stage of the vehicle according to the current vehicle speed and the limit speed, the second determining module determines the driving torque or the braking deceleration of the vehicle according to the speed control stage, and the control module controls the vehicle according to the driving torque or the braking deceleration. Therefore, the device can make the vehicle smoothly travel at the limit speed, and smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching of driving and braking, and ensure the smoothness of vehicle travel.

[0105] Corresponding to the above-mentioned embodiments, the present disclosure further provides a computer readable storage medium.

[0106] The computer readable storage medium in the embodiments of the present disclosure has a vehicle speed limiting control program stored thereon, and the vehicle speed limiting control program is executed by a processor to implement the above-mentioned speed limiting control method of the vehicle.

[0107] According to the computer readable storage medium in the embodiments of the present disclosure, by executing the above-mentioned speed limiting control method of the vehicle, the vehicle can smoothly travel at the limit speed, and smoothly transition between driving and braking, reduce the vehicle jam caused by frequent switching of driving and braking, and ensure the smoothness of vehicle travel.

[0108] Corresponding to the above-mentioned embodiments, the present disclosure further provides a vehicle.

[0109] Figure 6is a block diagram of a vehicle according to an embodiment of the present disclosure.

[0110] like Figure 6 As shown, the vehicle 200 of the embodiment of the present disclosure includes a memory 210, a processor 220, and a vehicle speed limit control program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the vehicle speed limit control program, the above-mentioned vehicle speed limit control method is implemented.

[0111] According to the vehicle of the embodiment of the present disclosure, by executing the above-mentioned vehicle speed limit control method, the vehicle can travel smoothly at the limited speed, and can smoothly transition the vehicle between driving and braking, reducing the vehicle jamming caused by frequent switching of driving and braking, and ensuring the smoothness of vehicle driving.

[0112] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0113] It should be understood that portions of the present disclosure can be realized with hardware, software, firmware or a combination thereof. In the foregoing embodiments, a plurality of steps or methods can be realized with software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized with hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0114] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0115] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implying the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0116] In the present disclosure, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0117] Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle speed limit control method, characterized in that: include: Obtaining the current speed and speed limit of the vehicle; Determining a speed control phase of the vehicle according to the current vehicle speed and the speed limit, wherein the speed control phase includes a driving phase, a driving buffer phase, a braking phase, and a braking buffer phase; determining a driving torque or a braking deceleration of the vehicle according to the speed control stage; controlling the vehicle according to the driving torque or braking deceleration; Determining a speed control stage of the vehicle according to the current vehicle speed and the speed limit includes: Determining a preset minimum buffer speed and a preset maximum buffer speed for the vehicle according to the speed limit; When the vehicle is in an accelerating state and the current vehicle speed is less than the preset minimum buffer speed, determining that the speed control phase of the vehicle is the driving phase; When the vehicle is in an accelerating state and the current vehicle speed is greater than or equal to the preset minimum buffer vehicle speed and less than or equal to the preset maximum buffer vehicle speed, determining that the speed control stage of the vehicle is the driving buffer stage; When the current vehicle speed is greater than the preset maximum buffer speed, determining that the speed control stage of the vehicle is the braking stage; When the vehicle is in a deceleration state and the current vehicle speed is less than or equal to the preset maximum buffer speed, determining that the speed control stage of the vehicle is the braking buffer stage; Determining the driving torque or braking deceleration of the vehicle, comprising: When the vehicle is in the driving phase, obtaining a first driving compensation torque, and determining the driving torque of the vehicle according to the first driving compensation torque and a current requested torque; When the vehicle is in the driving buffer stage, determining a second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed, and determining the driving torque of the vehicle according to the second driving compensation torque and the current requested torque; When the vehicle is in the braking phase, determining a braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed; When the vehicle is in the braking buffering stage, the braking deceleration of the vehicle is determined according to the preset minimum buffering vehicle speed and the current vehicle speed.

2. The method according to claim 1, characterized in that The obtaining of the first driving compensation torque includes: Determine feedforward compensation value; determining the first driving compensation torque according to the feedforward compensation value and the current vehicle speed; The calculation method for determining the feedforward compensation value is: V - =k*T q +b; Among them, V - is the feedforward compensation value, T q is the requested driving torque, k is the slope of the straight line calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer speed when the vehicle is not compensated at different requested driving torques, and b is the offset calibrated according to the speed difference between the current vehicle speed and the preset minimum buffer speed when the vehicle is not compensated at different requested driving torques.

3. The method according to claim 2, characterized in that Determining a first driving compensation torque according to the feedforward compensation value and the current vehicle speed includes: Obtaining a speed difference between the preset minimum buffer vehicle speed and the feedforward compensation value; Using the difference between the speed difference and the current vehicle speed as an input to a driving PID closed-loop operation, and using the output of the driving PID closed-loop operation as a first compensation acceleration; The first driving compensation torque is determined according to the first compensation acceleration.

4. The method according to claim 1, wherein Determining a second driving compensation torque according to the preset maximum buffer vehicle speed and the current vehicle speed includes: Using the difference between the preset maximum buffer vehicle speed and the current vehicle speed as an input for a driving PID closed-loop operation, and using the output of the driving PID closed-loop operation as a second compensation acceleration; The second driving compensation torque is determined according to the second compensation acceleration.

5. The method according to claim 1, characterized in that Determining the braking deceleration of the vehicle according to the preset maximum buffer vehicle speed and the current vehicle speed includes: The difference between the preset maximum buffer vehicle speed and the current vehicle speed is used as an input of a braking PID closed-loop operation, and the output of the braking PID closed-loop operation is used as a braking deceleration of the vehicle.

6. The method according to claim 1, characterized in that Determining the braking deceleration of the vehicle according to the preset minimum buffer vehicle speed and the current vehicle speed includes: The difference between the preset minimum buffer vehicle speed and the current vehicle speed is used as an input of a braking PID closed-loop operation, and the output of the braking PID closed-loop operation is used as a braking deceleration of the vehicle.

7. The method according to claim 1, characterized in that Also includes: When receiving a deceleration command, controlling a current requested torque of the vehicle to be zero; The vehicle is controlled according to the deceleration instruction.

8. A vehicle speed limit control device, characterized in that: The device is used to implement the method according to any one of claims 1 to 7, and the device includes: An acquisition module, configured to acquire the current speed and speed limit of the vehicle; a first determining module, configured to determine a speed control phase of the vehicle according to the current vehicle speed and the speed limit, wherein the speed control phase includes a driving phase, a driving buffer phase, a braking phase, and a braking buffer phase; a second determining module, configured to determine the driving torque or braking deceleration of the vehicle according to the speed control stage; A control module is configured to control the vehicle according to the driving torque or the braking deceleration.

9. A vehicle, characterized in that: The invention comprises a memory, a processor and a vehicle speed limit control program stored in the memory and executable on the processor. When the processor executes the vehicle speed limit control program, the vehicle speed limit control method according to any one of claims 1 to 7 is implemented.

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