Intelligent driving deceleration control method and device

Abstract

The application discloses an intelligent driving deceleration control method and device, and relates to the technical fields of automobile intelligent driving and braking. The method comprises the following steps: when a vehicle is in a coasting deceleration state and intelligent driving is started, a target negative torque and a coasting energy recovery torque before the intelligent driving is started are acquired; after the intelligent driving is started, the negative torque is kept equal to the coasting energy recovery torque for a period of time, then the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque, and when the negative torque is equal to the target negative torque, the negative torque is kept unchanged; the negative torque at each time after the intelligent driving is started is determined according to the principle that the negative torque is kept equal to the target negative torque; the braking energy recovery target torque at each time after the intelligent driving is started is determined according to the negative torque at each time after the intelligent driving is started; and braking energy recovery is performed according to the braking energy recovery target torque. The vehicle vibration when the intelligent driving is started in the coasting deceleration state of the vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving and braking technology of automobile, and particularly relates to an intelligent driving deceleration control method and device. BACKGROUND

[0002] An important difference between electric vehicles and traditional vehicles is that electric vehicles can realize feedback braking, recovering a part of the energy lost in the braking process of traditional vehicles. In traditional vehicles, these braking energies can only be converted into heat energy and dissipated in the environment through brake pads, while in electric vehicles, the traction motor can be used as a generator under such braking conditions to generate braking torque for the wheels and charge the battery, thus converting a part of the braking energy into electrical energy.

[0003] Currently, electric vehicles mainly use a single accelerator pedal for acceleration and deceleration. When the accelerator pedal is pressed down, the vehicle accelerates, and when the accelerator pedal is released, the vehicle decelerates by coasting. When the intelligent driving mode is started during the vehicle coasting deceleration process, if the braking energy recovery is directly controlled according to the target negative torque, the vehicle recovery torque will fluctuate greatly at the beginning of the intelligent driving mode, which can easily cause the vehicle to surge. SUMMARY

[0004] An object of the present application is to provide an intelligent driving deceleration control method and device. After the intelligent driving mode is started during the vehicle coasting deceleration process, the negative torque is slowly increased from the coasting energy recovery torque to the target negative torque, thereby reducing the fluctuation of the vehicle recovery torque and preventing the vehicle from surging.

[0005] To achieve the above object, the first embodiment of the present application provides an intelligent driving deceleration control method, which comprises the following steps:

[0006] When the vehicle is in a coasting deceleration state and the intelligent driving is started, the target negative torque and the coasting energy recovery torque before the intelligent driving is started are obtained.

[0007] According to the principle that the negative torque is equal to the coasting energy recovery torque for a period of time after the intelligent driving is started, the negative torque is then linearly transitioned from the coasting energy recovery torque to the target negative torque. When the negative torque is equal to the target negative torque, the negative torque is kept unchanged. The negative torque at each time after the intelligent driving is started is determined.

[0008] The braking energy recovery target torque at each time after the intelligent driving is started is determined according to the negative torque at each time after the intelligent driving is started.

[0009] The braking energy recovery is performed according to the braking energy recovery target torque.

[0010] In addition, the intelligent driving deceleration control method according to the above-mentioned embodiment of the present application can further have the following additional technical features.

[0011] According to an embodiment of the present application, the negative torque is determined according to the principle that the negative torque linearly transitions from the coasting energy recovery torque to the target negative torque at a set first slope.

[0012] According to an embodiment of the present application, the brake energy recovery target torque at each time after the intelligent driving is started is determined according to the set second slope and the coasting energy recovery torque, until the brake energy recovery target torque is equal to the coasting energy recovery torque; and then, the brake energy recovery target torque at each time is equal to the negative torque at the corresponding time.

[0013] According to an embodiment of the present application, the motor of the vehicle is controlled according to the brake energy recovery target torque.

[0014] According to an embodiment of the present application, the intelligent driving is started when the ADS is activated.

[0015] According to an embodiment of the present application, the accelerator pedal angle and the vehicle speed are obtained.

[0016] When the accelerator pedal angle is 0 and the vehicle speed is not 0, it is determined that the vehicle is in a coasting deceleration state.

[0017] The intelligent driving deceleration control method according to the embodiment of the present application, when the vehicle is in a coasting deceleration state and the intelligent driving is started, obtains the target negative torque and the coasting energy recovery torque before the intelligent driving is started; determines the negative torque at each time after the intelligent driving is started according to the principle that the negative torque is kept equal to the coasting energy recovery torque for a period of time after the intelligent driving is started, and then the negative torque linearly transitions from the coasting energy recovery torque to the target negative torque, and the negative torque is kept equal to the target negative torque after the negative torque is equal to the target negative torque; determines the brake energy recovery target torque at each time after the intelligent driving is started according to the negative torque at each time after the intelligent driving is started; and performs brake energy recovery according to the brake energy recovery target torque. After the intelligent driving mode is started in the vehicle coasting deceleration process, the negative torque can be slowly increased from the coasting energy recovery torque to the target negative torque, the fluctuation of the vehicle recovery torque is reduced, and the vehicle surge is prevented.

[0018] To achieve the above-mentioned purpose, the second embodiment of the present application proposes an intelligent driving deceleration control device, which comprises:

[0019] The obtaining unit is configured to, when the vehicle is in a coasting deceleration state and the intelligent driving is started, obtain the target negative torque and the coasting energy recovery torque before the intelligent driving is started.

[0020] The negative torque determination unit is configured to: maintain the negative torque equal to the coasting energy recovery torque for a period of time after the intelligent driving is started, then linearly transition the negative torque from the coasting energy recovery torque to a target negative torque, and determine the negative torque at each time after the intelligent driving is started according to the principle that the negative torque is equal to the target negative torque after the negative torque is equal to the target negative torque.

[0021] The brake energy recovery target torque determination unit is configured to determine the brake energy recovery target torque at each time after the intelligent driving is started according to the negative torque at each time after the intelligent driving is started.

[0022] The brake energy recovery unit is configured to perform brake energy recovery according to the brake energy recovery target torque.

[0023] To achieve the above object, the third aspect of the present application provides a computer device, which comprises:

[0024] The processor is adapted to execute the computer program.

[0025] The computer readable storage medium has the computer program stored therein, and the computer program is executed by the processor to implement the intelligent driving deceleration control method of the first aspect.

[0026] To achieve the above object, the fourth aspect of the present application provides a computer readable storage medium, which has a computer program stored therein, and the computer program is adapted to be loaded and executed by the processor to implement the intelligent driving deceleration control method of the first aspect.

[0027] To achieve the above object, the fifth aspect of the present application provides a computer program product, which comprises a computer program, and the computer program is executed by the processor to implement the intelligent driving deceleration control method of the first aspect.

[0028] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a flow chart of an intelligent driving deceleration control method of an embodiment of the present application;

[0030] Figure 2 is a coasting-only intelligent driving control diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described below in detail with reference to the accompanying drawings. The embodiments described below are examples and are intended to explain the present application, and are not to be understood as limiting the present application.

[0032] Before the embodiments of the present application are explained in detail, the application scenarios and system architecture involved in the embodiments of the present application are introduced.

[0033] First, the system architecture involved in the embodiments of the present application is introduced.

[0034] The system includes an accelerator pedal, an automatic driving sign light (ADS), an integrated brake controller (CRBS), and a vehicle control unit (VCU).

[0035] The accelerator pedal is used to control the acceleration or deceleration of the vehicle. When the accelerator pedal is stepped on, the vehicle accelerates, and when the accelerator pedal is released, the vehicle starts to glide and decelerate.

[0036] The ADS is used to indicate whether the vehicle is in automatic driving mode. When the ADS is activated, it indicates that the vehicle is in automatic driving mode. When the ADS level is 1, it indicates that the ADS is activated. When the ADS level is 0, it indicates that the ADS is not activated.

[0037] The integrated brake controller (CRBS) has an energy recovery function, which will be preferentially allocated to the VCU for electric braking according to the electric braking capability of the VCU. The allocation principle is generally not more than 0.3g, and the specific implementation is according to the scheme stipulated by each project.

[0038] The VCU is used to recover braking energy according to negative torque.

[0039] Those skilled in the art should understand that the above system architecture is only an example, and other existing or future possible components or modules, such as those applicable to the present application, should also be included within the protection scope of the present application, and are hereby incorporated by reference.

[0040] Finally, the application scenarios involved in the intelligent driving deceleration control method disclosed by the embodiments of the present application are introduced.

[0041] The intelligent driving deceleration control method disclosed by the embodiments of the present application is applied to the vehicle starting to glide and decelerate, and how to reduce the vehicle surge when the intelligent driving is started.

[0042] The intelligent driving deceleration control method and device of the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Figure 1 The flowchart of the intelligent driving deceleration control method of one embodiment of the present application.

[0044] In one embodiment of the present application, as shown in Figure 1 The intelligent driving deceleration control method comprises the following steps:

[0045] S1, when the vehicle is in a coasting deceleration state and the intelligent driving is started, obtaining a target negative torque and a coasting energy recovery torque before the intelligent driving is started;

[0046] S2, according to the principle that the negative torque is equal to the target negative torque after the intelligent driving is started, determining the negative torque at each time after the intelligent driving is started, in which the negative torque is equal to the coasting energy recovery torque for a period of time after the intelligent driving is started, and then the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque;

[0047] S3, determining a braking energy recovery target torque at each time after the intelligent driving is started according to the negative torque at each time after the intelligent driving is started;

[0048] S4, performing braking energy recovery according to the braking energy recovery target torque.

[0049] Specifically, in the intelligent driving deceleration control method, when the vehicle is in a single-pedal mode coasting deceleration process and enters an intelligent driving working condition, the negative torque is gradually transitioned from the coasting energy recovery torque before the intelligent driving is started to the target negative torque, so that the vehicle enters the intelligent driving working condition more smoothly and the vehicle jolt is reduced.

[0050] In one embodiment of the present application, during vehicle driving, the accelerator pedal angle and the vehicle speed are obtained.

[0051] When the accelerator pedal angle is 0 and the vehicle speed is not 0, it is determined that the vehicle is in a coasting deceleration state.

[0052] When the vehicle is in a coasting deceleration state, it is detected whether the ADS is activated, and when the ADS is activated, it is indicated that the intelligent driving is started.

[0053] Specifically, whether the ADS is activated is determined by detecting the ADS level; when the ADS level is 1, the ADS is activated, and when the ADS level is 0, the ADS is not activated.

[0054] In one embodiment of the present application, according to the principle that the negative torque is equal to the target negative torque after the intelligent driving is started, the negative torque at each time after the intelligent driving is started is determined, in which the negative torque is equal to the coasting energy recovery torque for a period of time after the intelligent driving is started, and then the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque.

[0055] In one embodiment of the present invention, the negative torque is determined according to the principle that the negative torque linearly transitions from the coasting energy recovery torque to the target negative torque according to a set first slope.

[0056] In one embodiment of the present invention, the target torque for brake energy recovery at each time point in the initial stage after intelligent driving is activated is determined based on the set second slope and coasting energy recovery torque, until the target torque for brake energy recovery equals the coasting energy recovery torque; thereafter, the target torque for brake energy recovery at each time point is equal to the negative torque at the corresponding time point.

[0057] The first and second slopes are calibrated in advance based on the actual vehicle conditions. The negative torque and braking energy recovery target torque determined by the first and second slopes can minimize vehicle jerking when braking.

[0058] like Figure 2 As shown, before ADS activation, the ADS level (ADS Active) is 0, and the coasting energy recovery torque (CoastRegen) is 400 N·m; the negative torque (ADS Target), the braking energy recovery target torque (CRBS Regen Target), and the braking energy recovery torque actually executed by the VCU (CRBS Regen) are all 0; when ADS... When Active is 1, ADS is activated and intelligent driving is enabled. At this time, the acquired coasting energy recovery torque is 400 N·m, and the target negative torque is 1000 N·m. After intelligent driving is enabled, the negative torque transitions from 400 N·m to 1000 N·m in two stages, and then remains at 1000 N·m. Specifically, in the A+B stages when intelligent driving is enabled, the negative torque is 400 N·m at each time. After entering the C stage, the negative torque is determined according to the principle that the negative torque linearly transitions from 400 N·m to 1000 N·m according to the set first slope. When entering the D stage, the negative torque is 1000 N·m at each time.

[0059] Correspondingly, the coasting energy recovery torque gradually decreases from 400 N·m to 0 N·m.

[0060] During Phase A of intelligent driving, the target torque for regenerative braking linearly transitions from 0 N·m to 400 N·m according to a set second slope. After that, the target torque for regenerative braking remains consistent with the negative torque. When the negative torque is 400 N·m, the target torque for regenerative braking is 400 N·m; when the negative torque is 1000 N·m, the target torque for regenerative braking is 1000 N·m; when the negative torque is between 400 N·m and 1000 N·m, the target torque for regenerative braking also remains consistent with the negative torque.

[0061] In one embodiment of the present application, brake energy recovery is performed according to the brake energy recovery target torque; and the motor performs electric braking according to the brake energy recovery target torque request.

[0062] The intelligent driving deceleration control method of the embodiment of the present application, in the process of starting the coasting deceleration, after the intelligent driving mode is started, the actual negative torque executed by the VCU is kept as much as possible, and the vehicle is reduced.

[0063] The present application also provides an intelligent driving deceleration control device, which comprises:

[0064] The acquisition unit is configured to acquire a target negative torque and a coasting energy recovery torque before the intelligent driving is started when the vehicle is in a coasting deceleration state and the intelligent driving is started.

[0065] The negative torque determination unit is configured to keep the negative torque equal to the coasting energy recovery torque for a period of time after the intelligent driving is started, and then linearly transition the negative torque from the coasting energy recovery torque to the target negative torque, and determine the negative torque at each time after the intelligent driving is started according to the principle that the negative torque is kept equal to the target negative torque after the negative torque is equal to the target negative torque.

[0066] The brake energy recovery target torque determination unit is configured to determine the brake energy recovery target torque at each time after the intelligent driving is started according to the negative torque at each time after the intelligent driving is started.

[0067] The brake energy recovery unit is configured to perform brake energy recovery according to the brake energy recovery target torque.

[0068] The present application also provides a computer device, which comprises:

[0069] The processor is adapted to execute the computer program.

[0070] The computer readable storage medium stores the computer program, and the computer program is executed by the processor to implement the intelligent driving deceleration control method disclosed in Embodiment 1.

[0071] The present application also provides a computer readable storage medium, which stores a computer program, and the computer program is adapted to be loaded and executed by the processor to implement the intelligent driving deceleration control method disclosed in Embodiment 1.

[0072] The present application also provides a computer program product, which comprises a computer program, and the computer program is executed by the processor to implement the intelligent driving deceleration control method disclosed in Embodiment 1.

[0073] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or can be instructed to relevant hardware by program. The program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0074] The above description is merely preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent driving deceleration control method, characterized by, The method comprises: When the vehicle is in the coasting deceleration state and the intelligent driving is turned on, the target negative torque and the coasting energy recovery torque before the intelligent driving is turned on are acquired; According to the principle that the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque after the intelligent driving is turned on, the negative torque is determined; According to the negative torque at each time after the intelligent driving is turned on, the braking energy recovery target torque at each time after the intelligent driving is turned on is determined; The braking energy recovery is performed according to the braking energy recovery target torque; According to the principle that the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque at the first slope, the negative torque is determined; According to the second slope and the coasting energy recovery torque, the braking energy recovery target torque at each time in the initial stage after the intelligent driving is turned on is determined until the braking energy recovery target torque is equal to the coasting energy recovery torque; and then the braking energy recovery target torque at each time is equal to the negative torque at the corresponding time.

2. The intelligent driving deceleration control method of claim 1, wherein, The motor of the vehicle is controlled according to the braking energy recovery target torque.

3. The intelligent driving deceleration control method of claim 1, wherein, When the ADS is activated, the intelligent driving is turned on.

4. The intelligent driving deceleration control method of claim 1, wherein, The accelerator pedal angle and the vehicle speed are acquired; When the accelerator pedal angle is 0 and the vehicle speed is not 0, it is determined that the vehicle is in the coasting deceleration state.

5. An intelligent driving deceleration control device characterized by comprising: The device comprises: An acquisition unit is configured to acquire the target negative torque and the coasting energy recovery torque before the intelligent driving is turned on when the vehicle is in the coasting deceleration state and the intelligent driving is turned on; A negative torque determination unit is configured to determine the negative torque at each time after the intelligent driving is turned on according to the principle that the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque after the intelligent driving is turned on, and the negative torque is kept equal to the target negative torque after the negative torque is equal to the target negative torque; A braking energy recovery target torque determination unit is configured to determine the braking energy recovery target torque at each time after the intelligent driving is turned on according to the negative torque at each time after the intelligent driving is turned on; A braking energy recovery unit is configured to perform the braking energy recovery according to the braking energy recovery target torque; According to the principle that the negative torque is linearly transitioned from the coasting energy recovery torque to the target negative torque at the first slope, the negative torque is determined; According to the second slope and the coasting energy recovery torque, the braking energy recovery target torque at each time in the initial stage after the intelligent driving is turned on is determined until the braking energy recovery target torque is equal to the coasting energy recovery torque; and then the braking energy recovery target torque at each time is equal to the negative torque at the corresponding time.

6. An electronic device, comprising: The device comprises: A processor adapted to execute a computer program; A computer readable storage medium having a computer program stored therein, wherein the computer program is executed by the processor to implement the intelligent driving deceleration control method of any one of claims 1-4.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores a computer program, and the computer program is suitable for being loaded and executed by the processor to implement the intelligent driving deceleration control method in any one of claims 1-4.

8. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by the processor to implement the intelligent driving deceleration control method in any one of claims 1-4.

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