A method and system for vehicle top speed control

Abstract

This invention provides a method and system for controlling the maximum vehicle speed, belonging to the field of vehicle power control technology. The method determines whether the maximum speed control function is activated based on the vehicle's actual speed and a preset activation threshold speed. When the activation is successful, the method obtains the speed difference between the preset maximum speed and the current speed, and matches this speed difference with a preset multi-level speed range. Corresponding torque filtering parameters are allocated according to the speed range matched by the speed difference, and closed-loop control of the vehicle speed is performed based on these torque filtering parameters. Ultimately, this invention constrains the driver's requested torque with a smoothed limiting torque, achieving a smooth and stable vehicle speed without oscillation or overshoot at the target maximum speed. This invention solves the problems of speed fluctuations, large torque impacts, and poor ride smoothness in existing technologies, offering high control precision, strong robustness, and ease of mass production, making it suitable for various passenger and commercial vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicle power control technology, and in particular to a method and system for controlling the maximum speed of a vehicle. Background Technology

[0002] The vehicle's maximum speed limit is a crucial function for ensuring driving safety, protecting the powertrain, and preventing damage to components from excessive speeding. Existing vehicle maximum speed control schemes generally suffer from insufficient control precision and poor smoothness.

[0003] Existing technologies sometimes employ a fixed MAP (Motor Mapping Tool) to define the maximum torque limit, directly limiting the torque requested by the driver. While this approach is logically simple, it doesn't consider the dynamic speed approximation process, resulting in a rigid torque limitation and a tendency for speed overshoot. Another approach uses PID control based on the deviation between the actual and maximum vehicle speeds, directly outputting the limiting torque. However, this method experiences drastic fluctuations in the PID output as the vehicle speed approaches the target value, leading to frequent abrupt changes in the limiting torque. This results in the actual vehicle speed repeatedly fluctuating within ±2 km / h of the maximum speed, leading to poor ride comfort and significant impact on the powertrain. Therefore, a method and system for controlling the vehicle's maximum speed is urgently needed to address the problems of existing technologies. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a method and system for controlling the maximum speed of a vehicle.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the maximum speed of a vehicle, comprising:

[0006] The activation of the maximum speed control function is determined based on the actual vehicle speed and the preset activation threshold speed.

[0007] When the maximum speed control function is successfully activated, the speed difference between the preset maximum speed and the current speed is obtained, and the speed difference is matched with a preset multi-level speed range.

[0008] Based on the speed range matched by the vehicle speed difference, corresponding torque filtering parameters are assigned, and the vehicle speed is controlled in a closed loop according to the torque filtering parameters.

[0009] Furthermore, the method for determining the preset activation threshold speed includes: setting a preset maximum speed as v_Max and a calibrable constant A, then the preset activation threshold speed v_Th = v_Max - A.

[0010] Furthermore, the activation of the maximum speed control function is determined by the following methods: when the maximum speed v_Max≤A, the threshold speed v_Th=0, and the maximum speed control function is activated throughout the process; when the maximum speed v_Max>A and the actual speed v≥v_Th, the maximum speed control function is activated.

[0011] Furthermore, the method for determining the preset multi-level speed range includes: obtaining the calibrable constant A and the number of intervals N between the multi-level speed ranges, then the number of multi-level speed ranges is A / N, which are (0, N), (N, 2N), ..., (AN, A).

[0012] Furthermore, if A is 20 km / h and N is 5 km / h, then the multi-level speed range is 4 levels, namely (0, 5 km / h), (5 km / h, 10 km / h), (10 km / h, 15 km / h) and (15 km / h, 20 km / h).

[0013] Furthermore, the torque filtering parameters are allocated according to the speed range matched by the vehicle speed difference. The specific method includes: calculating the initial maximum vehicle speed limit torque T_Max by the PID controller based on the vehicle speed difference, and performing smooth filtering on the initial maximum vehicle speed limit torque T_Max by matching the corresponding filtering coefficient and filtering time constant according to the speed range to which the current vehicle speed belongs.

[0014] Furthermore, the smaller the value of the speed range to which the difference between the actual vehicle speed v and the preset maximum vehicle speed v_Max belongs, the lower the filtering rate becomes, so that the rate of change of the initial maximum vehicle speed limiting torque T_Max gradually slows down as the vehicle speed approaches v_Max.

[0015] Furthermore, the vehicle speed is controlled in a closed loop according to the torque filtering parameters. The specific method includes: the vehicle controller collects the vehicle speed signal, throttle signal and torque signal in real time, and performs activation judgment, interval identification, PID calculation, graded filtering and torque output in a loop to make the actual vehicle speed smoothly approach the maximum vehicle speed and stabilize without fluctuation.

[0016] Secondly, the present invention also discloses a system for controlling the maximum vehicle speed, comprising:

[0017] The maximum speed control function activation judgment unit is used to judge the activation of the maximum speed control function based on the actual vehicle speed and the preset activation threshold speed.

[0018] The vehicle speed difference matching unit is used to obtain the vehicle speed difference between the preset maximum vehicle speed and the current vehicle speed when the maximum vehicle speed control function is successfully activated, and to match the vehicle speed difference with the preset multi-level speed range.

[0019] The vehicle speed control unit is used to allocate corresponding torque filtering parameters according to the speed range matched by the speed difference, and to perform closed-loop control of the vehicle speed according to the torque filtering parameters.

[0020] Thirdly, the present invention also discloses an electronic device, comprising:

[0021] One or more processors;

[0022] Memory, used to store one or more programs;

[0023] When the one or more programs are executed by the one or more processors, the one or more processors implement the method.

[0024] This invention provides a method and system for controlling the maximum vehicle speed. The method determines whether the maximum speed control function is activated based on the vehicle's actual speed and a preset activation threshold speed. When the activation is successful, the method obtains the speed difference between the preset maximum speed and the current speed, and matches this speed difference with a preset multi-level speed range. Corresponding torque filtering parameters are allocated based on the speed range matched by the speed difference, and closed-loop control of the vehicle speed is performed using these torque filtering parameters. Ultimately, this invention constrains the driver's requested torque with a smoothed limiting torque, achieving a smooth and stable vehicle speed at the target maximum speed without oscillation or overshoot. This invention solves the problems of speed fluctuations, large torque impacts, and poor ride smoothness in existing technologies, offering high control precision, strong robustness, and ease of mass production, making it suitable for various passenger and commercial vehicles. Attached Figure Description

[0025] Figure 1 A flowchart illustrating a method for controlling the maximum vehicle speed according to an embodiment of the present invention;

[0026] Figure 2 A structural block diagram of a vehicle maximum speed control system provided in an embodiment of the present invention;

[0027] Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0029] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0030] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0032] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0033] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0034] A vehicle speed control method is disclosed in related technologies. This method constructs a target speed curve from the current vehicle speed to the maximum speed limit when the difference between the current vehicle speed and the maximum speed limit is less than or equal to a preset value. Based on the current vehicle speed and the target speed curve at the current moment, a limiting torque value is calculated using PID control. The smaller of the limiting torque value and the required torque value is used as the target torque value to control the vehicle's motor.

[0035] However, constructing the target speed curve actually involves gradually increasing the speed limit to the maximum speed limit to ensure that the speed deviation is not too large when using PID to calculate the limit torque value. This technology does not solve the problem of actual vehicle speed fluctuating within ±2 km / h around the maximum speed when using PID control after the target speed curve has reached the maximum speed limit, due to rapid torque fluctuations.

[0036] A fuzzy processing control method for limiting the maximum speed of pure electric buses is also disclosed in related technologies. This method introduces a speed limiting coefficient by dividing the maximum speed and the second-highest speed, and then corrects the requested torque. However, the speed limiting coefficient depends on the identification of the operating conditions, and simply multiplying the target torque by the speed limiting coefficient does not provide high enough control accuracy.

[0037] To address at least one of the technical problems existing in the aforementioned related technologies, the present invention provides a method and system for controlling the maximum vehicle speed.

[0038] This implementation discloses a method for controlling the maximum vehicle speed, such as... Figure 1 ,include:

[0039] S100. Determine whether the maximum speed control function is activated based on the actual vehicle speed and the preset activation threshold speed. In this embodiment, the preset activation threshold speed determination method includes: setting the preset maximum speed as v_Ma and the calibrable constant A, then the preset activation threshold speed v_Th = v_Max - A.

[0040] In this embodiment, the determination of the activation of the maximum vehicle speed control function includes the following methods: when the maximum vehicle speed v_Max≤A, the threshold vehicle speed v_Th=0, and the maximum vehicle speed control function is activated throughout; when the maximum vehicle speed v_Max>A and the actual vehicle speed v≥v_Th, the maximum vehicle speed control function is activated.

[0041] Specifically, the maximum speed limit function does not operate when the actual vehicle speed is much lower than the target maximum speed. The maximum speed control function only needs to be activated when the actual vehicle speed is close to the target maximum speed.

[0042] When the maximum vehicle speed target is v_Max, the threshold speed at which the maximum vehicle speed control function is activated is set to v_Th.

[0043] v_Max-v_Th=A

[0044] A is a calibrated value, which can be set to 20 km / h. That is, when the maximum speed v_Max is 180 km / h, the threshold speed v_Th for the maximum speed control function to be activated is 160 km / h; when the maximum speed v_Max is limited to 60 km / h due to certain faults, the threshold speed v_Th is 40 km / h; when certain serious faults cause the maximum speed v_Max to be < 20 km / h, the threshold speed v_Th is 0 km / h, and the maximum speed control function is activated throughout.

[0045] When the actual vehicle speed v is greater than or equal to the threshold speed v_Th, that is, v≥v_Th, the maximum speed control function is activated.

[0046] S200. When the maximum speed control function is successfully activated, the speed difference between the preset maximum speed and the current speed is obtained, and the speed difference is matched with the preset multi-level speed range;

[0047] In this embodiment, the method for determining the preset multi-level speed range includes: obtaining a calibrable constant A and the number of intervals N between the multi-level speed ranges, then the number of multi-level speed ranges is A / N, which are (0, N), (N, 2N), ..., (AN, A). Preferably, A is 20 km / h and N is 5 km / h, then the multi-level speed range is 4 levels, which are (0, 5 km / h), (5 km / h, 10 km / h), (10 km / h, 15 km / h) and (15 km / h, 20 km / h).

[0048] Specifically, since v_Max - v_Th = A, where A is a calibrated value, typically set to 20 km / h, speed ranges can be divided into 5 km / h intervals.

[0049] Let the difference between the maximum speed vMax and the actual speed v be B, that is: v_Max - v = B

[0050] One dimension for dividing speed ranges is the speed difference B.

[0051] Based on the actual vehicle speed v, and considering the case where the speed is close to the maximum vehicle speed v_Max, the range can be divided into intervals 1 to 4, as shown in Table 1 below:

[0052] Table 1

[0053]

[0054] S300. Assign corresponding torque filtering parameters according to the speed range matched by the vehicle speed difference, and perform closed-loop control of the vehicle speed according to the torque filtering parameters. In this embodiment, the method of assigning corresponding torque filtering parameters according to the speed range matched by the vehicle speed difference includes: calculating the initial maximum speed limit torque T_Max according to the vehicle speed difference using a PID controller, and performing smooth filtering on the initial maximum speed limit torque T_Max according to the speed range to which the current vehicle speed belongs, matching the corresponding filtering coefficient and filtering time constant.

[0055] In this embodiment, the smaller the value of the speed range to which the difference between the actual vehicle speed v and the preset maximum vehicle speed v_Max belongs, the lower the filtering rate becomes, so that the rate of change of the initial maximum vehicle speed limiting torque T_Max gradually slows down as the vehicle speed approaches v_Max.

[0056] Specifically, the maximum speed limit torque Generally based on the maximum speed With actual vehicle speed The deviation is obtained after PID control. When the vehicle speed is near the maximum, if the driver continues to accelerate with heavy throttle, the driver requests torque. Torque will be limited by maximum vehicle speed. The limitation, that is, the actual torque executed is Therefore, controlling the maximum speed limits torque. The rate of change of the filter coefficients can be used to control the rate of change of the actual torque. Different filter coefficients and filter time constants can be set based on speed range 1 to speed range 4, as shown in Table 2 below.

[0057] Table 2

[0058]

[0059] The torque filtering rate decreases progressively from interval 1 to interval 4, ensuring that even when the driver continuously applies heavy throttle, the actual vehicle speed remains relatively constant. Approaching top speed During the process, The changes are slowing down. This ensures the actual vehicle speed. Slowly approaching top speed This avoids inflating the actual vehicle speed. At maximum speed The commotion in the vicinity.

[0060] In this embodiment, the vehicle speed is controlled in a closed loop according to the torque filtering parameters. The specific method includes: the vehicle controller collects the vehicle speed signal, throttle signal and torque signal in real time, and performs activation judgment, interval identification, PID calculation, graded filtering and torque output in a loop, so that the actual vehicle speed smoothly approaches the maximum vehicle speed and is stable without fluctuation.

[0061] To better understand this embodiment, specific examples are used to describe it below:

[0062] When the target maximum vehicle speed v_Max = 180 km / h and the calibration A = 20 km / h, the activation threshold v_Th = 160 km / h. The function is activated when the actual vehicle speed v ≥ 160 km / h. 160 km / h ≤ v < 165 km / h (15 < B ≤ 20): Interval 1, faster filtering rate; 165 km / h ≤ v < 170 km / h (10 < B ≤ 15): Interval 2, slower filtering rate; 170 km / h ≤ v < 175 km / h (5 < B ≤ 10): Interval 3, even slower filtering rate; 175 km / h ≤ v ≤ 180 km / h (B ≤ 5): Interval 4, lowest filtering rate, vehicle speed smoothly approaches 180 km / h, no oscillation.

[0063] When the vehicle's maximum speed is limited to 60km / h due to a malfunction, the activation threshold is v_Th=40km / h. When the actual vehicle speed v≥40km / h, the function is activated, and graded filtering and torque limiting are performed according to the same interval logic, stabilizing the vehicle speed at 60km / h without any jerking or overshoot.

[0064] When a vehicle malfunction causes v_Max=15km / h<20km / h, then v_Th=0, the control function is activated throughout the process, and the vehicle is speed limited according to the graded filtering logic from the start, and is stable at 15km / h.

[0065] This embodiment provides a method and system for controlling the maximum vehicle speed. The method determines whether the maximum speed control function is activated based on the vehicle's actual speed and a preset activation threshold speed. When the activation is successful, the method obtains the speed difference between the preset maximum speed and the current speed, and matches this speed difference with a preset multi-level speed range. Corresponding torque filtering parameters are allocated based on the speed range matched by the speed difference, and closed-loop control of the vehicle speed is performed using these torque filtering parameters. Ultimately, this invention constrains the driver's requested torque with a smoothed limiting torque, achieving a smooth and stable vehicle speed without oscillation or overshoot at the target maximum speed. This invention solves the problems of speed fluctuations, large torque impacts, and poor ride smoothness in existing technologies. It offers high control precision, strong robustness, and ease of mass production, making it suitable for various passenger and commercial vehicles.

[0066] Based on the same inventive concept, embodiments of the present invention also provide a system for controlling the maximum vehicle speed, such as... Figure 2 It includes: a maximum speed control function activation judgment unit, a speed difference matching unit, and a vehicle speed control unit; wherein:

[0067] The maximum speed control function activation judgment unit is used to judge the activation of the maximum speed control function based on the actual vehicle speed and the preset activation threshold speed.

[0068] The vehicle speed difference matching unit is used to obtain the vehicle speed difference between the preset maximum vehicle speed and the current vehicle speed when the maximum vehicle speed control function is successfully activated, and to match the vehicle speed difference with the preset multi-level speed range.

[0069] The vehicle speed control unit is used to allocate corresponding torque filtering parameters according to the speed range matched by the speed difference, and to perform closed-loop control of the vehicle speed according to the torque filtering parameters.

[0070] In this embodiment, the specific working methods of the maximum vehicle speed control function activation judgment unit, the vehicle speed difference matching unit, and the vehicle speed control unit have been described in detail in the above-mentioned method for controlling the maximum vehicle speed, and will not be repeated here.

[0071] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0072] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0073] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0074] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0075] This invention also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the methods described in the above embodiments. The computer-readable storage medium may be a volatile or non-volatile computer-readable storage medium.

[0076] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described method.

[0077] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0078] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0079] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0080] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0081] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0082] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0083] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0084] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0085] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0086] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method for controlling the maximum speed of a vehicle, characterized in that, include: The activation of the maximum speed control function is determined based on the actual vehicle speed and the preset activation threshold speed. When the maximum speed control function is successfully activated, the speed difference between the preset maximum speed and the current speed is obtained, and the speed difference is matched with a preset multi-level speed range. Based on the speed range matched by the vehicle speed difference, corresponding torque filtering parameters are assigned, and the vehicle speed is controlled in a closed loop according to the torque filtering parameters.

2. The method according to claim 1, characterized in that, The method for determining the preset activation threshold speed includes: setting a preset maximum speed as v_Max and a calibrable constant A, then the preset activation threshold speed v_Th = v_Max - A.

3. The method according to claim 2, characterized in that, The determination of the activation of the maximum speed control function includes the following methods: when the maximum speed v_Max≤A, the threshold speed v_Th=0, and the maximum speed control function is activated throughout the process; when the maximum speed v_Max>A and the actual speed v≥v_Th, the maximum speed control function is activated.

4. The method according to claim 1, characterized in that, The method for determining the preset multi-level speed range includes: obtaining the calibrable constant A and the number of intervals N between the multi-level speed ranges, then the number of multi-level speed ranges is A / N, which are (0, N), (N, 2N), ..., (AN, A).

5. The method according to claim 4, characterized in that, If A is 20 km / h and N is 5 km / h, then the multi-speed range is divided into four levels: (0, 5 km / h), (5 km / h, 10 km / h), (10 km / h, 15 km / h), and (15 km / h, 20 km / h).

6. The method according to claim 1, characterized in that, The method involves allocating corresponding torque filtering parameters based on the speed range matched by the vehicle speed difference. Specifically, this includes: calculating the initial maximum speed limit torque T_Max using a PID controller based on the vehicle speed difference; and performing smooth filtering on the initial maximum speed limit torque T_Max by matching the corresponding filtering coefficient and filtering time constant according to the speed range to which the current vehicle speed belongs.

7. The method according to claim 6, characterized in that, The smaller the value of the speed range to which the difference between the actual vehicle speed v and the preset maximum vehicle speed v_Max belongs, the lower the filtering rate becomes, so that the rate of change of the initial maximum vehicle speed limit torque T_Max gradually slows down as the vehicle speed approaches v_Max.

8. The method according to claim 1, characterized in that, The vehicle speed is controlled in a closed loop according to the torque filtering parameters. The specific method includes: the vehicle controller collects the vehicle speed signal, throttle signal and torque signal in real time, and performs activation judgment, interval recognition, PID calculation, graded filtering and torque output in a loop to make the actual vehicle speed smoothly approach the maximum vehicle speed and stabilize without fluctuation.

9. A system for controlling the maximum vehicle speed, employing any one of the methods described in claims 1-8, characterized in that, include: The maximum speed control function activation judgment unit, speed difference matching unit and vehicle speed control unit; The maximum speed control function activation judgment unit is used to judge the activation of the maximum speed control function based on the actual vehicle speed and the preset activation threshold speed. The vehicle speed difference matching unit is used to obtain the vehicle speed difference between the preset maximum vehicle speed and the current vehicle speed when the maximum vehicle speed control function is successfully activated, and to match the vehicle speed difference with the preset multi-level speed range. The vehicle speed control unit is used to allocate corresponding torque filtering parameters according to the speed range matched by the speed difference, and to perform closed-loop control of the vehicle speed according to the torque filtering parameters.

10. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 8.

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