阅读说明：本技术 一种纯电动环卫车定速巡航控制系统及方法 (Constant-speed cruise control system and method for pure electric sanitation vehicle ) 是由 陈森 庄明兴 潘涛 鞠书文 弥杨锦华 于 2020-07-22 设计创作，主要内容包括：本发明公开纯电动环卫车定速巡航控制系统及方法,包括整车控制器、电机控制器、电池管理系统、仪表单元和巡航开关；整车控制器通过CAN网络与电机控制器、电池管理系统和仪表单元进行数据传输,巡航开关包括若干按键,各按键通过硬线与整车控制器连接；整车控制器统筹操控信号及加速踏板信号、刹车信号、驻车信号、ABS防抱死系统报警信号,并将信号进行分析,在满足预定的定速巡航条件下按操控要求控制车速,并实时监测车辆各系统控制器状态,分析故障并按故障等级进行巡航暂定与退出处理。本发明功能全面,节省按键与仪表空间,减轻了驾驶员的工作强度,满足舒适性要求,满足对于不同种类环卫作业车的定速需求,降低车辆的能耗。(The invention discloses a constant-speed cruise control system and a constant-speed cruise control method for a pure electric sanitation vehicle, wherein the system comprises a vehicle control unit, a motor controller, a battery management system, an instrument unit and a cruise switch; the whole vehicle controller is in data transmission with the motor controller, the battery management system and the instrument unit through a CAN network, the cruise switch comprises a plurality of keys, and each key is connected with the whole vehicle controller through a hard wire; the vehicle control unit comprehensively plans an operation signal, an accelerator pedal signal, a brake signal, a parking signal and an ABS alarm signal, analyzes the signals, controls the vehicle speed according to the operation and control requirements under the condition of meeting the preset constant-speed cruise condition, monitors the states of all system controllers of the vehicle in real time, analyzes the fault, and performs cruise tentative and quit treatment according to the fault level. The invention has comprehensive functions, saves the space of keys and instruments, lightens the working strength of a driver, meets the requirement of comfort, meets the constant speed requirement of different types of sanitation operation vehicles, and reduces the energy consumption of the vehicles.)

1. A pure electric sanitation vehicle constant-speed cruise control system is characterized by comprising a vehicle control unit, a motor controller, a battery management system, an instrument unit and a cruise switch;

the whole vehicle controller is respectively in data transmission with the motor controller, the battery management system and the instrument unit through a CAN network, the cruise switch comprises a plurality of keys, and each key is connected with the whole vehicle controller through a hard wire;

the vehicle control unit integrally arranges an operation signal, an accelerator pedal signal, a brake signal, a parking signal and an ABS alarm signal, analyzes the signals, controls the vehicle speed according to the operation and control requirements under the condition of meeting the preset constant-speed cruise condition, monitors the state of each system controller of the vehicle in real time, analyzes the fault, and performs cruise suspension and exit processing according to the fault level.

2. The system as claimed in claim 1, wherein the keys of the cruise switch include a speed/cruise speed up reset key, a current speed/cruise speed down set key, a cruise cancel key, and a cruise total on/total key.

3. The system of claim 1, wherein the control signals include an enable signal, a reset signal, a close signal, a pause signal, an acceleration signal, and a deceleration signal.

4. A cruise control method based on the system according to any of claims 1-3, characterized in that it comprises the steps of:

1) after the vehicle control unit is powered on, reading a motor rotating speed signal transmitted to the vehicle control unit by the motor controller through a CAN bus, and calculating through a function module of the vehicle control unit to obtain a current vehicle speed signal;

2) the whole vehicle controller collects the state information of the whole vehicle and can execute a cruising function after judging that the cruising condition is met;

3) turning on a constant-speed cruise function;

4) when the vehicle accelerates to the speed required by the driver, the accelerator is released, and the vehicle can cruise at the current speed;

5) during the cruising of the vehicle, the speed can be increased at the current speed per hour or reduced at the current speed per hour;

6) the driver can cancel, pause and resume constant-speed cruising in the cruising process of the vehicle.

5. The cruise control method according to claim 4, wherein in step 5), when the vehicle is cruising, the RES/+ key can be pressed to increase the speed at the current speed per hour, the SET/-key is pressed to decrease the speed at the current speed per hour, and each time the fine adjustment calibration value is pressed for 1km/h, the key is bounced up for confirmation; when the key duration exceeds 1S, the speed is accumulated in the form of an arithmetic progression every 0.5S, and the maximum limit is set to 6 times.

6. A cruise control method according to claim 4, characterized in that said resuming cruise at constant speed in step 6) comprises the steps of:

a) after the constant-speed cruise is suspended, the vehicle is in a normal running state, if the speed of the vehicle is higher than a calibrated value, an RES/+ key is pressed, the vehicle resumes the speed before the suspension and continues cruising at the current speed, and an SET/-key is pressed;

b) if the vehicle is in a constant-speed cruising state, an accelerator pedal is stepped on for acceleration, and the accelerator torque request is larger than the current cruising torque, normal acceleration is carried out according to the opening degree of the accelerator pedal, and after the accelerator pedal is released, if no key is provided, the vehicle can be slowly recovered to the cruising speed;

c) and the cruise function is closed according to the cruise total on/total key for the second time, and the cruise indicator lamp in the instrument unit is turned off at the moment.

Technical Field

The invention relates to a constant-speed cruise control system and method for a pure electric sanitation vehicle, and belongs to the technical field of vehicle control.

Background

With the great pressure brought by the increasingly remarkable problems of energy crisis, global warming, environmental pollution and the like, the development of electric automobiles is greatly valued by the automobile industry in the world. China gradually adopts electric sanitation operation vehicles to replace traditional fuel oil vehicles. The constant-speed cruise system can improve the comfort of a driver and relieve the fatigue of the driver, but different operation vehicles have different requirements on the constant-speed cruise function, for example, a washing and sweeping vehicle needs to maintain the speed of 5km/h for operation, the control precision is higher, and a box type transport vehicle needs higher cruise speed and the like.

At present, the electric sanitation vehicle on the market has single constant-speed cruising function, can not fully cover all kinds of vehicle types, and once a fault occurs, such as a fault of a transmission hard wire, a fault of a VCU vehicle controller or a fault of communication between a VCU and an electric drive controller MCU, the vehicle can not normally exit from a constant-speed cruising state, and traffic accidents can be caused.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a constant-speed cruise control system and method for a pure electric sanitation vehicle.

In order to achieve the purpose, the pure electric sanitation vehicle constant-speed cruise control system comprises a vehicle control unit, a motor controller, a battery management system, an instrument unit and a cruise switch;

the whole vehicle controller is respectively in data transmission with the motor controller, the battery management system and the instrument unit through a CAN network, the cruise switch comprises a plurality of keys, and each key is connected with the whole vehicle controller through a hard wire;

the vehicle control unit integrally arranges an operation signal, an accelerator pedal signal, a brake signal, a parking signal and an ABS alarm signal, analyzes the signals, controls the vehicle speed according to the operation and control requirements under the condition of meeting the preset constant-speed cruise condition, monitors the state of each system controller of the vehicle in real time, analyzes the fault, and performs cruise suspension and exit processing according to the fault level.

The keys in the cruise switch comprise a speed/cruise acceleration restoring key, a current speed/cruise deceleration setting key, a cruise cancel key and a cruise total on/total key.

The control signal comprises an enable signal, a reset signal, a close signal, a pause signal, an acceleration signal and a deceleration signal.

In addition, the invention also provides a constant-speed cruise control method based on the system, which comprises the following steps:

1) after the vehicle control unit is powered on, reading a motor rotating speed signal transmitted to the vehicle control unit by the motor controller through a CAN bus, and calculating through a function module of the vehicle control unit to obtain a current vehicle speed signal;

2) the whole vehicle controller collects the state information of the whole vehicle and can execute a cruising function after judging that the cruising condition is met;

3) turning on a constant-speed cruise function;

4) when the vehicle accelerates to the speed required by the driver, the accelerator is released, and the vehicle can cruise at the current speed;

5) during the cruising of the vehicle, the speed can be increased at the current speed per hour or reduced at the current speed per hour;

6) the driver can cancel, pause and resume constant-speed cruising in the cruising process of the vehicle.

In the step 5), the RES/+ key can be pressed to increase the speed at the current speed per hour, the SET/-key is pressed to decrease the speed at the current speed per hour, and the key is bounced to confirm each time the fine tuning calibration value is pressed for 1 km/h; when the key duration exceeds 1S, the speed is accumulated in the form of an arithmetic progression every 0.5S, and the maximum limit is set to 6 times.

The step 6) of resuming the constant-speed cruising comprises the following steps:

a) after the constant-speed cruise is suspended, the vehicle is in a normal running state, if the speed of the vehicle is higher than a calibrated value, an RES/+ key is pressed, the vehicle resumes the speed before the suspension and continues cruising at the current speed, and an SET/-key is pressed;

b) if the vehicle is in a constant-speed cruising state, an accelerator pedal is stepped on for acceleration, and the accelerator torque request is larger than the current cruising torque, normal acceleration is carried out according to the opening degree of the accelerator pedal, and after the accelerator pedal is released, if no key is provided, the vehicle can be slowly recovered to the cruising speed;

c) and the cruise function is closed according to the cruise total on/total key for the second time, and the cruise indicator lamp in the instrument unit is turned off at the moment.

Compared with the prior art, the invention has the following beneficial effects:

1) the constant-speed cruise control system has comprehensive functions, is simple to operate, saves the space of keys and instruments, lightens the working strength of a driver, meets the requirement of comfort, meets the constant-speed requirements of different types of sanitation operation vehicles, and reduces the energy consumption of the vehicles.

2) In the constant-speed cruise control system, because signals such as vehicle speed signals, fault signals and the like are transmitted through the CAN line, the cost is low, the requirements of different controllers of the whole vehicle are met, and the problem of cruise work abnormity caused by easy interference and easy loss of hard-line PWM vehicle speed signals is solved.

3) In the cruise control system, the cruise fault information is displayed through the instrument, so that the maintenance is convenient.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.

As shown in fig. 1, a constant-speed cruise control system of a pure electric sanitation vehicle comprises a vehicle control unit VCU 8, a motor controller MCU 1, a battery management system BMS7, an instrument unit ICU 6 and a cruise switch;

the VCU 8 of the vehicle controller is connected with the motor controller MCU 1, the battery management system BMS7 and the instrument unit ICU 6 through a CAN network for communication and data transmission;

the cruise switch is characterized in that keys of the cruise switch are connected with pins of a vehicle control unit VCU 8 in a high-low level triggering mode through hard wires, the vehicle control unit VCU 8 integrally controls signals, an accelerator pedal signal, a brake signal, a parking signal and an ABS (anti-lock brake system) alarm signal, analyzes the signals, controls the speed of the vehicle according to control requirements under the condition that the preset constant-speed cruise condition is met, monitors the state of each system controller of the vehicle in real time, analyzes faults and conducts cruise tentative setting and quit processing according to the fault level.

The cruise switch is provided with a speed/cruise acceleration key 4 for restoring the set speed/cruise, a current speed/cruise deceleration key 3 for setting, a cruise cancel key (cruise PAUSE key PAUSE)5 and a cruise total on/total key 2, and the control signals comprise an enable signal, a reset signal, a close signal, a PAUSE signal, an acceleration signal and a deceleration signal.

The cruise switch is described in table 1 below. The cruise switch has multiple functions through four keys, and the intention of a driver is judged according to the key duration of the driver aiming at the driving requirements of vehicles with different operations, so that the short and accurate control and wide-range modulation of the cruise speed are realized.

TABLE 1 cruise switch description

Interface name	Type of signal	Number of states	Characteristics of	Remarks for note
					Reset set speed/cruise acceleration key	Hard wire pulse	Number of	0-1	(RES/+) bond
Setting current speed/cruise speed reduction key	Hard wire pulse	Number of	0-1	(SET/-) linkage
					Cruise cancel (pause) key	Hard wire pulse	Number of	0-1	(CANCEL) bond
Cruise general on/general key	Hard wire pulse	Number of	0-1	(MANON/OFF) Key

The invention also provides a constant-speed cruise control method of the pure electric sanitation vehicle, which comprises the following steps of:

1) after the VCU 8 of the vehicle controller is powered on, reading a motor rotating speed signal transmitted to the VCU 8 of the vehicle controller by the MCU 1 through a CAN bus, and calculating by a function module in the VCU 8 of the vehicle controller to obtain a current vehicle speed signal;

2) the VCU 8 of the vehicle controller collects the state information of the whole vehicle and can execute a cruising function after judging that the cruising condition is met;

3) and (3) turning on the constant-speed cruise function: the cruise function is activated for the first time according to the cruise total on/total key, and at the moment, a cruise indicator lamp in an instrument unit ICU 6 is normally on;

4) accelerating to the driver demand speed (higher than the calibrated value), pressing SET/-key, and then releasing the accelerator and the vehicle will cruise at the current speed;

5) when the vehicle is cruising, the RES/+ key can be pressed to increase the speed at the current speed per hour, the SET/-key is pressed to reduce the speed at the current speed per hour, and the fine adjustment calibration value is pressed for 1km/h each time, and the key is bounced to confirm; when the key duration exceeds 1S, accumulating the speed in the form of an arithmetic progression every 0.5S, and setting the highest limit to 6 times;

6) the driver cancels (suspends) and resumes the constant-speed cruising operation in the cruising of the vehicle;

the specific operation of the constant-speed cruise is recovered:

a) after the constant-speed cruise is suspended, the vehicle is in a normal running state, if the speed of the vehicle is higher than a calibrated value, an RES/+ key is pressed, the vehicle resumes the speed before the suspension and continues cruising at the current speed, and an SET/-key is pressed;

b) if the vehicle is in a constant-speed cruising state, an accelerator pedal is stepped on for acceleration, and the accelerator torque request is larger than the current cruising torque, normal acceleration is carried out according to the opening degree of the accelerator pedal, and after the accelerator pedal is released, if no key is provided, the vehicle can be slowly recovered to the cruising speed;

c) and (3) turning off the constant-speed cruise function operation: the cruise function is switched OFF for the second time in accordance with the cruise master ON/master key MAN ON/OFF, at which time the cruise indicator light in the instrument unit is extinguished.