阅读说明：本技术 车辆节能控制方法、存储介质、车辆控制系统及车辆 (Vehicle energy-saving control method, storage medium, vehicle control system and vehicle ) 是由 涂岩恺 黄朝阳 叶旭辉 罗腾元 于 2020-12-21 设计创作，主要内容包括：本发明公开了一种车辆节能控制方法、存储介质、车辆控制系统及车辆,方法包括：获取多功率开关各档位对应的载重阈值；当车辆启动时,通过载重传感器获取实际载重数值；根据所述实际载重数值和载重阈值,确定对应的档位,并将多功率开关切换到所述对应的档位；当车辆行驶时,获取车辆前方弯道的道路信息,所述道路信息包括车辆前方的曲率半径；根据所述曲率半径、车辆总质量、车速以及预设的道路摩擦系数,计算等效质量；根据所述实际载重数值与所述等效质量之和,确定预测档位；若所述预测档位与当前档位不同,则将多功率开关切换到预测档位。本发明可解决车辆过弯时功率输出不匹配导致的能源浪费问题。(The invention discloses a vehicle energy-saving control method, a storage medium, a vehicle control system and a vehicle, wherein the method comprises the following steps: acquiring a load threshold corresponding to each gear of the multi-power switch; when the vehicle is started, acquiring an actual load numerical value through a load sensor; determining a corresponding gear according to the actual load numerical value and the load threshold value, and switching the multi-power switch to the corresponding gear; acquiring road information of a curve ahead of a vehicle when the vehicle is running, wherein the road information comprises a curvature radius ahead of the vehicle; calculating equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient; determining a predicted gear according to the sum of the actual load numerical value and the equivalent mass; and if the predicted gear is different from the current gear, switching the multi-power switch to the predicted gear. The invention can solve the problem of energy waste caused by power output mismatching when the vehicle passes a bend.)

1. A vehicle energy saving control method characterized by comprising:

acquiring a load threshold corresponding to each gear of the multi-power switch;

when the vehicle is started, acquiring an actual load numerical value through a load sensor;

determining a corresponding gear according to the actual load numerical value and the load threshold value, and switching the multi-power switch to the corresponding gear;

acquiring road information in front of a vehicle when the vehicle is running, wherein the road information comprises a curvature radius of a curve in front of the vehicle;

calculating equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient;

determining a predicted gear according to the sum of the actual load numerical value and the equivalent mass;

and if the predicted gear is different from the current gear, switching the multi-power switch to the predicted gear.

2. The vehicle energy-saving control method according to claim 1, wherein the determining a corresponding gear according to the actual load value and the load threshold value, and switching the multi-power switch to the corresponding gear specifically comprises:

the power conversion switch controller compares the actual load value with a load threshold value, determines a gear corresponding to the actual load value, and sends the corresponding gear to an engine ECU (electronic control Unit);

and after receiving the corresponding gear, the engine ECU switches the multi-power switch to the gear.

3. The vehicle energy-saving control method according to claim 1, wherein the acquiring of the road information ahead of the vehicle is specifically:

acquiring the current position of the vehicle through a positioning system;

and acquiring road information in front of the vehicle through a navigation map or an electronic horizon system according to the current position of the vehicle.

4. The vehicle energy-saving control method according to claim 1, wherein the calculating an equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient specifically comprises:

calculating the equivalent mass according to a first formula, wherein the first formula is that Delta m is equal to (mv)²) V (g μ r), Δ m is the equivalent mass, m is the total mass of the vehicle, v is the vehicle speed, g isThe gravity angular velocity, mu, is a preset road friction coefficient, and r is the curvature radius of a curve ahead of the vehicle.

5. The vehicle energy-saving control method according to claim 4, characterized in that the real-time distance between the current position of the vehicle and the curve ahead is obtained in real time, and the first distance is calculated in real time according to the real-time vehicle speed and the power gear change time;

and if the real-time distance corresponding to the same moment is equal to the first distance, taking the real-time speed of the same moment as the speed v in the first formula.

6. The vehicle energy-saving control method according to claim 1, wherein the switching of the multi-power switch to the predicted gear is specifically:

when the real-time distance between the current position of the vehicle and the front curve is equal to a first distance, the multi-power switch is switched to a predicted gear, the first distance is calculated according to a second formula, the second formula is that S is vT, S is the first distance, v is the real-time vehicle speed, and T is the power gear change time.

7. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1-6.

8. A vehicle control system comprising a power transfer switch controller, an engine ECU, a load sensor and a map module, the map module being an electronic horizon system or a navigation map, the power transfer switch controller being connected to the engine ECU, the load sensor and the map module respectively, the power transfer switch controller having stored therein a computer program which when executed by a processor implements the steps of the method of any one of claims 1, 3-6.

9. A vehicle characterized by comprising the vehicle control system according to claim 8.

Technical Field

The invention relates to the technical field of vehicle control, in particular to a vehicle energy-saving control method, a storage medium, a vehicle control system and a vehicle.

Background

The variable range of the commercial vehicle load is very large, and the difference between the vehicle load and the vehicle load can reach dozens of tons in a full-load state and a no-load state. Therefore, most commercial vehicle engines adopt a method of matching multi-gear power/torque with load to perform energy-saving control. For example, chinese patent publication No. CN201301754Y discloses a switch capable of manually switching the power of an engine; the method for matching light and heavy load power grades by using vehicle load is disclosed in a Chinese granted patent with the publication number of CN 101392691B; chinese patent publication No. CN105332805A further discloses a method for automatically matching a corresponding power level according to a current load by using a load sensor.

However, most of these conventional methods measure the load of the vehicle itself, and then switch the gear of the corresponding vehicle multi-power-level change-over switch (hereinafter referred to as multi-power switch). There are the following limitations: it is not taken into account that the continuously changing external road conditions, in particular the turning resistance of the vehicle in curve conditions, translate into a load factor of the vehicle, for example for a light vehicle, since in case of a sharp turn the load is increased for the engine because of the lateral turning resistance to be overcome, it is possible that the current power output of the engine is more closely matched to the power output gear at half or heavy load.

A method for measuring terrain by using an angle sensor and integrating the measurement result of a load sensor with the power grade is disclosed in chinese patent publication No. CN106677913A, power and load matching control method, device, system and transport vehicle. But this method does not take into account curve resistance.

In addition, the vehicle multi-power switch is effective from the actual switching, generally, a certain time delay exists, the switching of the multi-power switch is continuous in the running process of the vehicle because a road is continuously changed, if the switching is not carried out in advance, a power gear during the switching time delay is not matched with the road condition, and oil is wasted instead of saving oil.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the vehicle energy-saving control method, the storage medium, the vehicle control system and the vehicle are provided, and the problem of energy waste caused by mismatching of power output when the vehicle passes a bend can be solved.

In order to solve the technical problems, the invention adopts the technical scheme that: a vehicle energy saving control method comprising:

acquiring a load threshold corresponding to each gear of the multi-power switch;

when the vehicle is started, acquiring an actual load numerical value through a load sensor;

determining a corresponding gear according to the actual load numerical value and the load threshold value, and switching the multi-power switch to the corresponding gear;

acquiring road information in front of a vehicle when the vehicle is running, wherein the road information comprises a curvature radius of a curve in front of the vehicle;

calculating equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient;

determining a predicted gear according to the sum of the actual load numerical value and the equivalent mass;

and if the predicted gear is different from the current gear, switching the multi-power switch to the predicted gear.

The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.

The invention also provides a vehicle control system, which comprises a power conversion switch controller, an engine ECU, a load sensor and a map module, wherein the map module is an electronic horizon system or a navigation map, the power conversion switch controller is respectively connected with the engine ECU, the load sensor and the map module, a computer program is stored in the power conversion switch controller, and the steps of the method are realized when the program is executed by a processor.

The invention also provides a vehicle comprising the vehicle control system.

The invention has the beneficial effects that: by acquiring the curvature radius of the curve ahead of the vehicle and calculating the equivalent mass which is to be converted and increased by overcoming the resistance of the curve when the vehicle passes the curve according to the road information and the vehicle information, the matched predicted gear can be determined again when the vehicle passes the curve, so that the matching of the power and the environment can be ensured when the vehicle passes the curve, and the oil-saving effect is achieved. The invention can solve the problem of energy waste caused by power output mismatching when the vehicle passes a bend.

Drawings

FIG. 1 is a flow chart of a vehicle energy conservation control method of the present invention;

FIG. 2 is a schematic diagram of a vehicle control system according to the present invention;

FIG. 3 is a flowchart of a method according to a first embodiment of the present invention;

fig. 4 is a schematic diagram of the current position of the vehicle and the information of the curve point in front of the vehicle according to the first embodiment of the present invention.

Description of reference numerals:

1. a power transfer switch controller; 2. an engine ECU; 3. a load sensor; 4. and a map module.

Detailed Description

In order to explain technical contents, objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1, a vehicle energy saving control method includes:

acquiring a load threshold corresponding to each gear of the multi-power switch;

when the vehicle is started, acquiring an actual load numerical value through a load sensor;

determining a corresponding gear according to the actual load numerical value and the load threshold value, and switching the multi-power switch to the corresponding gear;

acquiring road information in front of a vehicle when the vehicle is running, wherein the road information comprises a curvature radius of a curve in front of the vehicle;

calculating equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient;

determining a predicted gear according to the sum of the actual load numerical value and the equivalent mass;

and if the predicted gear is different from the current gear, switching the multi-power switch to the predicted gear.

From the above description, the beneficial effects of the present invention are: the problem of energy waste caused by mismatching of power output when the vehicle is bent over can be solved.

Further, the determining a corresponding gear according to the actual load numerical value and the load threshold, and switching the multi-power switch to the corresponding gear specifically includes:

the power conversion switch controller compares the actual load value with a load threshold value, determines a gear corresponding to the actual load value, and sends the corresponding gear to an engine ECU (electronic control Unit);

and after receiving the corresponding gear, the engine ECU switches the multi-power switch to the gear.

Further, the acquiring of the road information in front of the vehicle specifically includes:

acquiring the current position of the vehicle through a positioning system;

and acquiring road information in front of the vehicle through a navigation map or an electronic horizon system according to the current position of the vehicle.

Further, the calculating the equivalent mass according to the curvature radius, the total vehicle mass, the vehicle speed and the preset road friction coefficient specifically comprises:

calculating the equivalent mass according to a first formula, wherein the first formula is that Delta m is equal to (mv)²) And v is the vehicle speed, g is the gravity angular speed, mu is the preset road friction coefficient, and r is the curvature radius of the curve ahead of the vehicle.

It can be known from the above description that the turning resistance which needs to be additionally overcome when the vehicle turns is converted into the overcome load resistance, that is, the centripetal force which is overcome when the vehicle turns is converted into the road friction resistance which is overcome by the equivalent mass, therefore, according to the centripetal force formula and the friction resistance formula which is overcome by the equivalent mass, the first formula can be obtained, and the equivalent mass which is increased by overcoming the resistance of the curve when the vehicle turns is solved.

Further, acquiring the real-time distance between the current position of the vehicle and a front curve in real time, and calculating the first distance in real time according to the real-time vehicle speed and the power gear change time;

and if the real-time distance corresponding to the same moment is equal to the first distance, taking the real-time speed of the same moment as the speed v in the first formula.

Further, the switching the multi-power switch to the predicted gear specifically includes:

when the real-time distance between the current position of the vehicle and the front curve is equal to a first distance, the multi-power switch is switched to a predicted gear, the first distance is calculated according to a second formula, the second formula is that S is vT, S is the first distance, v is the real-time vehicle speed, and T is the power gear change time.

According to the description, the gear switching operation of the multi-power switch is carried out in advance, so that the gear required for passing a curve is switched before entering the curve or when entering the curve, and the effect of more accurate energy saving is achieved.

The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.

Referring to fig. 2, the present invention further provides a vehicle control system, including a power conversion switch controller 1, an engine ECU2, a load sensor 3, and a map module 4, where the map module 4 is an electronic horizon system or a navigation map, the power conversion switch controller 1 is respectively connected to the engine ECU2, the load sensor 3, and the map module 4, and a computer program is stored in the power conversion switch controller 1, and when executed by a processor, the steps of the method are implemented.

The invention also provides a vehicle comprising the vehicle control system.

Example one

Referring to fig. 3-4, a first embodiment of the present invention is: a vehicle energy-saving control method is based on curve prediction and can be applied to a vehicle control system, and as shown in figure 3, the method comprises the following steps:

s1: and acquiring a load threshold corresponding to each gear of the multi-power switch in a default state.

In a default state, the existing multi-power switch is divided into gears according to a load value of a flat road, and if a total number of N gears are arranged in the multi-power switch, the load threshold values are N-1 and are respectively P₁，P₂，P₃，...，P_N-1。

S2: when the vehicle is started, the actual load value is obtained through the load sensor, namely the current load value is obtained.

S3: and determining a corresponding gear according to the actual load numerical value and the load threshold value, and switching the multi-power switch to the corresponding gear.

Specifically, the power conversion switch controller compares the actual load value with a load threshold value, determines a gear corresponding to the actual load value, and sends the gear to an engine ECU; and after receiving the gear, the engine ECU switches the multi-power switch to the gear.

S4: when the vehicle is running, road information in front of the vehicle is acquired, the road information including a radius of curvature of a curve in front of the vehicle.

Specifically, the current position of the vehicle is obtained through a positioning system; and then acquiring road information in front of the vehicle through a navigation map or an electronic horizon system according to the current position of the vehicle. Preferably, the road information includes a curvature radius of a curve located ahead of and closest to the vehicle.

Further, since the curvature radii of different road points in the same curve are generally different, the curvature radius of a curve point located in front of the vehicle and closest to the vehicle can be obtained in real time.

S5: and calculating the equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient.

Due to the vehicleWhen the vehicle turns, the turning resistance needs to be additionally overcome, and the turning resistance can be converted into the overcome load resistance. The turning resistance is substantially the centripetal force Fc ═ mv of turning²Where m represents the total mass of the vehicle (empty mass + cargo weight) and can be obtained by a load sensor, v is the vehicle speed and r is the radius of curvature of the curve ahead of the vehicle.

The overcome centripetal force Fc is converted into road friction resistance Fr overcome by the equivalent mass, and if the equivalent mass is delta m, the road friction resistance overcome by the equivalent mass is Fr-delta mg mu, wherein g is a standard gravity acceleration constant, mu is a road friction coefficient, and roads such as a cement road, an asphalt road and the like correspond to one road friction coefficient, and the road friction coefficient can be determined according to the material of the current road.

Thus, Fc ═ Fr, i.e. mv²D, [ delta ] mg [ mu ], the first formula [ delta ] m [ ([ mu ] ]) (mv)²) /(g. mu.r). That is, the predicted resistance to be overcome by the curve ahead is equivalent to the increased load of Δ m when the vehicle is traveling on a straight road.

S6: determining a predicted gear according to the sum of the actual load numerical value and the equivalent mass; the sum of the actual load value and the equivalent mass is compared with the load threshold value, and the corresponding gear is determined to be used as a predicted gear.

S7: and judging whether the predicted gear is the same as the current gear, if so, indicating that the gear of the multi-power switch does not need to be changed when the front is bent, otherwise, indicating that the gear of the multi-power switch needs to be changed when the front is bent, ensuring that the power is matched with the environment, achieving the oil-saving effect, and executing the step S8.

S8: and switching the multi-power switch to the predicted gear.

Further, assuming that the gear shifting action starts, and the time for achieving the power gear shifting is T (generally, millisecond level) until the engine receives a signal; the real-time speed of the vehicle is v. When the real-time distance D between the current position of the vehicle and the curve ahead obtained from the electronic horizon is equal to the first distance calculated from the current vehicle speed of the vehicle and the time T of the power gear shift (i.e., the first distance S ═ vT), the equivalent mass is calculated from the vehicle speed v at that time, the predicted gear is determined, and the operation of switching to the predicted gear is performed, that is, steps S5 to S8 are performed.

Further, since the electronic horizon system sends out geographic information in the form of continuous points in front of the road and attributes of the points (multi-power switch gear controller), the information is in the form of geographic element data combined with road offset.

For example, referring to fig. 4, the current position point P of the vehicle and three consecutive points P1, P2, P3 of the data (curvature radius) of the degree of continuous curve of the road ahead of the vehicle output by the electronic horizon system are shown in fig. 4. Where P1, P2, P3 may be considered as continuous points on a complete curve, the curvature radius of no curve is continuously fixed, and therefore the curvature radius values of different road points on a curve are also continuously variable but different.

The road points P1, P2, P3 are represented in the electronic horizon system by offset values from the road starting point and corresponding curvature radii r, i.e. a series of consecutive short-distance information points at equal intervals of K meters (e.g. 10 meters) in a road curve ahead of the electronic horizon system. The vehicle position P is also converted by the electronic horizon system into an offset from the road origin. For example, in the present example, the offset of the vehicle position P is 15, and from the electronic horizon information, it can be known that the distance D between the current position of the vehicle and the next point P1 is 20-15-5 meters.

The offset of the vehicle position P is continuously updated along with the running of the vehicle, and the real-time distance D between the current position P of the vehicle and the curve point P1 ahead obtained from the electronic horizon is continuously obtained by calculating the offset difference. Meanwhile, the first distance can be calculated in real time according to the real-time speed of the vehicle and through a second formula S ═ vT. When the real-time distance D is the first distance S, the current vehicle speed v is substituted into the first formula as described above, Δ m is calculated and the subsequent steps are performed (since T is small, the vehicle is already close to point P1, and the speed of v is approximately the speed to point P1).

Similarly, when the vehicle passes through the point P1 and starts to approach the point P2, the real-time distance D between the current position of the vehicle and the front P2 curve point is continuously obtained from the electronic horizon as described above, and the first distance is calculated according to the real-time vehicle speed of the vehicle by the second formula S ═ vT. When the real-time distance D is equal to the first distance S, the current vehicle speed v is substituted into the first formula as described above, Δ m is calculated, and the subsequent steps are performed. And repeating the steps continuously, acquiring the curvature radius of each curve point in front according to the electronic horizon information in real time during the running of the vehicle, and calculating and changing the gear in real time.

Further, while the vehicle is running, the curvature radius of the road point ahead of the vehicle is acquired in real time and calculated in real time, and it is determined whether to change the shift position, that is, steps S4-S8 are repeatedly performed (in this case, the curvature radius of the road point ahead of the vehicle is acquired in real time in step S4). Since the curvature radius r of a straight line is infinite and is expressed as a maximum value in an electronic horizon system, it is known from the first formula that when r in the denominator is infinite, Δ m is 0, and therefore equivalent mass is not superimposed. Therefore, steps S4-S8 are continuously performed even if there is no curve ahead during traveling.

According to the embodiment, the curvature radius of the curve ahead of the vehicle is obtained by using the navigation map or the electronic horizon system, and the equivalent mass increased when the vehicle passes through the curve is calculated according to the road information and the vehicle information, so that the matched predicted gear when the vehicle passes through the curve can be determined again, the power can be ensured to be matched with the environment when the vehicle passes through the curve, and the oil-saving effect is achieved. The gear switching operation of the multi-power switch is carried out in advance, so that the gear required for passing a bend can be switched before entering the bend or when entering the bend, and the effect of more accurate energy conservation is achieved.

Example two

The present embodiment is a computer-readable storage medium corresponding to the above-mentioned embodiments, on which a computer program is stored, which when executed by a processor implements the steps of:

acquiring a load threshold corresponding to each gear of the multi-power switch;

when the vehicle is started, acquiring an actual load numerical value through a load sensor;

determining a corresponding gear according to the actual load numerical value and the load threshold value, and switching the multi-power switch to the corresponding gear;

acquiring road information in front of a vehicle when the vehicle is running, wherein the road information comprises a curvature radius of a curve in front of the vehicle;

calculating equivalent mass according to the curvature radius, the total mass of the vehicle, the vehicle speed and a preset road friction coefficient;

determining a predicted gear according to the sum of the actual load numerical value and the equivalent mass;

and if the predicted gear is different from the current gear, switching the multi-power switch to the predicted gear.

Further, the determining a corresponding gear according to the actual load numerical value and the load threshold, and switching the multi-power switch to the corresponding gear specifically includes:

the power conversion switch controller compares the actual load value with a load threshold value, determines a gear corresponding to the actual load value, and sends the corresponding gear to an engine ECU (electronic control Unit);

and after receiving the corresponding gear, the engine ECU switches the multi-power switch to the gear.

Further, the acquiring of the road information in front of the vehicle specifically includes:

acquiring the current position of the vehicle through a positioning system;

and acquiring road information in front of the vehicle through a navigation map or an electronic horizon system according to the current position of the vehicle.

Further, the calculating the equivalent mass according to the curvature radius, the total vehicle mass, the vehicle speed and the preset road friction coefficient specifically comprises:

calculating the equivalent mass according to a first formula, wherein the first formula is that Delta m is equal to (mv)²) And v is the vehicle speed, g is the gravity angular speed, mu is the preset road friction coefficient, and r is the curvature radius of the curve ahead of the vehicle.

Further, acquiring the real-time distance between the current position of the vehicle and a front curve in real time, and calculating the first distance in real time according to the real-time vehicle speed and the power gear change time;

and if the real-time distance corresponding to the same moment is equal to the first distance, taking the real-time speed of the same moment as the speed v in the first formula.

Further, the switching the multi-power switch to the predicted gear specifically includes:

when the real-time distance between the current position of the vehicle and the front curve is equal to a first distance, the multi-power switch is switched to a predicted gear, the first distance is calculated according to a second formula, the second formula is that S is vT, S is the first distance, v is the real-time vehicle speed, and T is the power gear change time.

In summary, according to the vehicle energy-saving control method, the storage medium, the vehicle control system and the vehicle provided by the invention, the curvature radius of the curve ahead of the vehicle is obtained by using the navigation map or the electronic horizon system, and the equivalent mass increased when the vehicle passes through the curve is calculated according to the road information and the vehicle information, so that the matched predicted gear when the vehicle passes through the curve can be determined again, the power can be ensured to be matched with the environment when the vehicle passes through the curve, and the oil-saving effect is achieved. The gear switching operation of the multi-power switch is carried out in advance, so that the gear required for passing a bend can be switched before entering the bend or when entering the bend, and the effect of more accurate energy conservation is achieved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.