CN117307705A - Gear control method and device, vehicle and storage medium - Google Patents
Gear control method and device, vehicle and storage medium Download PDFInfo
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- CN117307705A CN117307705A CN202311247256.8A CN202311247256A CN117307705A CN 117307705 A CN117307705 A CN 117307705A CN 202311247256 A CN202311247256 A CN 202311247256A CN 117307705 A CN117307705 A CN 117307705A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
- F16H2059/663—Road slope
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a gear control method, a gear control device, a vehicle and a storage medium. The gear control method comprises the following steps: acquiring current road information and a road end position of the heavy truck based on the electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point which is determined every set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position; judging whether a vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining a required vehicle speed value when the heavy truck is positioned on the downhill road section according to a judging result; and obtaining a predicted vehicle speed value passing through a downhill sampling point when the heavy truck is positioned on a downhill section, and controlling the heavy truck to execute a target gear when the heavy truck is positioned on the downhill section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value. The invention realizes the full utilization of the gravitational potential energy of the lifting vehicle, reduces the intervention degree of braking energy in the downhill process, reduces the probability of heat decay of the brake disc, and improves the downhill safety.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a gear control method, a gear control device, a vehicle, and a storage medium.
Background
Heavy truck is a short term for heavy trucks, a designation for a tunnel, a traditional, informal heavy truck and a semi-truck, including various special vehicles (sprinkler, fire truck, road cleaning truck, tank truck, mixer truck, etc.), dump trucks (earth-moving trucks, all with lifts), trucks (cargo, including livestock, etc.), and some rare off-road vehicles, all seen on public roads.
The heavy truck downhill running is used as one of dangerous working conditions, meanwhile, the difficult problem of how to fully utilize the potential energy of the downhill and the risk of braking failure of the downhill exist, and the current AMT gear box strategy mostly adopts a gear shifting line with two parameters to add a real-time gradient correction strategy, but the two difficult problems cannot be effectively solved.
Disclosure of Invention
The invention provides a gear control method, a gear control device, a vehicle and a storage medium, which are used for solving the problems that downhill enabling cannot be fully utilized and downhill braking failure risks possibly exist in the current heavy truck downhill driving.
According to an aspect of the present invention, there is provided a gear control method including:
acquiring current road information and a road end position of a heavy truck based on an electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point which is determined every set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position;
Judging whether a vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining a required vehicle speed value when the heavy truck is positioned on the downhill road section according to the result of judging whether the vehicle speed prediction enabling condition is met;
and obtaining a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on the downhill section, and controlling the heavy truck to execute a target gear when the heavy truck is positioned on the downhill section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
Optionally, the vehicle speed prediction enabling condition includes: the heavy truck is positioned on a downhill road section or the current road information comprises the downhill road section, the distance length between the current position of the heavy truck and the end position of the downhill road section exceeds a set distance threshold, and the heavy truck is not detected to execute longitudinal control operation.
Optionally, determining the required vehicle speed value when the heavy truck is on the downhill road section according to the result of judging whether the vehicle speed prediction enabling condition is met, includes:
after judging that the vehicle speed prediction enabling condition is met, acquiring a first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is judged to be met, and determining the first vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section;
And after judging that the vehicle speed prediction enabling condition is not met, taking the second vehicle speed value when the heavy truck is positioned on the downhill road section as the required vehicle speed value when the heavy truck is positioned on the downhill road section.
Optionally, the gear control method further includes:
after judging that the vehicle speed prediction enabling condition is met, if the heavy truck is detected to execute the longitudinal control operation, acquiring a real-time vehicle speed value when the heavy truck is detected to execute the longitudinal control operation, and determining the real-time vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section.
Optionally, obtaining the predicted vehicle speed value of the heavy truck passing through the downhill sampling point when the heavy truck is located on the downhill road section includes:
and determining an acceleration value when the heavy truck is positioned on a downhill road section based on the road gradient value corresponding to the downhill sampling point, and determining a predicted vehicle speed value of the heavy truck passing through the downhill sampling point according to the acceleration value.
Optionally, before executing the target gear when controlling the heavy truck to be on the downhill road according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value, the method further comprises:
and acquiring the engine rotating speed when the heavy truck executes the current gear to enter the downhill road section.
Optionally, the step of controlling the heavy truck to execute the target gear when the heavy truck is located on the downhill road according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value includes:
when the absolute value of the road gradient value is smaller than a set gradient threshold value, and the difference value between the predicted vehicle speed value corresponding to the current gear which is neutral gear sliding and the required vehicle speed value does not exceed a set vehicle speed limit, controlling the heavy truck to execute target gear which is neutral gear sliding when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed is within a set engine speed range, controlling the heavy truck to execute a target gear to be a current gear when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed exceeds a set engine speed range, controlling the heavy truck to execute a target gear higher than the current gear when the heavy truck is positioned on a downhill road section;
when the engine speed of the heavy truck is lower than the engine speed limit value under the predicted vehicle speed value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on a downhill road section;
and when the absolute value of the road gradient value is larger than a set gradient threshold value and the distance length of the downhill road section exceeds a set distance length threshold value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on the downhill road section.
According to another aspect of the present invention, there is provided a gear control device including:
the road gradient value determining module is used for acquiring current road information and a road end position of the heavy truck based on the electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point which is determined every set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position;
the required vehicle speed value determining module is used for executing the judgment of whether the vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining the required vehicle speed value when the heavy truck is positioned on the downhill road section according to the judgment of whether the vehicle speed prediction enabling condition is met;
and the target gear control module is used for executing and acquiring a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on the downhill road section, and controlling the heavy truck to execute the target gear when the heavy truck is positioned on the downhill road section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
According to another aspect of the present invention, there is provided a vehicle including:
at least one processor; the method comprises the steps of,
A memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the gear control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a gear control method according to any one of the embodiments of the present invention.
According to the technical scheme, the current road information and the road end position of the heavy truck are obtained based on the electronic horizon, and the road gradient value corresponding to the downhill sampling points which are determined at intervals of a set distance length when the heavy truck is positioned on a downhill section is obtained according to the current road information and the road end position; judging whether a vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining a required vehicle speed value when the heavy truck is positioned on the downhill road section according to the result of judging whether the vehicle speed prediction enabling condition is met; and obtaining a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on the downhill section, and controlling the heavy truck to execute a target gear when the heavy truck is positioned on the downhill section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value. The invention solves the problems that the downhill enabling energy possibly existing in the current heavy truck downhill running cannot be fully utilized and the downhill braking failure risk is solved, realizes the full utilization of the gravitational potential energy of the vehicle, reduces the intervention degree of the braking energy in the downhill process, reduces the probability of heat fading of the brake disc and improves the downhill safety.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a gear control method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a gear control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural view of a gear control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of a vehicle implementing a gear control method of an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a gear control method according to an embodiment of the present invention, where the embodiment is applicable to a case of deciding a gear that is heavily stuck in a downhill driving condition, the gear control method may be performed by a gear control device, and the gear control device may be implemented in a hardware and/or software form, and the gear control device may be configured in various kinds of vehicles that are heavily stuck. As shown in fig. 1, the gear control method includes:
S110, acquiring current road information and a road end position of the heavy truck based on an electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point which is determined every set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position.
The electronic horizon (Electronic Horizon Provider) is a product or service for providing the vehicle with over-the-horizon road traffic information, and can be used for collecting and capturing road traffic information in front of or around the vehicle, wherein the road traffic information is mainly static information, so that the electronic horizon is often based on a map, and on the basis of map data, a road on which the vehicle is currently running, a connection road and the like are extracted based on the current position of the vehicle. Specifically, information such as a road (such as curvature and gradient), a lane (such as lane line shape and lane attribute), a traffic light (such as position and contour) and the like which exceed the sensing range of the sensor can be obtained through the electronic horizon.
In the present embodiment, the current road information of the heavy truck in the current driving state may be obtained through the electronic horizon, and the current road information may include, but is not limited to, a current road state and a front road state, for example, the current road state may be any one of a flat road, a downhill road section, or an uphill road section, and the front road state may be a road state of any one or a combination of a plurality of flat road, downhill road section, or uphill road section.
Further, the road end position of the heavy truck in the current running state can be obtained through the electronic horizon, and the road gradient value from the current position of the heavy truck to the road end position can be obtained.
On the basis, at least one downhill sampling point is determined every set distance length when the heavy truck is positioned on a downhill section, and a road gradient value corresponding to each downhill sampling point can be obtained through an electronic horizon.
The number of the downhill sampling points can be one or more, and one downhill sampling point is determined on the downhill section at intervals of a set distance length based on the distance from the current position of the heavy truck to the road end position, namely, a plurality of downhill sampling points are set when the heavy truck is positioned on the downhill section.
The set distance length of the interval determined on the downhill road section may be, but not limited to, selected and set by a person skilled in the art according to the actual downhill condition of the heavy truck, and the present embodiment is not limited to this, and the set distance length may be, for example, 5 meters, 10 meters or any numerical distance.
S120, judging whether the speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining a required speed value when the heavy truck is positioned on the downhill road section according to the result of judging whether the speed prediction enabling condition is met.
Wherein the vehicle speed prediction enabling condition includes: the heavy truck is positioned on a downhill road section or the current road information comprises the downhill road section, the distance length between the current position of the heavy truck and the end position of the downhill road section exceeds a set distance threshold, and the heavy truck is not detected to execute longitudinal control operation.
The heavy truck is positioned on a downhill road section, namely the current road state where the heavy truck is positioned on the downhill road section, namely the heavy truck is currently running downhill, the current road information comprises the downhill road section, namely the front road state where the heavy truck is to run, namely one or more downhill road sections exist in front of the current running road of the heavy truck.
In order to ensure that the prediction of the vehicle speed is meaningful and necessary, the distance length between the current position of the heavy truck and the end position of the downhill road section exceeds a set distance threshold value, and the end position of the downhill road section is the intersection of the downhill road section and the next road section.
That is, there are one or more downhill sections in front of the current driving road of the heavy truck, and it is necessary to ensure that the distance length between the current position of the heavy truck and the end position of a certain downhill section exceeds a set distance threshold, and at this time, the heavy truck drives on the downhill section, so as to determine whether the vehicle speed prediction enabling condition is satisfied.
One or more downhill sections exist in front of the current driving road of the heavy truck, and all meet the vehicle speed prediction enabling condition, which is not limited in this embodiment.
The distance threshold may be set selectively by a person skilled in the art according to the actual downhill condition of the heavy truck, but the present embodiment is not limited in this respect.
Longitudinal control is to control the accelerator and brake of the automobile in the running direction of the automobile so that the automobile can run at a desired speed to maintain the distance between the automobile and the front and rear automobiles, emergency obstacle avoidance and the like. In this embodiment, in order to ensure accuracy of the subsequent vehicle speed prediction, it is required to ensure that the longitudinal control operation is performed without detecting the heavy truck in the vehicle speed prediction enabling condition, that is, the operation of intervening the longitudinal control by the driver is not detected by the controller such as the whole vehicle controller in the heavy truck.
After judging that the vehicle speed prediction enabling condition is met, acquiring a first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is judged to be met, wherein the first vehicle speed value is an actual vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is judged to be met, and determining the first vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section; and after judging that the vehicle speed prediction enabling condition is not met, taking a second vehicle speed value when the heavy truck is positioned on a downhill road section as a required vehicle speed value when the heavy truck is positioned on the downhill road section, wherein the second vehicle speed value is an actual vehicle speed value when the heavy truck is positioned on the downhill road section.
On the basis, when the heavy truck is in a downhill section, if the heavy truck is detected to execute the longitudinal control operation, acquiring an actual vehicle speed value of the heavy truck when the heavy truck is detected to execute the longitudinal control operation, and determining the real-time vehicle speed value as a required vehicle speed value when the heavy truck is in the downhill section. It is understood that the detection of the execution of the longitudinal control operation by the heavy truck may occur after the satisfaction of the vehicle speed prediction enabling condition is determined, or may occur when the satisfaction of the vehicle speed prediction enabling condition is determined, that is, when the satisfaction of the vehicle speed prediction enabling condition is determined, the heavy truck does not satisfy the vehicle speed prediction enabling condition at this time.
S130, obtaining a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on a downhill section, and controlling the heavy truck to execute a target gear when the heavy truck is positioned on the downhill section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
In this embodiment, it is reasonably assumed that the road section between the downhill sampling points is equal acceleration running when the heavy truck is located on the downhill road section, and when the heavy truck passes through the downhill sampling points, the acceleration value of the heavy truck at the moment can be determined based on the road gradient value corresponding to the downhill sampling points, and the predicted vehicle speed value of the heavy truck passing through the downhill sampling points is determined according to the acceleration value.
After the required vehicle speed value and the predicted vehicle speed value of the heavy truck are determined, the gear shifting intention of the heavy truck when the heavy truck is positioned on a downhill road section and the final target gear determination are further analyzed by combining the current gear executed by the heavy truck.
On the basis, before the target gear is executed when the heavy truck is controlled to be positioned on a downhill road section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value, the engine rotating speed when the heavy truck executes the current gear to enter the downhill road section is obtained.
Specifically, when the current gear is neutral gear sliding when the heavy truck is in a downhill section, a predicted vehicle speed value and a required vehicle speed value of executing neutral gear sliding through a downhill sampling point when the heavy truck is in the downhill section are obtained, when the absolute value of the road gradient value is smaller than a set gradient threshold value, the difference value between the predicted vehicle speed value and the required vehicle speed value does not exceed the set vehicle speed limit, at the moment, the predicted vehicle speed value when the heavy truck is in the neutral gear sliding deviates from the driving requirement to a limited extent, and then the heavy truck is controlled to execute target gear neutral gear sliding when the heavy truck is in the downhill section, namely the heavy truck continues to adopt neutral gear sliding.
And when the absolute value of the road gradient value is smaller than the set gradient threshold value, and the engine speed is in the set engine speed range, namely, the engine speed of each vehicle speed is in a limited range when the heavy truck executes the current gear to enter the downhill road section, the heavy truck is controlled to continuously execute the target gear as the current gear when the heavy truck is in the downhill road section.
And when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed exceeds a set engine speed range, namely, the engine speed of each vehicle speed exceeds a limiting range when the heavy truck executes the current gear to enter a downhill road section, at the moment, searching the available gear to predict the lowest gear with the non-overrun downhill engine speed as a target gear, executing the upshift intention of the current gear, and controlling the execution target gear to be higher than the current gear when the heavy truck is positioned on the downhill road section.
When the current gear is in neutral gear sliding when the heavy truck is in a downhill road section, if the engine speed of the heavy truck under the predicted vehicle speed value is lower than the engine speed limit value, the vehicle can be shifted down to the highest gear which accords with the engine speed under the predicted minimum vehicle speed in advance, namely the execution target gear is controlled to be lower than the current gear when the heavy truck is in the downhill road section.
When the absolute value of the road gradient value is larger than the set gradient threshold value, and the distance length of the downhill road section exceeds the set distance length threshold value, in order to avoid heat fading of a brake pad caused by excessive braking, the braking is assisted by the aid of the resistance of the engine, and at the moment, a lower gear can bring a larger braking effect, namely, the execution target gear is controlled to be lower than the current gear when the heavy truck is positioned on the downhill road section.
It will be appreciated that the principle of target gear selection below the current gear at this time is: among the available gear steps, the gear step with the smallest highest vehicle speed is predicted, and when the vehicle is braked to a required vehicle speed value, the smaller the energy lost by braking is, the gear step is selected as the target gear step.
The slope threshold value, the vehicle speed limit, the engine speed range, the engine speed limit value and the distance length threshold value can be set by a person skilled in the art according to the actual downhill working condition of the heavy truck, and the embodiment is not limited in any way.
In order to improve the power performance, the fuel economy and the gear shifting smoothness of the vehicle, the heavy truck is generally provided with more than ten gears, the common heavy truck gear is generally between 8 and 12 gears, the available gears are the gears which can be switched based on the current gear when the heavy truck is positioned on a downhill road, and the embodiment does not limit the gear.
According to the technical scheme, the current road information and the road end position of the heavy truck are obtained based on the electronic horizon, and the road gradient value corresponding to the downhill sampling points which are determined at intervals of a set distance length when the heavy truck is positioned on a downhill section is obtained according to the current road information and the road end position; judging whether a vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining a required vehicle speed value when the heavy truck is positioned on the downhill road section according to the result of judging whether the vehicle speed prediction enabling condition is met; and obtaining a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on the downhill section, and controlling the heavy truck to execute a target gear when the heavy truck is positioned on the downhill section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value. The invention solves the problems that the downhill enabling energy possibly existing in the current heavy truck downhill running cannot be fully utilized and the downhill braking failure risk is solved, realizes the full utilization of the gravitational potential energy of the vehicle, reduces the intervention degree of the braking energy in the downhill process, reduces the probability of heat fading of the brake disc and improves the downhill safety.
Example two
Fig. 2 is a flowchart of a gear control method according to a second embodiment of the present invention, and an alternative implementation manner is provided based on the foregoing embodiment. As shown in fig. 2, the gear control method includes:
s210, acquiring current road information and a road end position of a heavy truck based on an electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point determined at intervals of a set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position.
Based on the current road state of the electronic horizon counterweight card in the current running state, the front road state division and the road information acquisition.
S220, judging whether a vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, if so, executing the step, otherwise, executing the step S210.
Considering the situations that the heavy truck is currently positioned on a downhill road section and the road in front of the heavy truck has the downhill road section, combining the distance length of the current position of the heavy truck from the end position of the downhill road section, ensuring the rationality of vehicle speed prediction, and simultaneously limiting the heavy truck without longitudinal operation intervention for ensuring more accurate vehicle speed prediction, thereby determining reasonable vehicle speed prediction enabling conditions and further judging the gear shifting intention according to the difference between the predicted vehicle speed and the required vehicle speed.
And when the speed prediction enabling condition is not met when the heavy truck is positioned on the downhill road section, taking the second speed value when the heavy truck is positioned on the downhill road section as the required speed value when the heavy truck is positioned on the downhill road section.
S230, acquiring a first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is met, determining the first vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section, and executing step S240.
S240, determining an acceleration value when the heavy truck is positioned on a downhill road section based on the road gradient value corresponding to the downhill sampling point, and determining a predicted vehicle speed value of the heavy truck passing through the downhill sampling point according to the acceleration value.
And predicting the vehicle speed when the heavy truck is positioned on a downhill road section, finely dividing the predicted road section, and combining a longitudinal dynamics model of the vehicle to obtain more accurate vehicle speed prediction. Specifically, when the vehicle speed prediction enabling condition is met, a downslope sampling point is set every set distance length between the current position of the heavy truck and the end position of the downslope road section, and the vehicle speed at each downslope sampling point is predicted, so that a predicted vehicle speed value is obtained.
The predicted vehicle speed value of each downhill sampling point is calculated according to the following formula, specifically:
Wherein v is k+1 A predicted vehicle speed value for the current downhill sampling point; v k V is the predicted vehicle speed value of the last downslope sampling point when the current downslope sampling point is the first downslope sampling point k The actual vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is met can be judged; a, a k The acceleration value of the heavy truck between the last downhill sampling point and the current downhill sampling point is obtained; θ k The road gradient value is the current downhill sampling point; t (T) tq The driving torque of the engine can be equivalent to the resistance torque of the engine when the heavy truck is positioned on a downhill section, and the T for executing neutral gear sliding when the heavy truck is positioned on the downhill section tq Is 0; i.e g The speed ratio of the gearbox is an available gear, and when the speed prediction enabling condition is met, the gear of the engine after gear shifting is the available gear without overrun; i.e 0 The speed ratio is a fixed value; η (eta) t An efficiency value for the heavy duty drive system; c (C) d Is the air resistance coefficient; ρ is the air density; a is the windward area of the heavy truck; m is the mass of the heavy card; r is the radius of the heavy truck wheel; f is the liquid resistance coefficient.
S250, acquiring the engine speed when the heavy truck executes the current gear to enter the downhill road section.
The engine speed when the heavy truck executes the current gear to enter the downhill road section is determined according to the following formula, and the method specifically comprises the following steps:
Wherein n is eng Is the engine speed.
And S260, executing a target gear when the heavy truck is controlled to be positioned on a downhill road section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
When the absolute value of the road gradient value is smaller than a set gradient threshold value, and the difference value between the predicted vehicle speed value corresponding to the current gear which is neutral gear sliding and the required vehicle speed value does not exceed a set vehicle speed limit, controlling the heavy truck to execute target gear which is neutral gear sliding when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed is within a set engine speed range, controlling the heavy truck to execute a target gear to be a current gear when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed exceeds a set engine speed range, controlling the heavy truck to execute a target gear higher than the current gear when the heavy truck is positioned on a downhill road section;
when the engine speed of the heavy truck is lower than the engine speed limit value under the predicted vehicle speed value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on a downhill road section;
And when the absolute value of the road gradient value is larger than a set gradient threshold value and the distance length of the downhill road section exceeds a set distance length threshold value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on the downhill road section.
According to the technical scheme, the degree of deviation of the vehicle speed from the driving requirement in the downhill process is predicted by predicting the difference between the vehicle speed and the required vehicle speed, and the degree is taken as the main basis of the gear shifting intention, so that the gear in the downhill process can meet the requirement of a driver, the full utilization of gravitational potential energy of a heavy truck is improved on the basis of reducing the deviation from the driving intention as much as possible, meanwhile, the intervention degree of the braking energy in the downhill process is reduced by predicting the condition of minimum braking energy, namely, the vehicle speed of a downhill road section is predicted, the probability of heat fading of a brake disc is reduced, and the downhill safety is improved.
Example III
Fig. 3 is a schematic structural diagram of a gear control device according to a third embodiment of the present invention. As shown in fig. 3, the shift position control device includes:
the road gradient value determining module 310 is configured to perform obtaining current road information and a road end position of a heavy truck based on an electronic horizon, and obtain a road gradient value corresponding to a downhill sampling point determined at intervals of a set distance length when the heavy truck is located on a downhill road section according to the current road information and the road end position;
The required vehicle speed value determining module 320 is configured to perform determining whether a vehicle speed prediction enabling condition is met when the heavy truck is on a downhill road section, and determine a required vehicle speed value when the heavy truck is on the downhill road section according to a result of determining whether the vehicle speed prediction enabling condition is met;
the target gear control module 330 is configured to perform obtaining a predicted vehicle speed value of the heavy truck passing through the downhill sampling point when the heavy truck is on a downhill road section, and control the heavy truck to perform a target gear when the heavy truck is on the downhill road section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
Optionally, the vehicle speed prediction enabling condition includes: the heavy truck is positioned on a downhill road section or the current road information comprises the downhill road section, the distance length between the current position of the heavy truck and the end position of the downhill road section exceeds a set distance threshold, and the heavy truck is not detected to execute longitudinal control operation.
Optionally, the method includes determining a required vehicle speed value when the heavy truck is on a downhill road section according to a result of judging whether the vehicle speed prediction enabling condition is met, and the method is specifically used for:
after judging that the vehicle speed prediction enabling condition is met, acquiring a first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is judged to be met, and determining the first vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section;
And after judging that the vehicle speed prediction enabling condition is not met, taking the second vehicle speed value when the heavy truck is positioned on the downhill road section as the required vehicle speed value when the heavy truck is positioned on the downhill road section.
Optionally, the gear control device further includes:
and the real-time vehicle speed value acquisition module is used for acquiring the real-time vehicle speed value when the longitudinal control operation of the heavy truck is detected if the longitudinal control operation of the heavy truck is detected after the vehicle speed prediction enabling condition is judged to be met, and determining the real-time vehicle speed value as the required vehicle speed value when the heavy truck is positioned on a downhill road section.
Optionally, the method further includes obtaining a predicted vehicle speed value of the heavy truck passing through the downhill sampling point when the heavy truck is located on the downhill road section, where the predicted vehicle speed value is specifically used for:
and determining an acceleration value when the heavy truck is positioned on a downhill road section based on the road gradient value corresponding to the downhill sampling point, and determining a predicted vehicle speed value of the heavy truck passing through the downhill sampling point according to the acceleration value.
Optionally, the gear control device further includes:
and the engine speed acquisition module is used for acquiring the engine speed when the heavy truck executes the current gear to enter the downhill road section.
Optionally, the target gear is executed when the heavy truck is controlled to be located on a downhill road section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value, and the method is specifically used for:
When the absolute value of the road gradient value is smaller than a set gradient threshold value, and the difference value between the predicted vehicle speed value corresponding to the current gear which is neutral gear sliding and the required vehicle speed value does not exceed a set vehicle speed limit, controlling the heavy truck to execute target gear which is neutral gear sliding when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed is within a set engine speed range, controlling the heavy truck to execute a target gear to be a current gear when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed exceeds a set engine speed range, controlling the heavy truck to execute a target gear higher than the current gear when the heavy truck is positioned on a downhill road section;
when the engine speed of the heavy truck is lower than the engine speed limit value under the predicted vehicle speed value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on a downhill road section;
and when the absolute value of the road gradient value is larger than a set gradient threshold value and the distance length of the downhill road section exceeds a set distance length threshold value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on the downhill road section.
The gear control device provided by the embodiment of the invention can execute the gear control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the gear control method.
Example IV
Fig. 4 shows a schematic structural diagram of a vehicle 410 that may be used to implement an embodiment of the invention. Vehicles include digital computers intended to represent various forms, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The vehicle may also include a device representing various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the vehicle 410 includes at least one processor 411, and a memory, such as a read only memory (ROM 412), a random access memory (RAM 413), etc., communicatively connected to the at least one processor 411, wherein the memory stores computer programs executable by the at least one processor, and the processor 411 can perform various suitable actions and processes according to the computer programs stored in the read only memory (ROM 412) or the computer programs loaded from the storage unit 418 into the random access memory (RAM 413). In the RAM 413, various programs and data required for the operation of the vehicle 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An I/O (input/output) interface 415 is also connected to bus 414.
Various components in the vehicle 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the vehicle 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 executes the respective methods and processes described above, such as a shift control method.
In some embodiments, the gear control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the vehicle 410 via the ROM 412 and/or the communication unit 419. When a computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the gear control method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the gear control method in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or a trackball) by which a user can provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A shift control method, characterized by comprising:
acquiring current road information and a road end position of a heavy truck based on an electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point which is determined every set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position;
judging whether a vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining a required vehicle speed value when the heavy truck is positioned on the downhill road section according to the result of judging whether the vehicle speed prediction enabling condition is met;
And obtaining a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on the downhill section, and controlling the heavy truck to execute a target gear when the heavy truck is positioned on the downhill section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
2. The gear control method according to claim 1, characterized in that the vehicle speed prediction enabling condition includes: the heavy truck is positioned on a downhill road section or the current road information comprises the downhill road section, the distance length between the current position of the heavy truck and the end position of the downhill road section exceeds a set distance threshold, and the heavy truck is not detected to execute longitudinal control operation.
3. The gear control method according to claim 2, characterized in that determining a required vehicle speed value when the heavy truck is on a downhill road section according to a result of judging whether a vehicle speed prediction enabling condition is satisfied, comprises:
after judging that the vehicle speed prediction enabling condition is met, acquiring a first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is judged to be met, and determining the first vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section;
and after judging that the vehicle speed prediction enabling condition is not met, taking the second vehicle speed value when the heavy truck is positioned on the downhill road section as the required vehicle speed value when the heavy truck is positioned on the downhill road section.
4. The shift control method according to claim 3, characterized in that the shift control method further comprises:
after judging that the vehicle speed prediction enabling condition is met, if the heavy truck is detected to execute the longitudinal control operation, acquiring a real-time vehicle speed value when the heavy truck is detected to execute the longitudinal control operation, and determining the real-time vehicle speed value as a required vehicle speed value when the heavy truck is positioned on a downhill road section.
5. The gear control method according to claim 1, characterized in that obtaining a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is on a downhill road section includes:
and determining an acceleration value when the heavy truck is positioned on a downhill road section based on the road gradient value corresponding to the downhill sampling point, and determining a predicted vehicle speed value of the heavy truck passing through the downhill sampling point according to the acceleration value.
6. The gear control method according to claim 1, characterized by further comprising, before executing the target gear when controlling the heavy truck to be on a downhill road section in accordance with the road gradient value, the required vehicle speed value, or the predicted vehicle speed value:
and acquiring the engine rotating speed when the heavy truck executes the current gear to enter the downhill road section.
7. The gear control method according to claim 6, characterized in that controlling the heavy truck to execute a target gear when in a downhill section according to the road gradient value, the required vehicle speed value, or the predicted vehicle speed value, includes:
when the absolute value of the road gradient value is smaller than a set gradient threshold value, and the difference value between the predicted vehicle speed value corresponding to the current gear which is neutral gear sliding and the required vehicle speed value does not exceed a set vehicle speed limit, controlling the heavy truck to execute target gear which is neutral gear sliding when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed is within a set engine speed range, controlling the heavy truck to execute a target gear to be a current gear when the heavy truck is positioned on a downhill road section;
when the absolute value of the road gradient value is smaller than a set gradient threshold value and the engine speed exceeds a set engine speed range, controlling the heavy truck to execute a target gear higher than the current gear when the heavy truck is positioned on a downhill road section;
when the engine speed of the heavy truck is lower than the engine speed limit value under the predicted vehicle speed value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on a downhill road section;
And when the absolute value of the road gradient value is larger than a set gradient threshold value and the distance length of the downhill road section exceeds a set distance length threshold value, controlling the execution target gear to be lower than the current gear when the heavy truck is positioned on the downhill road section.
8. A gear control device characterized by comprising:
the road gradient value determining module is used for acquiring current road information and a road end position of the heavy truck based on the electronic horizon, and acquiring a road gradient value corresponding to a downhill sampling point which is determined every set distance length when the heavy truck is positioned on a downhill road section according to the current road information and the road end position;
the required vehicle speed value determining module is used for executing the judgment of whether the vehicle speed prediction enabling condition is met when the heavy truck is positioned on a downhill road section, and determining the required vehicle speed value when the heavy truck is positioned on the downhill road section according to the judgment of whether the vehicle speed prediction enabling condition is met;
and the target gear control module is used for executing and acquiring a predicted vehicle speed value passing through the downhill sampling point when the heavy truck is positioned on the downhill road section, and controlling the heavy truck to execute the target gear when the heavy truck is positioned on the downhill road section according to the road gradient value, the required vehicle speed value or the predicted vehicle speed value.
9. A vehicle, characterized in that the vehicle comprises:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the gear control method according to any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the gear control method according to any one of claims 1-7.
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| CN202311247256.8A CN117307705A (en) | 2023-09-25 | 2023-09-25 | Gear control method and device, vehicle and storage medium |
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