Research on Hardware-in-loop of Constant Speed Cruise Stratification Control Strategy
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摘要: 为了提高车辆在行驶过程中的安全性与舒适性，减轻驾驶员的负荷，提出一种定速巡航分层控制策略，该策略将巡航工况分为几种不同的巡航模式，通过调节发动机的转速实现车速的控制。在上层控制中研究巡航控制模式决策问题，检查所要进入的巡航模式是否被允许；在中层控制中研究巡航退出条件是否成立，如果成立，则退出巡航，如果不成立则继续按照原来的控制策略进行巡航；在下层控制器中研究车辆实际巡航控制，运用增量式PID调节来控制车辆巡航目标速度、车辆实际速度、发动机的转速等。在此基础上，对所搭建的定速巡航分层控制策略进行实车硬件在环验证，主要验证减速-保持模式、加速-保持模式、加速-减速-阶升模式。试验结果表明，所开发的定速巡航分层控制策略，可实现车辆按照驾驶员的意图进行巡航过程中加减速的目的，并且巡航控制子模式与主模式的实际切换符合策略要求，能够提高整车的安全性与舒适性。Abstract: In order to improve the safety and comfort of drivers, a hierarchical cruise control system is proposed. The system divides the cruise condition into several different modes, which can realize the control of the vehicle speed by adjusting the engine's rotation speed. In the upper controller, studying the cruise control mode decision problem, and checking whether the cruise mode to be entered is allowed. In the middle controller, studying whether the cruise control condition is established; if it is established, exit the cruise; if it is not established, continue the strategy. In the lower controller, the PID is used to control the cruising target speed, the actual speed and the engine speed. On this basis, the real-time hardware-in-the-loop of strategy is carried out, mainly verifying the deceleration-hold mode, acceleration-hold mode, and acceleration-deceleration-set up mode. The test results show that the strategy can achieve the purpose of acceleration and deceleration according to the driver's intention, which can improve the safety and comfort of the vehicle.
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Key words:
- vehicle /
- constant cruise control system /
- hierarchical control /
- hardware in-loop /
- increment PID /
- safety and comfort /
- test
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表 1 试验样车基本参数
参数名称 数值 长×宽×高/mm 6 915×2 495×3 705 扭矩/N·m 1 900 排量/L 11.05 最大马力 420 车辆质量/t 12.4 最大输出功率/kW 312 最大功率转速/(r·min-1) 1 900 最大扭矩转速/(r·min-1) 1 100~1 400 汽缸数/个 6 
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