CN105667501B - The energy distributing method of motor vehicle driven by mixed power with track optimizing function - Google Patents
The energy distributing method of motor vehicle driven by mixed power with track optimizing function Download PDFInfo
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- CN105667501B CN105667501B CN201610161698.4A CN201610161698A CN105667501B CN 105667501 B CN105667501 B CN 105667501B CN 201610161698 A CN201610161698 A CN 201610161698A CN 105667501 B CN105667501 B CN 105667501B
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- 238000005457 optimization Methods 0.000 claims abstract description 76
- 239000000446 fuel Substances 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/30—Control strategies involving selection of transmission gear ratio
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
A kind of energy distributing method of the motor vehicle driven by mixed power with track optimizing function, belongs to Driving Skills field.The purpose of the present invention is the optimal speed trajectory of motor vehicle driven by mixed power during being cruised in real time according to front truck velocity information optimization, so as to improve the energy distributing method of the motor vehicle driven by mixed power with track optimizing function of motor vehicle driven by mixed power fuel economy to greatest extent.The present invention gathers the velocity information of front truck and the SOC optimizations from car present speed information, motor vehicle driven by mixed power battery from car traveling speed trajectory by information acquisition module.The present invention provides a kind of optimization method of the energy allocation strategy with trajectory planning function for motor vehicle driven by mixed power, i.e. motor vehicle driven by mixed power gathers the velocity information of front truck first, and the optimal speed trajectory of car is come from according to the optimization calculating of the velocity information of collection, velocity perturbation unnecessary during motor vehicle driven by mixed power cruises is reduced, the economy and comfortableness of motor vehicle driven by mixed power is improved.
Description
Technical Field
The invention belongs to the technical field of automobile driving.
Background
Along with the improvement of intelligent degree, cruise control system begins to popularize on all kinds of motorcycle types, and the self-adaptation cruise control of vehicle mainly focuses on driving safety, and the front truck accelerates promptly, and the vehicle just follows with accelerating, and the front truck decelerates, and the vehicle follows the deceleration, does not consider the problem of economic nature and travelling comfort in the aspect of the driving track of vehicle. In addition, as environmental problems and energy crisis become more prominent, the demand for fuel economy of vehicles is also gradually increasing. In terms of the present situation, the optimization of fuel economy of the hybrid vehicle mainly focuses on the two aspects of energy distribution mode (torque distribution) and gear (speed ratio) optimization of the hybrid vehicle, that is, the hybrid vehicle firstly collects speed information of a preceding vehicle on the premise of external facilities such as a Global Positioning System (GPS)/Geographic Information System (GIS) and optimizes the distribution mode (torque distribution) and the gear (speed ratio) of the hybrid vehicle by using an optimization algorithm according to the speed information of the preceding vehicle. The premise of the whole optimization process is the acquisition of the speed of the front vehicle, but the speed of the front vehicle acquired by the external equipment may fluctuate, namely, the front vehicle has the conditions of rapid acceleration and rapid deceleration. On the premise of ensuring safety, the rapid acceleration/rapid deceleration is unnecessary for the hybrid vehicle, and the fuel economy of the hybrid vehicle is seriously influenced.
Disclosure of Invention
The invention aims to optimize the optimal speed track of a hybrid vehicle in the cruising process according to the speed information of a front vehicle in real time, thereby improving the fuel economy of the hybrid vehicle to the maximum extent.
The invention optimizes the running speed track of the bicycle and comprises the following steps:
(1) information acquisition: acquiring speed information of a front vehicle, current speed information of a self vehicle and SOC (state of charge) of a battery of the hybrid power vehicle through an information acquisition module;
(2) optimizing the vehicle track: with collected speed information of preceding vehicleAnd speed information of the vehicleBased on the optimized running speed track of the bicycle, the driving force of the wheels is adjustedAnd wheel braking forceAs a control variable, is described asSpeed of vehicleAs state variables, are describedAccording to the longitudinal dynamics of the automobile, the dynamic equation of the automobile can be obtained as follows:
（1）
wherein,the weight of the bicycle is the weight of the bicycle,as resistance during the running of the own vehicle,
（2）
wherein,for facing the wind of the bicycleArea of，Is the air resistance coefficient of the self-vehicle,is the rolling resistance coefficient of the self-vehicle,is acceleration of gravity，Is the road grade;
index in optimization process of cruise track of self-vehicleThe device consists of two parts:
（3）
wherein the front half partIs an economic constraint, which represents the output power per unit time of the vehicle, the latter halfIs the constraint of comfort, indicates that the optimized speed track changes smoothly,is a weight coefficient;
the trajectory optimization problem based on the preceding vehicle speed information is described as follows after discretization in a prediction time domain:
（4）
wherein,，the driving force of the vehicle is optimized for the self-carrying vehicle,the first two constraints are the constraints of the driving force and the braking force of the vehicle,、respectively the minimum driving force and the maximum driving force of the bicycle,、the minimum braking force and the maximum braking force of the bicycle.
The invention optimizes the energy distribution mode and the gears of the bicycle:
according to the difference of the engine and the motor torque, the conditions of combining the vehicle SOC and the engine speed mainly have four distribution modes, which are respectively as follows:
mode(s)：(ii) a A purely electric mode;
mode(s)：
: an engine operating mode;
mode(s)：
: a driving charging mode;
mode(s)：
: the engine and the motor work together;
wherein,is the remaining amount of power of the hybrid vehicle,is an upper limit of the remaining amount of power of the hybrid vehicle,is the rotational speed of the engine and,,the upper and lower limits of the engine speed are respectively;is the required torque of the hybrid vehicle,,the upper and lower boundaries of the optimal working area of the engine are respectively;
energy distribution pattern selected from vehiclesAnd gearsTo control the quantityResidual capacity of battery of bicycleIs a state quantityAccording to the optimal speed track obtained by optimization, the problem of the energy distribution mode and gear optimization of the self vehicle is discretized and then is arranged as follows:
（5）
wherein the optimization objectiveIs the fuel consumption of the bicycle in unit timeComprising two parts, respectively fuel consumption of the engineAnd the power consumption of the batteryWherein fuel consumption of the engine is related to an optimal speed of the vehicle; the first constraint is a constraint on the engine speed of the vehicle during optimization,is the rotating speed of the engine of the bicycle,、the minimum value and the maximum value of the rotation speed of the engine of the bicycle are respectively; the second is the constraint on the output torque of the vehicle engine during the optimization process,、the minimum value and the maximum value of the output torque of the engine of the bicycle are respectively; the third constraint is a constraint on the vehicle battery SOC during the optimization,，minimum and maximum values of the remaining capacity, respectively, and finally the mode of energy distributionAnd gear speed ratioA constraint on the range is sought.
The invention provides an energy distribution strategy of a hybrid vehicle with a track optimization function, namely the hybrid vehicle acquires speed information of a front vehicle and a self vehicle by means of a vehicle-mounted navigation GPS/GIS system; according to the acquired information, the track planning module optimizes the running speed track of the vehicle, so that the optimized vehicle speed track meets the requirements of economy and comfort; optimization of the energy distribution pattern (torque distribution) and gears (speed ratio) of the hybrid vehicle is then achieved based on the optimized speed trajectory. Therefore, the aim of comprehensively improving the fuel economy of the hybrid vehicle in the cruising process is fulfilled. The energy optimization method with the track optimization function optimizes the optimal speed track of the hybrid vehicle in the cruising process in real time according to the speed information of the front vehicle, and further optimizes the energy distribution mode (torque distribution) and the gear (speed ratio) of the hybrid vehicle according to the optimized speed track, so that the fuel economy of the hybrid vehicle is improved to the maximum extent.
The invention has the beneficial effects that:
1. the invention provides an optimization method of an energy distribution strategy with a track planning function for a hybrid vehicle, namely, the hybrid vehicle firstly collects the speed information of a front vehicle and optimally calculates the optimal speed track of the self vehicle according to the collected speed information, thereby reducing unnecessary speed fluctuation in the cruising process of the hybrid vehicle and improving the economy and comfort of the hybrid vehicle.
2. According to the optimal driving speed track of the hybrid electric vehicle, which is calculated in an optimized mode, the optimal energy distribution mode and the optimal gear under cruising can be calculated in an optimized mode by combining the SOC of the hybrid electric vehicle, so that the fuel economy of the hybrid electric vehicle is further improved.
3. The invention can simultaneously realize the optimization of the track and the optimization of the energy distribution mode and the gears, thereby integrally improving the fuel economy of the hybrid vehicle.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a flow chart of the proposed strategy of the present invention;
FIG. 3 is a front vehicle speed trajectory collected in trajectory planning;
FIG. 4 is a constrained upper and lower bound on optimization of the speed of the vehicle in trajectory planning;
FIG. 5 is a trajectory optimization result of the trajectory planning module;
FIG. 6 is a power comparison graph before and after trajectory optimization for the trajectory planning module;
FIG. 7 is an optimization process of the energy distribution mode and gear optimization module;
FIG. 8 is an engine operating point after the energy distribution module has been optimized;
fig. 9 shows the optimized motor operating point of the energy distribution module.
Detailed Description
The invention adopts the following technical scheme: an energy distribution method for a hybrid vehicle with a trajectory optimization function is shown in fig. 1, and mainly includes: the method comprises three steps of information acquisition, vehicle track optimization, energy distribution mode of the hybrid vehicle and gear optimization. The signal flow chart of the invention is shown in fig. 2, an information acquisition module of a vehicle firstly detects whether a vehicle exists in front, if no vehicle exists in front, the vehicle cruises at a constant speed according to the speed set by a driver, the information acquisition module transmits the speed of the vehicle to an energy distribution mode and gear optimization module, and the energy distribution mode (torque distribution) and the gear (speed ratio) are optimized; if a vehicle exists in front, the information acquisition module of the self vehicle firstly acquires the speed information of the front vehicle and the self vehicle and transmits the speed information to the track planning module; the track planning module optimizes an optimal speed track according to the information acquired by the information acquisition module and sends the optimized speed track to the energy distribution strategy module; the energy distribution strategy module is combined with the optimized speed information and the battery state of charge (SOC) of the vehicle, an optimal energy distribution mode (torque distribution) and the gear (speed ratio) of a gearbox are worked out for vehicle optimization, signals of an optimization sequence are given to the vehicle, and therefore energy optimization of the hybrid vehicle in the whole cruising process is completed.
The invention optimizes the running speed track of the bicycle and comprises the following steps:
(1) information acquisition: the information acquisition module of the hybrid vehicle firstly detects whether a vehicle exists in front, and if the vehicle does not exist in front, the vehicle finishes constant-speed cruising according to the speed set by a driver; if a vehicle exists in front, the information acquisition module of the self vehicle firstly acquires the speed information of the front vehicle and the self vehicle and the SOC condition of the battery of the self vehicle. The speed of the leading vehicle collected by the hybrid vehicle for direct energy distribution is disadvantageous because of the inevitable speed fluctuations of the vehicle during travel, as shown in fig. 3. Therefore, the information acquisition module firstly acquires the speed information of the front vehicle and the current speed information of the self vehicle and is used for optimizing and solving the cruise speed track of the subsequent hybrid vehicle; and collecting the SOC of the hybrid vehicle battery for optimizing and solving a subsequent self-vehicle energy distribution mode and gear.
(2) Optimizing the vehicle track: hybrid vehicle with collected front vehicle speed informationAnd speed information of the vehicleBased on the optimization of the running speed track of the self-vehicle, firstly, the self-vehicle (the vehicle to be optimized) is considered, and the driving force of the wheels is calculatedAnd wheel braking forceAs a control variable, is described asSpeed of vehicleAs state variables, are describedAccording to the longitudinal dynamics of the automobile, the dynamic equation of the automobile can be obtained as follows:
（1）
wherein,the weight of the bicycle is the weight of the bicycle,the resistance of the running process of the self-vehicle comprises air resistance, rolling resistance and gradient resistance, and has the following relationship:
（2）
wherein,is the frontal area of the bicycle，Is the air resistance coefficient of the self-vehicle,is the rolling resistance coefficient of the self-vehicle,is acceleration of gravity，Is the road grade;
index in optimization process of cruise track of self-vehicleThe method consists of two parts of economy and comfort:
（3）
wherein,，as a weight coefficient, the first halfIs an economic constraint, which represents the output power per unit time of the vehicle, the latter halfIs a comfort constraint and indicates that the optimized speed track changes smoothly.
Taking the collected road information and terminal displacement in the prediction distance as constraints, and describing a track optimization problem based on the front vehicle speed information after discretization in a prediction time domain on the basis of a dynamic model of a vehicle as follows:
（4）
wherein,，the driving force of the vehicle is optimized for the self-carrying vehicle,the first two constraints are the constraints of the driving force and the braking force of the vehicle,、respectively the minimum driving force and the maximum driving force of the bicycle,、the minimum braking force and the maximum braking force of the bicycle.
The third constraint is a constraint on the speed of the vehicle,is the measured speed of the leading vehicle,、the upper and lower threshold coefficients of the vehicle speed trajectory in the optimization process are respectively, and the vehicle speed constraint obtained by calculation in the optimization process is shown in fig. 4. The constraint is added to the optimized speed of the self-vehicle through the acquired speed of the front vehicle, so that the stable speed change of the self-vehicle in the cruising (following) process is ensured, larger fluctuation is avoided, and the cruising driving requirement is realized on the premise of meeting the safety; the last constraint is the constraint on the dynamics of the vehicle in the trajectory optimization process,、respectively the upper and lower threshold coefficients of the vehicle displacement during the optimization process,and optimizing and calculating the displacement of the front vehicle in each step. Vehicle speed acquired at initial momentAnd displacement ofAs initial values of speed and displacement during the optimization, i.e.。
So far, the track of the vehicle can be optimally solved according to the speed track of the front vehicle, as shown in fig. 5, it can be seen from the figure that the speed is relatively stable under the condition that the optimized speed track meets the safety constraint (within the range of the upper and lower limits of the speed), the condition of rapid acceleration and rapid deceleration does not exist, fig. 6 is a power comparison diagram before and after optimization, table 1 is a result of power comparison before and after optimization, and as can be seen by combining fig. 5-6, the speed after optimization is better than the fuel economy before optimization, and the fuel economy is improved by 4.23%. And (3) giving an energy distribution strategy module to the optimized speed track of the self vehicle (the vehicle to be optimized) for the subsequent optimization of the energy distribution mode and the gear of the hybrid vehicle.
TABLE 1 Power before and after speed optimization
。
The invention optimizes the energy distribution mode and gears of the vehicle (to-be-optimized vehicle):
the essence of the energy management mode of the hybrid vehicle in the present invention is to distribute the output torques of the engine and the motor according to the state of the vehicle. According to the difference of the engine and the motor torque, the conditions of combining the vehicle SOC and the engine speed mainly have four distribution modes, which are respectively as follows:
mode(s)：(ii) a A purely electric mode;
mode(s)：
: an engine operating mode;
mode(s)：
: a driving charging mode;
mode(s)：
: the engine and the motor work together;
wherein,is the remaining amount of power of the hybrid vehicle,is an upper limit of the remaining amount of power of the hybrid vehicle,is the rotational speed of the engine and,,the upper and lower limits of the engine speed are respectively;is the required torque of the hybrid vehicle,,the upper and lower boundaries of the optimal working area of the engine are respectively; after the speed track of the vehicle is optimized, the energy distribution mode and the gear of the vehicle (the vehicle to be optimized) are optimized.
Energy distribution pattern selected from vehiclesAnd gearBitTo control the quantityResidual capacity of battery of bicycleIs a state quantityAnd (3) discretizing and then finishing the problem of the energy distribution mode and the gear optimization of the self vehicle into the following steps according to the optimal speed track obtained by the optimization in the step (2):
（5）
wherein the optimization objectiveIs the fuel consumption of the bicycle in unit time, and specifically comprises two parts, namely the fuel consumption of an engineAnd the power consumption of the batteryWherein fuel consumption of the engine is related to an optimal speed of the vehicle; the first constraint is a constraint on the engine speed of the vehicle during optimization,is the rotating speed of the engine of the bicycle,、the minimum value and the maximum value of the rotation speed of the engine of the bicycle are respectively; the second is the constraint on the output torque of the vehicle engine during the optimization process,、the minimum value and the maximum value of the output torque of the engine of the bicycle are respectively; the third constraint is a constraint on the vehicle battery SOC during the optimization,，minimum and maximum values of the remaining capacity, respectively, and finally the mode of energy distributionAnd gear speed ratioA constraint on the range is sought.
The energy distribution optimization problem in the third step is clearly described, the whole distribution optimization process is shown in fig. 7, a specific optimization solving algorithm is selected based on planned vehicle speed and battery remaining capacity information, an optimization sequence of gears and modes can be obtained, the first value of the optimized gear and mode sequence is given to the vehicle, the steps are repeated at the next sampling moment, and therefore rolling optimization of the energy distribution mode and the gears is achieved, actual working points of the engine and the motor after the energy distribution module is optimized are shown in fig. 8-9, and the actual working points are all seen to be in an efficient operation area. Through the rolling optimization of the three steps, the energy optimization in the cruising process can be realized.
Claims (2)
1. A method of distributing energy of a hybrid vehicle having a trajectory optimization function, characterized in that: the method for optimizing the running speed track of the self-vehicle comprises the following steps:
(1) information acquisition: acquiring speed information of a front vehicle, current speed information of a self vehicle and SOC (state of charge) of a battery of the hybrid power vehicle through an information acquisition module;
(2) optimizing the vehicle track: with collected speed information of preceding vehicleAnd speed information of the vehicleBased on the optimized running speed track of the bicycle, the driving force of the wheels is adjustedAnd wheel braking forceAs a control variable, is described asSpeed of vehicleAs state variables, are describedAccording to the longitudinal dynamics of the automobile, the dynamic equation of the automobile can be obtained as follows:
（1）
wherein,the weight of the bicycle is the weight of the bicycle,as resistance during the running of the own vehicle,
（2）
wherein,is the frontal area of the bicycle，Is the air resistance coefficient of the self-vehicle,is the rolling resistance coefficient of the self-vehicle,is acceleration of gravity，Is the road grade;
index in optimization process of cruise track of self-vehicleThe device consists of two parts:
（3）
wherein the front half partIs an economic constraint, which represents the output power per unit time of the vehicle, the latter halfIs the constraint of comfort, indicates that the optimized speed track changes smoothly,is a weight coefficient;
the trajectory optimization problem based on the preceding vehicle speed information is described as follows after discretization in a prediction time domain:
（4）
wherein,，the driving force of the vehicle is optimized for the self-carrying vehicle,the first two constraints are the constraints of the driving force and the braking force of the vehicle,、respectively the minimum driving force and the maximum driving force of the bicycle,、the minimum braking force and the maximum braking force of the bicycle,、respectively an upper threshold coefficient and a lower threshold coefficient of the speed track of the vehicle in the optimization process,、respectively the upper and lower threshold coefficients of the vehicle displacement during the optimization process,and optimizing and calculating the displacement of the front vehicle in each step.
2. The energy distribution method of a hybrid vehicle with a trajectory optimization function according to claim 1, characterized in that: the self-vehicle energy distribution mode and gear optimization:
according to the difference of the engine and the motor torque, the conditions of combining the vehicle SOC and the engine speed mainly have four distribution modes, which are respectively as follows:
mode(s)：(ii) a A purely electric mode;
mode(s)：
: an engine operating mode;
mode(s)：
: a driving charging mode;
mode(s)：
: the engine and the motor work together;
wherein,is the remaining amount of power of the hybrid vehicle,is an upper limit of the remaining amount of power of the hybrid vehicle,is the rotational speed of the engine and,,the upper and lower limits of the engine speed are respectively;is the required torque of the hybrid vehicle,,the upper and lower boundaries of the optimal working area of the engine are respectively;
energy distribution pattern selected from vehiclesAnd gearsTo control the quantityResidual capacity of battery of bicycleIs a state quantityAccording to the optimal speed track obtained by optimization, the problem of the energy distribution mode and gear optimization of the self vehicle is discretized and then is arranged as follows:
（5）
wherein the optimization objectiveIs the fuel consumption of the bicycle in unit time, and specifically comprises two parts, namely the fuel consumption of an engineAnd the power consumption of the batteryWherein fuel consumption of the engine is related to an optimal speed of the vehicle; the first constraint is a constraint on the engine speed of the vehicle during optimization,is the rotating speed of the engine of the bicycle,、the minimum value and the maximum value of the rotation speed of the engine of the bicycle are respectively; the second is the constraint on the output torque of the vehicle engine during the optimization process,、the minimum value and the maximum value of the output torque of the engine of the bicycle are respectively; the third constraint is a constraint on the vehicle battery SOC during the optimization,，minimum and maximum values of the remaining capacity, respectively, and finally the mode of energy distributionAnd gear speed ratioA constraint on the range is sought.
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| CN107813814A (en) * | 2016-09-12 | 2018-03-20 | 法乐第(北京)网络科技有限公司 | Energy hole track optimizing method, hybrid vehicle for hybrid vehicle |
| CN107813816A (en) * | 2016-09-12 | 2018-03-20 | 法乐第(北京)网络科技有限公司 | Energy hole track optimizing equipment, hybrid vehicle for hybrid vehicle |
| CN110217221B (en) * | 2019-06-25 | 2021-02-19 | 四川阿尔特新能源汽车有限公司 | Cruise control method and device, vehicle control unit, vehicle and readable storage medium |
| CN112061122A (en) * | 2020-08-03 | 2020-12-11 | 北京汽车股份有限公司 | Cruise control method and device for hybrid vehicle |
| CN112606703B (en) * | 2020-12-02 | 2022-07-29 | 武汉路特斯汽车有限公司 | Vehicle acceleration control method, device, equipment and storage medium |
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| CN105216782A (en) * | 2015-09-30 | 2016-01-06 | 上海凌翼动力科技有限公司 | Based on the plug-in hybrid-power automobile energy management method of energy predicting |
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