Vehicle speed control method and device

Abstract

The present application provides a vehicle speed control method and device. The method provided by the present application includes: calculating the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes; calculating the speed control coefficient corresponding to the amount to be adjusted based on the first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the amount to be adjusted and the speed control coefficient, and the value of the speed control coefficient after conversion by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the torque value required by the vehicle driver; calculating the comprehensive adjustment torque based on the speed control coefficient and the required torque; adjusting the vehicle speed based on the comprehensive adjustment torque, and returning to the step of calculating the speed control coefficient. The vehicle speed control method and device provided by the present application are used to quickly and accurately complete vehicle speed limit control.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle speed control method and device. Background Art

[0002] The speed limit mode of new energy vehicles is a special driving mode that limits the maximum speed of the vehicle. This mode is usually managed by the vehicle's control system. The speed limit mode plays an important role in improving vehicle safety, energy saving and environmental protection, extending the life of components and improving driving comfort. It is an important function in modern automobile control systems.

[0003] New energy heavy trucks have complex working conditions and large changes in vehicle mass, which makes it extremely difficult to control the speed limit of the vehicle. However, the vehicle has clear speed limit requirements in manual mode, fault mode, lock speed limit, maximum speed limit and other modes. The existing vehicle speed limit technology cannot always accurately maintain the vehicle speed at the speed limit, resulting in a poor driving experience. Summary of the invention

[0004] In view of this, the present application provides a vehicle speed control method and device for quickly and accurately completing vehicle speed limit control.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] A first aspect of the present application provides a vehicle speed control method, the method comprising:

[0007] Calculate the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes;

[0008] Calculating a speed control coefficient corresponding to the variable to be adjusted based on a first mapping relationship; wherein the first mapping relationship is used to identify a conversion relationship between the variable to be adjusted and the speed control coefficient, and the value of the speed control coefficient converted by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the torque value required by the vehicle driver;

[0009] Calculate the comprehensive adjustment torque according to the speed regulation coefficient and the required torque;

[0010] The vehicle speed is adjusted based on the comprehensive adjustment torque, and the process returns to the step of calculating the speed adjustment coefficient.

[0011] A second aspect of the present application provides a vehicle speed control device, the device comprising a calculation module and an adjustment module; wherein the calculation module is used to calculate the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes;

[0012] The calculation module is further used to calculate the speed control coefficient corresponding to the variable to be adjusted based on a first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the variable to be adjusted and the speed control coefficient, and the value of the speed control coefficient converted by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the torque value required by the vehicle driver;

[0013] The calculation module is further used to calculate the comprehensive adjustment torque according to the speed regulation coefficient and the required torque;

[0014] The regulating module is used to regulate the vehicle speed based on the comprehensive regulating torque and return to the step of calculating the speed regulating coefficient.

[0015] The third aspect of the present application provides a vehicle speed control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0016] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods provided in the first aspect of the present application.

[0017] The vehicle speed control method and device provided in the present application first calculate the amount to be adjusted based on the speed limit target, driving road condition attributes and vehicle attributes; then calculate the speed control coefficient corresponding to the amount to be adjusted based on the first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the amount to be adjusted and the speed control coefficient, and the value of the speed control coefficient after conversion by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the numerical value of the torque required by the vehicle driver; then the comprehensive adjustment torque is calculated based on the speed control coefficient and the required torque; finally, the vehicle speed is adjusted based on the comprehensive adjustment torque, and the step of calculating the speed control coefficient is returned. In this way, by calculating the amount to be adjusted based on the speed limit target, driving road condition attributes and vehicle attributes, the influence of the actual road conditions as well as the performance and condition of the vehicle itself can be fully considered to obtain the amount to be adjusted corresponding to the speed limit target. Based on the amount to be adjusted, the vehicle speed that needs to be adjusted can be effectively represented so as to make more accurate adjustments. Furthermore, since the first mapping relationship reflects the association between the amount to be adjusted and the speed regulation coefficient, the speed regulation coefficient obtained through the first mapping relationship can enable the vehicle to reasonably adjust the vehicle speed and reduce the complexity of speed regulation. Furthermore, the comprehensive adjustment torque is calculated through the speed regulation coefficient and the driver's required torque to control the vehicle speed, which can ensure that the vehicle speed is stable at the required speed limit target, thereby ensuring the stability and reliability of the vehicle speed limit adjustment and improving the user's safety and driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A flow chart of a first embodiment of a vehicle speed control method provided by the present application;

[0019] Figure 2 A flow chart of a second embodiment of the vehicle speed control method provided in this application;

[0020] Figure 3 A hardware structure diagram of the vehicle speed control device in which the vehicle speed control device of the present application is located;

[0021] Figure 4 This is a structural schematic diagram of embodiment 1 of the vehicle speed control device provided in this application. DETAILED DESCRIPTION

[0022] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0023] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0025] The present application provides a vehicle speed control method and device for quickly and accurately completing vehicle speed limit control.

[0026] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0027] Figure 1 This is a flow chart of the first embodiment of the vehicle speed control method provided by this application. Please refer to Figure 1 , the method provided in this embodiment may include:

[0028] S101. Calculate the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes.

[0029] Specifically, the speed limit target includes the speed that the vehicle needs to maintain when the vehicle is in the speed limit mode. In specific implementation, the specific value of the speed limit target can be set according to actual needs, and this is not limited in this embodiment. For example, in one embodiment, the speed limit target of vehicle A can be set to 50km / h based on vehicle performance and safety factors.

[0030] Furthermore, the speed limit mode is a special driving mode. When the vehicle is in the speed limit mode, the vehicle speed can be maintained at a constant speed at the speed limit target through joint adjustment of the driver and the vehicle.

[0031] Furthermore, the driving road condition attribute includes the condition of the road on which the vehicle is currently traveling, and the driving road condition attribute will affect the performance and stability of the vehicle on the road. The specific attributes included in the driving road condition attribute are determined according to actual needs, and are not limited in this embodiment. For example, in one embodiment, the driving road condition attribute may include attributes such as road slope and road friction coefficient.

[0032] Furthermore, the vehicle attributes include the characteristics and parameters of the vehicle itself. The specific attributes included in the vehicle attributes are determined according to actual needs, and are not limited in this embodiment. For example, in one embodiment, the vehicle attributes may include the actual vehicle speed, vehicle load, vehicle state, and vehicle driving mode.

[0033] It should be noted that after confirming that the vehicle has entered the speed limit mode, the speed limit target, driving road condition attributes and vehicle attributes of the vehicle are obtained.

[0034] In the specific implementation, a specific embodiment is given below to introduce how to determine whether the vehicle enters the speed limit mode:

[0035] Confirming that the vehicle enters a speed limit mode based on the vehicle attributes and the speed limit target; comprising:

[0036] (1) Identifying whether the energy recovery state of the vehicle is activated based on the vehicle attribute; and calculating whether the difference between the actual vehicle speed and the speed limit target is within a preset vehicle speed floating range.

[0037] Specifically, the energy recovery mode refers to a mode that utilizes the vehicle's power system to convert kinetic energy into electrical energy and store it during braking or deceleration, thereby improving energy utilization efficiency.

[0038] Furthermore, the preset speed floating interval is used to determine whether the vehicle is in the speed limit mode. In specific implementation, the specific value of the preset speed floating interval is determined according to actual needs, and is not limited in this embodiment.

[0039] Furthermore, the specific value of the preset vehicle speed floating range is determined according to actual needs, and is not limited in this embodiment. For example, in one embodiment, the preset vehicle speed floating range can be set to -3km / h to 3km / h.

[0040] In specific implementation, whether the vehicle is in speed limit mode is determined by a preset speed floating range. For example, in one embodiment, the preset speed floating range is -3km / h to 3km / h, the actual speed is 48km / h, the speed limit target is 50km / h, and the difference between the actual speed and the speed limit target is 2km / h, so the difference is within the preset speed floating range.

[0041] (2) If the energy recovery state of the vehicle is the target vehicle state and the difference is within the preset vehicle speed floating range, adjusting the vehicle to the speed limit mode.

[0042] Specifically, the target vehicle state is used to determine the state attribute of the vehicle at this time. When the vehicle is in the target vehicle state, the vehicle is in a state where the speed limit mode is required. For example, in one embodiment, the vehicle not being in the energy recovery state can be confirmed as the vehicle being in the target vehicle state, that is, the target vehicle state is not in the energy recovery state.

[0043] In this embodiment, in combination with the above example, when the difference corresponding to the vehicle is within the preset speed floating range (-3km / h to 3km / h), it is determined that the state of the vehicle is the speed limit mode.

[0044] The vehicle speed control method provided in this embodiment first identifies whether the energy recovery state of the vehicle is activated based on the vehicle attributes; and calculates whether the difference between the actual vehicle speed and the speed limit target is within the preset vehicle speed floating range; if the energy recovery state of the vehicle is the target vehicle state and the difference is within the preset vehicle speed floating range, the vehicle is adjusted to the speed limit mode. In this way, the vehicle can be adjusted to the speed limit mode in time according to the vehicle state and the actual vehicle speed, and the speed limit mode can be quickly entered when the speed limit intention is identified, which not only improves the safety of the vehicle, but also enhances the driving experience.

[0045] It should be noted that after determining the driving road condition attributes and the vehicle attributes, a controller parameter library corresponding to various working conditions may be further generated, and various controller parameters may be stored based on the controller parameter library.

[0046] Furthermore, the controller can compare the actual value input into the controller with the expected value, and then regulate the speed of the vehicle. The controller carries the calculated operating conditions and controller parameters corresponding to each operating condition.

[0047] In the specific implementation, a specific embodiment is given below to introduce the process of obtaining controller parameters:

[0048] (1) Determining a road slope according to the driving road condition attributes, and determining a vehicle load according to the vehicle attributes.

[0049] Specifically, the road slope is obtained from the driving road condition attributes, and the road slope is used to represent the slope of the road currently being driven. For example, in one embodiment, the road slope obtained based on the driving road condition attributes can be a small slope, a medium slope, or a large slope.

[0050] Furthermore, the vehicle load is obtained from the vehicle attributes, and the vehicle load is used to characterize the current loading degree of the vehicle. For example, in one embodiment, the vehicle load obtained based on the vehicle attributes may be empty or fully loaded.

[0051] (2) identifying a vehicle operating condition based on the road slope and the vehicle load; matching controller parameters corresponding to the current operating condition of the vehicle based on the vehicle operating condition; and calculating a quantity to be adjusted based on the controller parameters and real-time vehicle operating data.

[0052] Specifically, the vehicle operating conditions are the various working environments and vehicle conditions that the vehicle is in during actual driving. Different vehicle operating conditions correspond to different controller parameters. Since the vehicle has different dynamic characteristics under different vehicle operating conditions, the corresponding controller parameters need to be adjusted for different vehicle operating conditions to make the vehicle better adapt to actual driving conditions.

[0053] In specific implementation, for example, in one embodiment, the controller parameters obtained based on the road slope and vehicle load are shown in Table 1:

[0054] Table 1

[0055]

[0056] Please refer to Table 1. The controller parameters of the vehicle under 6 vehicle operating conditions are determined based on the road slope and vehicle load. Among them, the angles of large, medium and small slopes are adjusted and determined according to the actual conditions of the road.

[0057] As an optional embodiment, before identifying the vehicle operating condition based on the road slope and the vehicle load and matching the controller parameters corresponding to the current vehicle operating condition based on the vehicle operating condition, the method further includes:

[0058] Determine the slope information of the road section to be traveled, and determine the slope boundary range based on the slope information; the path of each vehicle is different, and the angle range corresponding to the large, medium and small slopes is also different. Before the vehicle travels to the current path, the present invention adopts a relatively fast method to determine the angle change information of the path, so as to quickly establish a controller parameter table matching the current road section and the current vehicle model, so as to query the controller information and update the parameters when traveling to each position point, and then output the control instruction that best matches it, thereby improving the accuracy of the control. At the same time, the matching search method is adopted to quickly determine the control parameters, thereby meeting the speed requirement of quickly establishing a matching relationship before driving, and realizing the issuance of real-time control instructions. Among them, the slope boundary range refers to the angle range of the large slope, the angle range of the medium slope and the angle range of the small slope.

[0059] The driving speeds of different vehicle states at various slopes are determined based on historical driving information of the same vehicle type on the same road section; the different vehicle states refer to an empty state and a fully loaded state.

[0060] The historical average driving speed under each slope range is calculated based on the driving speed and the slope boundary range; the output instruction of the controller controls the final driving speed of the vehicle, and in order to improve the control efficiency, the present invention configures a set of control parameters for each interval in accordance with the interval division, and correspondingly, the determination of the parameters in the interval does not need to consider the speed at each time point, but the average speed of each interval corresponding to the position division is obtained, which reduces the time points involved in the calculation and the order of magnitude of the speed values, and improves the calculation efficiency.

[0061] The controller parameters corresponding to each slope range are calculated based on the historical average driving speed. Compared with the method of self-configuring controller parameters in the prior art, the present invention reversely calculates the configuration of the controller parameters according to the control results of the controller, that is, the driving speed of the vehicle, so that the controller parameters are consistent with the actual operating conditions of the vehicle, avoiding directly presetting the controller parameters, which may result in failure to achieve the target control effect due to different conditions such as the vehicle state.

[0062] A corresponding relationship between the calculated controller parameters and the slope boundary range is established.

[0063] The vehicle speed limiting method provided in this embodiment first determines the road slope according to the driving road condition attributes, and determines the vehicle load according to the vehicle attributes; then identifies the vehicle working condition based on the road slope and the vehicle load, matches the controller parameters corresponding to the current working condition of the vehicle based on the vehicle working condition; and calculates the amount to be adjusted based on the controller parameters and the real-time operation data of the vehicle. In this way, since the current working condition of the vehicle is determined by combining the road slope and the vehicle load, the accuracy and stability of the amount to be adjusted of the vehicle can be guaranteed.

[0064] A specific embodiment is given below to describe in detail the process of calculating the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes:

[0065] (1) Detecting the actual speed of the vehicle.

[0066] Specifically, the actual speed of the vehicle may be detected by a conventional vehicle speed detection method, or the actual speed of the vehicle may be directly read from a sensor carried by the vehicle, which is not limited in this embodiment.

[0067] (2) Determining a vehicle speed value to be adjusted according to the actual vehicle speed and the speed limit target, and calculating the amount to be adjusted based on the vehicle speed value to be adjusted and the controller parameter.

[0068] Specifically, the speed value to be adjusted is used to characterize the difference between the actual speed of the vehicle and the speed limit target, and the amount to be adjusted is obtained through the speed value to be adjusted, so as to adjust the current actual speed through the amount to be adjusted. For example, in one embodiment, in combination with the above embodiment, the actual speed of the vehicle is 46km / h, and the speed limit target of the vehicle is 50km / h. It can be calculated that the corresponding speed value to be adjusted for the vehicle is 4km / h.

[0069] Furthermore, the vehicle speed value to be adjusted is proportional to the amount to be adjusted. In other words, the larger the vehicle speed value to be adjusted, the larger the amount to be adjusted. In specific implementation, the current working condition of the vehicle is obtained, and then the controller parameters at this time are obtained through the working condition to calculate the amount to be adjusted. For example, in one embodiment, in combination with the above example, the road slope of the vehicle is a small slope, the vehicle load of the vehicle is no-load, and the vehicle is in working condition 1. At this time, the amount to be adjusted at this time is determined based on the controller parameter 1 and the vehicle speed value to be adjusted.

[0070] In this way, the actual speed of the vehicle is first detected, and then the speed value to be adjusted is determined based on the actual speed and the speed limit target, and the amount to be adjusted is calculated based on the speed value to be adjusted and the controller parameters. In this way, the speed value to be adjusted can be accurately obtained through the actual speed and the speed limit target, and then the amount to be adjusted is determined in combination with the controller parameters. Since the controller parameters take into account the current working conditions of the vehicle, the amount to be adjusted obtained can more accurately and reliably adjust the actual speed of the vehicle, which is convenient for vehicle speed limit.

[0071] S102. Calculate the speed control coefficient corresponding to the variable to be adjusted based on a first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the variable to be adjusted and the speed control coefficient, and the value of the speed control coefficient after conversion by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the torque value required by the vehicle driver.

[0072] Specifically, the first mapping relationship is used to characterize the conversion relationship between the variable to be adjusted and the speed control coefficient, and the speed control coefficient can be obtained based on the variable to be adjusted through the first mapping relationship. In specific implementation, for example, in one embodiment, the first mapping relationship can be obtained based on specific control requirements and system characteristics. For another example, in another embodiment, the first mapping relationship can be obtained by fitting experimental data.

[0073] Furthermore, the specific value of the first interval range is set according to actual needs, and is not limited in this embodiment. For example, in one embodiment, the first interval range can be set to -1 to 1.

[0074] Optionally, after calculating the speed regulation coefficient corresponding to the variable to be regulated based on the first mapping relationship, the method further includes:

[0075] Determining a motor peak torque corresponding to the vehicle type; a normalized speed control coefficient based on the motor peak torque and the comprehensive adjustment torque;

[0076] In specific implementation, the amount to be adjusted may be normalized to keep the value of the amount to be adjusted within the first interval. For example, in one embodiment, the amount to be adjusted is normalized based on the following formula:

[0077] Limit 1 -1 {Comprehensive adjustment torque / motor peak torque};

[0078] The comprehensive adjustment torque is the torque that the vehicle obtains to adjust the speed in real time, and the peak torque of the motor is determined by the performance of the motor corresponding to the vehicle type. This helps to improve the accuracy and reliability of the vehicle speed limit.

[0079] It should be noted that when the value of the speed control coefficient is negative, the actual speed of the controlled vehicle is reduced, and the smaller the value of the speed control coefficient is, the faster the actual speed is reduced; when the value of the speed control coefficient is positive, the actual speed of the controlled vehicle is increased, and the larger the value of the speed control coefficient is, the faster the actual speed is increased.

[0080] Furthermore, the speed regulating torque of the vehicle driver can be obtained according to the opening and closing angle of the vehicle accelerator pedal. In specific implementation, for example, in one embodiment, different opening and closing angles of the vehicle accelerator pedal correspond to different speed regulating torques, and further, the value of the speed regulating coefficient changes in the opposite direction to the value of the required torque of the vehicle driver. In specific implementation, for example, in one embodiment, when the required torque of the vehicle driver increases, the speed regulating coefficient decreases accordingly, so that the vehicle speed is stabilized at the speed limit target; when the required torque of the vehicle driver decreases, the speed regulating coefficient increases accordingly, so that the vehicle speed is stabilized at the speed limit target.

[0081] S103, calculating a comprehensive adjustment torque according to the speed adjustment coefficient and the required torque.

[0082] Specifically, the comprehensive regulating torque may be calculated by using a traditional torque calculation method or by using a neural network torque calculation method.

[0083] Furthermore, the comprehensive adjustment torque can directly adjust the actual speed of the vehicle. In specific implementation, the power output of the vehicle is adjusted by the comprehensive adjustment torque, thereby changing the actual speed of the vehicle.

[0084] Specifically, the required torque is the speed control required torque generated by the driver through the pedal, that is, it represents the driver's control intention. The speed control coefficient corresponds to the control characterization of the speed in order to control the driving speed within the vehicle speed range. Therefore, in the method provided by the present invention, before calculating the speed control coefficient corresponding to the amount to be adjusted based on the first mapping relationship, at least the following steps are included:

[0085] The demand torque change trend is predicted based on the pedal state and the road surface state, wherein the pedal state is the pedal force state in the first time period with the current time as the end time, and the road surface state is the road surface state of the vehicle in the future second time period obtained according to the vehicle's route with the current position as the starting point, including at least factors such as slope and curvature that affect the demand torque change. The demand torque change trend means that the demand torque will increase or decrease, and the trend can be monotonically changed or non-monotonic.

[0086] The first mapping relationship is corrected based on the demand torque change trend. Since when the speed control coefficient takes effect, it is opposite to the demand torque change trend, that is, the larger the demand torque, the smaller the speed control coefficient, that is, the two have a mutually restrictive relationship, in order to obtain a more accurate speed control coefficient, the present invention corrects the first mapping relationship based on the restrictive relationship between the two themselves, and the speed control coefficient obtained by the corrected first mapping relationship falls within a preset range and matches the predicted demand torque change trend, that is, the change amplitude of the speed control coefficient in the corrected first mapping relationship matches the predicted demand torque change amplitude, and the change direction is opposite.

[0087] S104, adjusting the vehicle speed based on the comprehensive adjustment torque, and returning to the step of calculating the speed adjustment torque and returning to the step of calculating the speed adjustment coefficient.

[0088] Specifically, after adjusting the vehicle speed based on the comprehensive adjustment torque, the speed adjustment torque is recalculated based on the adjusted actual vehicle speed, and then a new speed adjustment coefficient is obtained to complete the adjustment of the vehicle speed in the speed limit mode.

[0089] The vehicle speed control method provided in this embodiment first calculates the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes; then calculates the speed control coefficient corresponding to the amount to be adjusted based on the first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the amount to be adjusted and the speed control coefficient, and the value of the speed control coefficient after conversion by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the numerical value of the torque required by the vehicle driver; then the comprehensive adjustment torque is calculated based on the speed control coefficient and the required torque; finally, the vehicle speed is adjusted based on the comprehensive adjustment torque, and the step of calculating the speed control coefficient is returned. In this way, by calculating the amount to be adjusted based on the speed limit target, driving road condition attributes and vehicle attributes, the influence of the actual road conditions as well as the performance and condition of the vehicle itself can be fully considered to obtain the amount to be adjusted corresponding to the speed limit target. Based on the amount to be adjusted, the vehicle speed that needs to be adjusted can be effectively represented so as to make more accurate adjustments. Furthermore, since the first mapping relationship reflects the association between the amount to be adjusted and the speed regulation coefficient, the speed regulation coefficient obtained through the first mapping relationship can enable the vehicle to reasonably adjust the vehicle speed and reduce the complexity of speed regulation. Furthermore, the comprehensive adjustment torque is calculated through the speed regulation coefficient and the driver's required torque to control the vehicle speed, which can ensure that the vehicle speed is stable at the required speed limit target, thereby ensuring the stability and reliability of the vehicle speed limit adjustment and improving the user's safety and driving experience.

[0090] Optionally, after adjusting the vehicle speed based on the comprehensive adjustment torque and returning to the step of calculating the speed adjustment torque and returning to the step of calculating the speed adjustment coefficient, the method further includes:

[0091] Determine whether the adjusted vehicle speed meets the speed limit target. If not, determine whether the value of the speed adjustment coefficient exceeds a preset threshold. If it exceeds the preset threshold, the vehicle exits the speed limit mode; wherein the preset threshold is the maximum value within the first interval.

[0092] Specifically, when the adjusted vehicle speed is the same as the speed limit target, it is confirmed that the vehicle is still in the speed limit mode. If the difference between the adjusted vehicle speed and the speed limit target is not within the preset vehicle speed floating range, it can be confirmed that the vehicle is not in the speed limit mode.

[0093] Furthermore, the preset threshold is used to determine whether the vehicle exits the speed limit mode, and when the value of the speed adjustment coefficient exceeds the preset threshold, it is determined that the vehicle exits the speed limit mode. In specific implementation, for example, in one embodiment, the first interval ranges from -1 to 1, and the preset threshold can be determined as the maximum value 1 within the first interval.

[0094] In this step, when it is determined that the speed regulation coefficient exceeds a preset threshold, the vehicle exits the speed limit mode.

[0095] The vehicle speed control method provided in this embodiment determines whether the adjusted vehicle speed meets the speed limit target. If not, it determines whether the value of the speed adjustment coefficient exceeds a preset threshold. If it exceeds the preset threshold, the vehicle exits the speed limit mode. In this way, the timing of the vehicle exiting the speed limit mode is determined based on the speed adjustment coefficient, which can ensure that the vehicle exits the speed limit mode in time when it needs to exit the speed limit mode, thereby improving the accuracy and reliability of vehicle speed control.

[0096] Figure 2 This is a flow chart of the second embodiment of the vehicle speed control method provided by this application. Please refer to Figure 2 Based on the above embodiment, the steps after the vehicle exits the speed limit mode further include:

[0097] S201, detecting the driving path information of the vehicle.

[0098] Specifically, the driving path information includes the road conditions of the road where the vehicle is located, and the road section where the vehicle is traveling can be obtained based on the driving path information. For example, in one embodiment, it is determined that the vehicle is traveling on an uphill section based on the driving information. For another example, in one embodiment, it is determined that the vehicle is traveling on a horizontal section based on the driving information. For another example, in one embodiment, it is determined that the vehicle is traveling on a downhill section based on the driving information.

[0099] Furthermore, the vehicle's driving path information can be obtained based on a vehicle-mounted camera or a vehicle-mounted level meter. The vehicle-mounted camera or the vehicle-mounted level meter detects the current path information in real time and provides it to the vehicle.

[0100] S202, determining the vehicle operating condition based on the driving path information and the actual speed of the vehicle, wherein if the vehicle is driving on a downhill section and the actual speed exceeds a second interval, adjusting the vehicle to an energy recovery mode.

[0101] Specifically, the specific value of the second interval range is set according to actual needs, and is not limited in this embodiment. For example, in one embodiment, the maximum value of the second interval range can be determined as 60 km / h.

[0102] Furthermore, when the vehicle is in energy recovery mode, the vehicle converts kinetic energy into electrical energy, which is then stored to extend the vehicle's range or improve energy efficiency.

[0103] In this step, when the vehicle is traveling on a downhill section and the actual vehicle speed exceeds the second interval range, the vehicle is adjusted to the energy recovery mode.

[0104] The vehicle speed control method provided in this embodiment first detects the vehicle's driving path information, and then determines the vehicle's operating condition based on the driving path information and the vehicle's actual speed. In this way, it can be determined whether to enter the energy recovery mode based on the driving path information and the actual vehicle speed, so that the vehicle can maximize the use of the kinetic energy generated during driving, thereby improving the vehicle's energy efficiency and environmental performance.

[0105] Corresponding to the aforementioned embodiment of a vehicle speed control method, the present application also provides an embodiment of a vehicle speed control device.

[0106] The embodiment of a vehicle speed control device of the present application can be applied to a vehicle speed control device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by the processor of the vehicle speed control device in which it is located reading the corresponding computer program instructions in the non-volatile memory into the memory and running them. From the hardware level, if Figure 3 As shown, it is a hardware structure diagram of the vehicle speed control device where the vehicle speed control device of the present application is located. Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, the vehicle speed control device in which the device is located in the embodiment may also include other hardware according to the actual function of the vehicle speed control device, which will not be described in detail.

[0107] Figure 4 This is a structural diagram of the first embodiment of the vehicle speed control device provided by this application. Figure 4 , the device provided in this embodiment includes a calculation module 410 and an adjustment module 420;

[0108] The calculation module 410 is used to calculate the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes;

[0109] The calculation module 410 is further used to calculate the speed control coefficient corresponding to the variable to be adjusted based on a first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the variable to be adjusted and the speed control coefficient, and the value of the speed control coefficient converted by the first mapping relationship is distributed within a first interval; wherein the speed control coefficient changes in the opposite direction to the torque value required by the vehicle driver;

[0110] The calculation module 410 is further used to calculate the comprehensive adjustment torque according to the speed adjustment coefficient and the required torque;

[0111] The regulating module 420 is used to regulate the vehicle speed based on the comprehensive regulating torque, and return to the step of calculating the speed regulating torque and the step of calculating the speed regulating coefficient.

[0112] The device of this embodiment can be used to perform Figure 1 The steps, specific implementation principles and implementation processes of the method embodiment shown are similar and will not be repeated here.

[0113] Optionally, the calculation module 410 is specifically used to determine the road slope according to the driving road condition attributes, and determine the vehicle load according to the vehicle attributes;

[0114] The calculation module 410 is specifically used to identify the vehicle operating condition based on the road slope and the vehicle load, match the controller parameters corresponding to the current vehicle operating condition based on the vehicle operating condition; and calculate the amount to be adjusted based on the controller parameters and the real-time vehicle operating data.

[0115] Optionally, the calculation module 410 is specifically used to detect the actual speed of the vehicle;

[0116] The calculation module 410 is specifically configured to determine the vehicle speed value to be adjusted according to the actual vehicle speed and the speed limit target, and calculate the amount to be adjusted based on the vehicle speed value to be adjusted and the controller parameter.

[0117] Optionally, the calculation module 410 is specifically configured to identify whether the energy recovery state of the vehicle is activated based on the vehicle attributes; and calculate whether the difference between the actual vehicle speed and the speed limit target is within a preset vehicle speed floating range;

[0118] The adjustment module 420 is specifically configured to adjust the vehicle to a speed limit mode if the energy recovery state of the vehicle is the target vehicle state and the difference is within the preset vehicle speed floating range.

[0119] Optionally, the adjustment module 420 is also used to determine whether the adjusted vehicle speed meets the speed limit target. If not, determine whether the value of the speed adjustment coefficient exceeds a preset threshold. If it exceeds the preset threshold, the vehicle exits the speed limit mode; wherein the preset threshold is the maximum value within the first interval.

[0120] Optionally, the calculation module 410 is further used to detect the driving path information of the vehicle;

[0121] The adjustment module 420 is also used to determine the vehicle operating condition based on the driving path information and the actual speed of the vehicle, wherein if the vehicle is traveling on a downhill section and the actual speed exceeds a second interval range, the vehicle is adjusted to an energy recovery mode.

[0122] Please continue to refer to Figure 3The present application also provides a vehicle speed control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0123] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of any one of the methods provided in the present application are implemented.

[0124] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0125] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0126] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle speed control method, characterized in that: The method comprises: Determine the slope information of the road section to be traveled, determine the slope boundary range based on the slope information, and establish a corresponding relationship between the controller parameters calculated based on the historical average travel speed and the slope boundary range; Calculating the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes, wherein the driving road condition attributes include the road slope and the vehicle attributes include the vehicle load; Determining the road slope according to the driving road condition attributes, determining the vehicle load according to the vehicle attributes, and identifying the vehicle operating condition based on the road slope and the vehicle load; Matching controller parameters corresponding to the current operating condition of the vehicle based on the vehicle operating condition; Calculating the amount to be adjusted based on the controller parameters and the real-time operation data of the vehicle; wherein the amount to be adjusted is proportional to the vehicle speed to be adjusted, and the vehicle speed to be adjusted is the difference between the actual vehicle speed and the speed limit target; The speed control coefficient corresponding to the variable to be adjusted is calculated based on a first mapping relationship; wherein the first mapping relationship is used to identify a conversion relationship between the variable to be adjusted and the speed control coefficient, and the value of the speed control coefficient converted by the first mapping relationship is distributed within a first interval, so that the actual speed of the vehicle is within the speed limit interval; wherein the speed control coefficient is a representation of speed control, and has a direction opposite to a change in the value of the torque required by the vehicle driver; Before calculating the speed regulation coefficient corresponding to the variable to be regulated based on the first mapping relationship, at least the following steps are included: Predicting a change trend of the required torque according to a pedal state and a road state, wherein the pedal state is a pedal force state within a first time period with the current time as the end time, and the road state is a road state of the vehicle in a future second time period obtained according to the vehicle's travel route with the current position as the starting point; and correcting the first mapping relationship based on the change trend of the required torque; Calculate the comprehensive adjustment torque according to the speed regulation coefficient and the required torque; The vehicle speed is adjusted based on the comprehensive adjustment torque, and the process returns to the step of calculating the speed adjustment coefficient.

2. The method according to claim 1, characterized in that The calculating the amount to be adjusted based on the controller parameters and the real-time operation data of the vehicle includes: detecting an actual speed of the vehicle; The vehicle speed value to be adjusted is determined according to the actual vehicle speed and the speed limit target, and the amount to be adjusted is calculated based on the vehicle speed value to be adjusted and the controller parameter.

3. The method according to claim 2, characterized in that Before calculating the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes; Confirming that the vehicle enters a speed limit mode based on the vehicle attributes and the speed limit target; comprising: Identifying whether the energy recovery state of the vehicle is activated based on the vehicle attributes; calculating whether the difference between the actual vehicle speed and the speed limit target is within a preset vehicle speed floating range; If the energy recovery state of the vehicle is the target vehicle state and the difference is within the preset vehicle speed floating range, the vehicle is adjusted to a speed limit mode.

4. The method according to claim 3, characterized in that: After adjusting the vehicle speed based on the comprehensive adjustment torque and returning to the step of calculating the speed adjustment coefficient, the method further includes: Determine whether the adjusted vehicle speed meets the speed limit target. If not, determine whether the value of the speed adjustment coefficient exceeds a preset threshold. If it exceeds the preset threshold, the vehicle exits the speed limit mode; wherein the preset threshold is the maximum value within the first interval.

5. The method according to claim 4, characterized in that After the vehicle exits the speed limit mode, the method further includes: Detecting the driving path information of the vehicle; The vehicle operating condition is determined based on the driving path information and the actual speed of the vehicle, wherein if the vehicle is driving on a downhill section and the actual speed exceeds a second interval, the vehicle is adjusted to an energy recovery mode.

6. The method according to claim 1, characterized in that Before the vehicle operating condition is identified based on the road slope and the vehicle load and the controller parameter corresponding to the current vehicle operating condition is matched based on the vehicle operating condition, the method further includes: Determining the slope information of the road section to be traveled, and determining the slope boundary range based on the slope information; Determine the driving speed of different vehicles at different slopes based on the historical driving information of the same vehicle type on the same road section; Calculate the historical average driving speed under each slope range based on the driving speed and the slope boundary range; Calculating controller parameters corresponding to each slope range based on the historical average driving speed; A corresponding relationship between the calculated controller parameters and the slope boundary range is established.

7. The method according to claim 1, characterized in that After calculating the speed regulation coefficient corresponding to the variable to be regulated based on the first mapping relationship, the method further includes: Determine the peak torque of the motor corresponding to the vehicle type; and normalize the speed control coefficient based on the peak torque of the motor and the comprehensive adjustment torque.

8. A vehicle speed control device, characterized in that: The device includes a calculation module and an adjustment module; wherein the calculation module is used to determine the slope information of the road section to be traveled, determine the slope boundary range based on the slope information, and establish a corresponding relationship between the controller parameters calculated based on the historical average travel speed and the slope boundary range; Calculating the amount to be adjusted based on the speed limit target, the driving road condition attributes and the vehicle attributes, wherein the driving road condition attributes include the road slope and the vehicle attributes include the vehicle load; The calculation module is further used to determine the road slope according to the driving road condition attributes, determine the vehicle load according to the vehicle attributes, and identify the vehicle operating condition based on the road slope and the vehicle load; The calculation module is further used to match the controller parameters corresponding to the current operating condition of the vehicle based on the vehicle operating condition; The calculation module is further used to calculate the amount to be adjusted based on the controller parameters and the real-time operation data of the vehicle, wherein the amount to be adjusted is proportional to the vehicle speed to be adjusted, the vehicle speed to be adjusted is the difference between the actual vehicle speed and the speed limit target, the speed limit target and the vehicle attributes are used to determine the real-time operation data of the vehicle, and the driving road condition attributes are used to determine the controller parameters; The calculation module is further used to calculate the speed control coefficient corresponding to the variable to be adjusted based on a first mapping relationship; wherein the first mapping relationship is used to identify the conversion relationship between the variable to be adjusted and the speed control coefficient, and the value of the speed control coefficient converted by the first mapping relationship is distributed within a first interval range, so that the actual speed of the vehicle is within the speed limit interval; wherein the speed control coefficient is a representation of speed control, and has a direction opposite to the change direction of the torque value required by the vehicle driver; Before calculating the speed regulation coefficient corresponding to the variable to be regulated based on the first mapping relationship, at least the following steps are included: Predicting a change trend of the required torque according to a pedal state and a road state, wherein the pedal state is a pedal force state within a first time period with the current time as the end time, and the road state is a road state of the vehicle in a future second time period obtained according to the vehicle's travel route with the current position as the starting point; and correcting the first mapping relationship based on the change trend of the required torque; The calculation module is further used to calculate the comprehensive adjustment torque according to the speed regulation coefficient and the required torque; The regulating module is used to regulate the vehicle speed based on the comprehensive regulating torque and return to the step of calculating the speed regulating coefficient.

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