A method and system for automatic cruise speed regulation, a vehicle controller and an electric vehicle

Abstract

The application provides a kind of automatic regulation method of cruise vehicle speed, system, vehicle controller and electric vehicle.The method comprises: obtaining vehicle motion information, first preset acceleration threshold and second preset acceleration threshold, the first preset acceleration threshold is used to control cruise vehicle speed up, and the second preset acceleration threshold is used to control cruise vehicle speed down;When judging that the vehicle motion information meets the first jump condition;Control vehicle from current speed adjustment standby state to enter speed adjustment active state, while starting to adjust the current cruise vehicle speed of the vehicle;According to the current speed adjustment state of vehicle, output adjusted cruise vehicle speed.The method provided by the application can automatically adjust the cruise vehicle speed in advance, realize reasonable cruise vehicle speed adjustment process, and improve user comfort.

Description

Technical Field

[0001] This invention relates to the field of vehicle autonomous driving system control technology, and more specifically, to an automatic cruise speed adjustment method, system, vehicle controller, and electric vehicle. Background Technology

[0002] With the development of technology, people have increasingly higher demands for the intelligence and comfort of automobiles, and cruise control systems in intelligent vehicles are gradually becoming more and more common. When an intelligent vehicle activates its cruise control system, the driver does not need to press the accelerator pedal; the vehicle can automatically maintain a fixed speed.

[0003] Most current driver assistance systems require drivers to manually set the cruise speed, which indicates a low level of intelligence. Drivers need to manually adjust the cruise speed according to the current road speed limit. Only a small number of autonomous driving systems can automatically adjust the cruise speed according to the road speed limit.

[0004] However, the speed adjustment process of the aforementioned autonomous driving system occurs after the vehicle has entered the next speed-limited section, and the set cruise speed will jump drastically from the current speed to the target speed limit. During this process, the timing of the adjustment and the large-scale speed adjustment do not conform to normal human driving habits, resulting in discomfort for the driver. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic cruise speed adjustment method, system, vehicle controller, and electric vehicle, which can solve at least one of the aforementioned technical problems. The specific solution is as follows:

[0006] According to a specific embodiment of the present invention, in a first aspect, the present invention provides an automatic cruise speed adjustment method, comprising: acquiring vehicle motion information, a first preset acceleration threshold, and a second preset acceleration threshold; wherein, the vehicle motion information includes: current cruise speed, target speed limit range of the next road segment, and distance from the current vehicle position to the starting position of the next road segment; the first preset acceleration threshold is used to control the cruise speed to increase, and the second preset acceleration threshold is used to control the cruise speed to decrease; when it is determined that the vehicle meets a first jump condition for automatically adjusting the vehicle's cruise speed, the vehicle is controlled to jump from the current speed adjustment standby state to the speed adjustment activation state, and the current cruise speed of the vehicle is adjusted simultaneously; wherein, the first jump condition includes that the current cruise speed is not within the target speed limit range of the next road segment, and the acceleration required for adjusting the current cruise speed does not meet the first preset acceleration threshold or the second preset acceleration threshold; and the adjusted cruise speed is output according to the current speed adjustment state of the vehicle.

[0007] Optionally, the target speed limit range for the next road segment is determined based on the actual speed limit range for the next road segment, wherein the upper limit of the target speed limit range is greater than or equal to the upper limit of the actual speed limit range, and / or the lower limit of the target speed limit range is less than or equal to the lower limit of the actual speed limit range.

[0008] Optionally, the current cruising speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruising speed does not meet the first preset acceleration threshold or the second preset acceleration threshold, including:

[0009] The current cruising speed is less than the upper limit of the target speed limit range for the next road segment, and or,

[0010] The current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, and Among them, V L1 This indicates the upper limit of the target speed limit range for the next road segment, V0 represents the current cruising speed, S represents the distance of the current vehicle position from the starting position of the next road segment, and a 上 Indicates the first preset acceleration threshold, a 下 This indicates the second preset acceleration threshold.

[0011] Optionally, the method further includes: when the vehicle does not meet the first jump condition for automatically adjusting the vehicle's cruise speed, controlling the vehicle to continue in the speed adjustment standby state, while continuing to determine whether to enter the speed adjustment activation state.

[0012] Optionally, the method further includes: during the process of adjusting the current cruising speed of the vehicle, determining whether the vehicle meets the second transition condition for automatically adjusting the cruising speed of the vehicle; if it meets the condition, controlling the vehicle to transition from the speed adjustment activation state to the speed adjustment standby state; wherein, the second transition condition includes: the target speed limit range of the next road segment changes, or the distance between the current vehicle position and the starting position of the next road segment changes; or, during the process of adjusting the current cruising speed of the vehicle, determining whether the vehicle meets the third transition condition for automatically adjusting the cruising speed of the vehicle; if it meets the condition, controlling the vehicle to transition from the speed adjustment activation state to the speed adjustment stop state, and simultaneously stopping the adjustment of the vehicle's cruising speed; wherein, the third transition condition includes: receiving a manual active speed adjustment signal.

[0013] Optionally, the method further includes: when the vehicle does not meet the second jump condition and the third jump condition, controlling the vehicle to continue in the speed adjustment activation state, and continuing to automatically adjust the speed of the vehicle.

[0014] Optionally, the method further includes: when the automatic adjustment of the vehicle's cruise speed is stopped, determining whether the vehicle meets the fourth transition condition; if it does, controlling the vehicle to transition from the speed adjustment stop state to the speed adjustment standby state; or, if the vehicle does not meet the fourth transition condition, controlling the vehicle to remain in the speed adjustment stop state; wherein the fourth transition condition includes: the target speed limit range of the next road segment changes, or the distance from the current vehicle position to the starting position of the next road segment changes.

[0015] Optionally, the step of outputting the adjusted cruise speed according to the current speed adjustment state of the vehicle includes: when the vehicle is in the speed adjustment activation state, detecting whether the driver actively adjusts the speed in the current operating cycle; if so, directly outputting the cruise speed set by the driver; if not, outputting the adjusted cruise speed according to the relationship between the vehicle motion information and the first preset acceleration threshold, or the relationship between the vehicle motion information and the second preset acceleration threshold.

[0016] Optionally, based on the relationship between the vehicle motion information and the first preset acceleration threshold, or the relationship between the vehicle motion information and the second preset acceleration threshold, the adjusted cruise speed is output, including: when the current cruise speed is less than the upper limit of the target speed limit range for the next road segment, according to the formula... Calculate and output the adjusted cruise speed; or, when the current cruise speed is greater than the target speed limit for the next road segment, calculate and output the adjusted cruise speed according to the formula. Calculate and output the adjusted cruise speed; where V0 represents the current cruise speed, V L1 Indicates the upper limit of the target speed limit range for the next road segment, a 上 Indicates the first preset acceleration threshold, a 下 This indicates the second preset acceleration threshold, and S represents the distance from the current vehicle position to the starting position of the next speed-limited road segment.

[0017] Optionally, the step of outputting the adjusted cruise speed according to the current speed adjustment state of the vehicle includes: when the vehicle is in the speed adjustment standby state or the speed adjustment stop state, detecting whether the driver has manually adjusted the speed in the current operating cycle; if so, directly outputting the cruise speed set by the driver; if not, continuing to output the cruise speed set in the previous operating cycle.

[0018] Optionally, the first preset acceleration threshold and the second preset acceleration threshold can be preset based on user experience or user experience.

[0019] According to a specific embodiment of the present invention, in a second aspect, the present invention provides an automatic cruise speed adjustment system, comprising: an acquisition unit, configured to acquire vehicle motion information, a first preset acceleration threshold, and a second preset acceleration threshold; wherein the vehicle motion information includes: current cruise speed, target speed limit range for the next road segment, and distance from the current vehicle position to the starting position of the next road segment; the first preset acceleration threshold is used to control the cruise speed to increase, and the second preset acceleration threshold is used to control the cruise speed to decrease; a control unit, configured to, when determining that the vehicle meets a first jump condition for automatically adjusting the vehicle's cruise speed, control the vehicle to jump from a current speed adjustment standby state to a speed adjustment activation state, and simultaneously begin adjusting the vehicle's current cruise speed; wherein the first jump condition includes that the current cruise speed is not within the target speed limit range for the next road segment, and the acceleration required for adjusting the current cruise speed does not meet the first preset acceleration threshold or the second preset acceleration threshold; and an output unit, configured to output the adjusted cruise speed according to the current speed adjustment state of the vehicle.

[0020] Optionally, the current cruising speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruising speed does not meet the first preset acceleration threshold or the second preset acceleration threshold, including:

[0021] The current cruising speed is less than the upper limit of the target speed limit range for the next road segment, and or,

[0022] The current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, and Among them, V L1 This indicates the upper limit of the target speed limit range for the next road segment, V0 represents the current cruising speed, S represents the distance of the current vehicle position from the starting position of the next speed limit segment, and a 上 Indicates the first preset acceleration threshold, a 下 This indicates the second preset acceleration threshold.

[0023] Optionally, the output unit is further configured to: when the vehicle is in a speed adjustment activation state, detect whether the driver actively adjusts the speed during the current operating cycle; if yes, directly output the manually set cruise speed; if no, output the adjusted cruise speed according to the relationship between the vehicle motion information and the first preset acceleration threshold, or the relationship between the vehicle motion information and the second preset acceleration threshold.

[0024] According to a specific embodiment of the present invention, in a third aspect, the present invention provides a vehicle controller having stored one or more instructions thereon, wherein when the one or more instructions are executed by the vehicle controller, the automatic adjustment method as described above is implemented.

[0025] According to a specific embodiment of the present invention, in a fourth aspect, the present invention provides an electric vehicle, including a vehicle controller as described above.

[0026] Compared with the prior art, the above-described solutions of the present invention have at least the following beneficial effects:

[0027] The automatic cruise speed adjustment method, system, vehicle controller, and electric vehicle provided by this invention control the start timing of automatic speed adjustment by setting a first preset acceleration threshold and a second preset acceleration threshold, which can achieve advance speed adjustment; furthermore, it can achieve gradual speed adjustment, making the speed adjustment process continuous and comfortable, and improving the user's driving comfort. Attached Figure Description

[0028] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale. In the drawings:

[0029] Figure 1 A flowchart of an automatic cruise speed adjustment method according to an embodiment of the present invention is shown;

[0030] Figure 2 A logic block diagram of the state machine in the automatic adjustment method of cruising speed according to an embodiment of the present invention is shown;

[0031] Figure 3 A schematic diagram of an automatic cruise speed adjustment system according to an embodiment of the present invention is shown. Detailed Implementation

[0032] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0033] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0034] The optional embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] Example 1

[0036] Please see Figure 1 This embodiment provides an automatic cruise speed adjustment method, including:

[0037] S101, Obtain vehicle motion information and the first preset acceleration threshold a 上 Second preset acceleration threshold a 下 The vehicle motion information includes: the current cruising speed V0, the target speed limit range of the next road segment, and the distance S from the current vehicle position to the starting position of the next road segment.

[0038] Specifically, in the entire automatic adjustment method, the vehicle motion information can be acquired at fixed time intervals, for example, every 10 milliseconds. The vehicle motion information further includes the vehicle's current location information, map information of the entire road segment, actual speed limit ranges of multiple road segments ahead, speed adjustment lever information, or speed adjustment button information.

[0039] The current cruising speed V0 refers to the vehicle's current speed, which can be obtained through vehicle sensors or calculated based on changes in the vehicle's position. The current vehicle position information refers to the vehicle's current location, which can be obtained through the vehicle's built-in positioning device, such as a GPS locator.

[0040] The target speed limit range for the next road segment is determined based on the actual speed limit range for that road segment. The actual speed limit range is the road speed limit range stipulated by my country's traffic regulations and can be obtained through map information. In this embodiment of the invention, the upper limit of the target speed limit range is greater than or equal to the upper limit of the actual speed limit range, and / or, the lower limit of the target speed limit range is less than or equal to the lower limit of the actual speed limit range. Optionally, the lower limit of the target speed limit range is within 10% of the lower limit of the actual speed limit range; and / or, the upper limit of the target speed limit range is within 10% of the upper limit of the actual speed limit range. Of course, the target speed limit range can also be within the actual speed limit range. In this invention, setting a target speed limit range can eliminate situations where speed adjustment is not needed when the current cruising speed fluctuates within the actual speed limit range.

[0041] The distance S value between the current vehicle position and the starting position of the next speed-limited road segment refers to the distance between the current vehicle position and the starting position of the first speed-limited road segment ahead. This distance can be calculated by combining the map information of the entire road segment with the vehicle's current position information. The actual speed limit ranges of the multiple road segments ahead sequentially include the actual speed limit range of the first segment, the second segment, the third segment, ..., and the last segment. These multiple actual speed limit ranges can be obtained individually or all at once. The speed control lever or button information refers to the driver's manual adjustment of the speed using the lever or button; for example, a single lever or button press indicates an increase or decrease of 5 kilometers per hour in the set cruise speed. Of course, the vehicle motion information includes, but is not limited to, the above information and can be obtained according to the actual needs of vehicle operation.

[0042] The first preset acceleration threshold a 上 These are parameters used to control the vehicle's cruise speed increase; the second preset acceleration threshold a 下 This is a parameter used to control the reduction of the vehicle's cruising speed. In this embodiment, the first preset acceleration threshold a 上 Second preset acceleration threshold a 下 These settings can be pre-configured based on the user's driving experience or driving comfort. Specifically, the user's driving comfort can include: the user feels comfortable driving when the vehicle's speed changes significantly; or, the user feels comfortable driving when the vehicle's speed changes slightly. Of course, other settings are also possible, and there are no restrictions here.

[0043] Before step S101, the automatic adjustment method further includes step S100: controlling the vehicle to activate the automatic adjustment function, causing the vehicle to enter a speed adjustment standby state, at which time the vehicle automatically drives at the initial cruise speed. In this embodiment, as long as the automatic driving function or adaptive cruise function is activated, the vehicle enters the speed adjustment standby state by default.

[0044] S102, determine whether the vehicle meets the first transition condition for automatically adjusting the vehicle's cruise speed; if it does, control the vehicle to transition from the current speed adjustment standby state to the speed adjustment activation state, and simultaneously start adjusting the vehicle's current cruise speed; if it does not meet the condition, keep the vehicle in the speed adjustment standby state, and continue to determine whether to enter the speed adjustment activation state; wherein, the first transition condition includes that the current cruise speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruise speed does not meet the first preset acceleration threshold or the second preset acceleration threshold.

[0045] In this embodiment, the automatic adjustment method automatically adjusts the cruise speed according to a preset state machine mode. For example... Figure 2As shown, the state machine includes three states: speed regulation standby state, speed regulation activated state, and speed regulation stopped state. The vehicle transitions between these three states through different transition conditions. Specifically, the transition process involves acquiring the vehicle's current state at fixed intervals, and when the corresponding transition condition is met, transitioning to another state while simultaneously outputting the corresponding cruising speed. This repeated transition process is considered a running cycle. In this embodiment, the above process is executed once every 10 milliseconds.

[0046] After the vehicle activates the automatic speed adjustment function, it enters a speed adjustment standby state. At this time, the vehicle does not adjust its speed but travels at the initial cruising speed, ready to initiate speed adjustment at any time. While the vehicle is in the speed adjustment standby state, the vehicle motion information and the first preset acceleration threshold 'a' are determined. 上 Or the second preset acceleration threshold a 下 If the relationship between the two conditions satisfies the first jump condition T1, and if it does, the vehicle is controlled to enter the speed regulation activation state and speed regulation is initiated; otherwise, speed regulation is not initiated. This invention achieves this by setting a first preset acceleration threshold a. 上 Second preset acceleration threshold a 下 This is to control the timing of speed adjustment, preventing the cruise speed from being adjusted too early or too late. Initiating speed adjustment too early results in unnecessary, insufficient acceleration or deceleration, while initiating it too late leads to excessively slow speed adjustment; the timing is therefore inappropriate. Preferably, the first jump condition includes: the current cruise speed is less than the upper limit of the target speed limit range for the next road segment, and... Alternatively, the current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, and Among them, V L1 This indicates the upper limit of the target speed limit range for the next road segment, V0 represents the current cruising speed, S represents the distance of the current vehicle position from the starting position of the next road segment, and a 上 Indicates the first preset acceleration threshold, a 下 This indicates a second preset acceleration threshold. In other embodiments, V L1 Of course, it can also be the lower limit of the target speed limit range for the next road segment.

[0047] In one embodiment of the present invention, when executing the next run, if the vehicle is currently in a speed regulation activation state, it is determined whether the vehicle meets the second jump condition T2, and the corresponding cruise speed is output. Specifically, when the vehicle enters the speed regulation activation state, the vehicle will accelerate or decelerate until it reaches the target speed limit range of the next road segment, and output a speed of V. L1 To continue driving at the set cruise speed. When the vehicle motion information and the first preset acceleration threshold a... 上 Or the second preset acceleration threshold a 下When the relationship between the two conditions satisfies the second transition condition T2, the vehicle is controlled to enter the speed adjustment standby state, and the system continues to determine whether to enter the speed adjustment activation state. The second transition condition includes: a change in the target speed limit range of the next road segment, or a change in the distance S value between the current vehicle position and the starting position of the next speed-limited road segment. Preferably, if the upper limit of the target speed limit range of the next road segment obtained in the current operating cycle is not equal to the upper limit of the target speed limit range of the next road segment obtained in the previous operating cycle; and / or, the lower limit of the target speed limit range of the next road segment obtained in the current operating cycle is not equal to the lower limit of the target speed limit range of the next road segment obtained in the previous operating cycle, and the vehicle enters a different speed-limited road segment, the vehicle is controlled to transition from the speed adjustment activation state to the speed adjustment standby state. In other embodiments, if the distance S value between the vehicle position and the starting position of the next speed-limited road segment obtained in the current operating cycle is larger than the distance S value between the vehicle position and the starting position of the next speed-limited road segment obtained in the previous operating cycle, and the vehicle enters a different speed-limited road segment, the vehicle is controlled to transition from the speed adjustment activation state to the speed adjustment standby state.

[0048] In one embodiment of the present invention, when the vehicle is currently in a speed adjustment activation state during the next run, it is determined whether the vehicle meets the third transition condition T3, and the corresponding cruise speed is output. Specifically, when the vehicle enters the speed adjustment activation state, it is determined whether the vehicle meets the third transition condition T3. If it does, acceleration or deceleration stops, i.e., the speed adjustment stops. The third transition condition includes receiving a human-initiated speed adjustment signal. In this embodiment, when a speed adjustment lever signal or a speed adjustment button signal is received, it is determined that the driver has actively adjusted the speed. Of course, in practical applications, the determination of whether the speed has been actively adjusted is not limited to this method.

[0049] In another embodiment, if the vehicle does not meet the second and third jump conditions, the vehicle is controlled to remain in the speed regulation activation state, and automatic speed regulation of the vehicle continues.

[0050] In one embodiment of the present invention, when the vehicle is currently in a speed adjustment state during the next run, it is determined whether the vehicle meets the fourth jump condition T4, and the corresponding cruise speed is output. Specifically, when the vehicle is currently in a speed adjustment stop state, it indicates that the vehicle speed adjustment is stopped. At this time, it is determined whether the vehicle meets the fourth jump condition T4; if it does, the vehicle is controlled to enter the speed adjustment standby state, and it is further determined whether speed adjustment needs to be started; if it does not meet the condition, the vehicle is controlled to remain in the speed adjustment stop state. The fourth jump condition is the same as the second jump condition, including a change in the target speed limit range of the next road segment, or a change in the distance S value of the current vehicle position from the starting position of the next speed limit road segment.

[0051] S103, based on the current speed adjustment state of the vehicle, outputs the adjusted cruise speed.

[0052] According to the state transition process in step S102, the vehicle state transitions once, synchronously updating the stored vehicle speed control state to the current state. The current speed control state of the vehicle includes any one of three states: speed control standby state, speed control active state, and speed control stopped state. The specific methods for outputting the cruise speed for these three different speed control states are as follows:

[0053] When the vehicle is in speed-adjustment standby mode, it detects whether the driver has manually adjusted the speed during the current operating cycle; if so, it outputs the cruise speed set by the driver; otherwise, it outputs the cruise speed set in the previous operating cycle, i.e., it keeps the set cruise speed unchanged. In this embodiment, the operating cycle refers to repeating the jump process once at fixed intervals.

[0054] In one embodiment of the present invention, when the vehicle is in a speed adjustment activation state, it is detected whether the driver has performed a manual speed adjustment operation during the current operating cycle; if so, the cruise speed manually set by the driver is output; if not, the adjusted cruise speed is recalculated and output based on the vehicle motion information, a first preset acceleration threshold, or a second preset acceleration threshold. Preferably, the step of outputting the adjusted cruise speed based on the vehicle motion information, the first preset acceleration threshold, or the second preset acceleration threshold includes:

[0055] When the current cruising speed V0 is less than the upper limit of the target speed limit range V of the next road segment L1 At that time, according to the formula Calculate and output the adjusted cruise speed V0. Where V... L1 Let S be the upper limit of the target speed limit range for the next road segment, and S be the distance from the vehicle's current position to the starting position of the next speed-limited road segment. The calculated V0 is the adjusted cruise speed. In this embodiment of the invention, since the set cruise speed is generally an integer, if the calculated result is not an integer, the calculated value can be rounded up, i.e., V0 = ceil(V0). Of course, V L1 It can also be the lower limit of the target speed limit range for the next road segment.

[0056] In another embodiment, when the current cruising speed V0 is greater than the upper limit of the target speed limit range V of the next road segment L1 At that time, according to the formula Calculate and output the cruising speed V0. Where V... L1Let S be the upper limit of the target speed limit range for the next road segment, and S be the distance from the vehicle's current position to the starting position of the next speed-limited road segment. In this embodiment of the invention, since the set cruise speed is generally an integer, if the calculation result is not an integer, the calculated value can be rounded down, i.e., V0 = floor(V0).

[0057] In one embodiment of the present invention, when the vehicle is in a speed-adjustment-stop state, it is detected whether the driver has performed a manual speed adjustment operation within the current operating cycle; if so, the cruise speed manually set by the driver is output; if not, the cruise speed set in the previous operating cycle is output, i.e., the set cruise speed remains unchanged. In this embodiment, if the vehicle is currently in a speed-adjustment-active state and a manual speed adjustment signal is received, the vehicle is controlled to jump to a speed-adjustment-stop state, and the cruise speed manually set by the driver within the current operating cycle is output, and the operation ends; after an interval of 10 milliseconds, the next operation begins, the vehicle is detected to be currently in a speed-adjustment-stop state, and if the fourth jump condition is met, the vehicle is controlled to jump to a speed-adjustment-standby state; if no manual speed adjustment is detected, the cruise speed manually set in the previous operating cycle continues to be output.

[0058] This invention provides an automatic cruise speed adjustment method that controls the initiation timing of automatic speed adjustment by setting a first preset acceleration threshold and a second preset acceleration threshold, enabling advance speed adjustment. Furthermore, during the cruise speed adjustment process, a fixed acceleration calculation formula is used to calculate the desired cruise speed, achieving gradual speed adjustment, making the speed adjustment process continuous and comfortable, and improving the user's driving comfort. In addition, a functional state machine is designed to enable the driver to suppress the automatic speed adjustment process and automatically restore the automatic speed adjustment function.

[0059] Example 2

[0060] like Figure 3 As shown, an embodiment of the present invention provides an automatic cruise speed adjustment system, comprising:

[0061] Acquisition unit 301 is used to acquire vehicle motion information and a first preset acceleration threshold a. 上 Second preset acceleration threshold a 下 The vehicle motion information includes: the current cruising speed V0, the target range of the next road segment, and the distance S from the current vehicle position to the starting position of the next road segment.

[0062] Specifically, within the entire automatic adjustment system, vehicle motion information can be acquired at fixed intervals, for example, every 10 milliseconds. This vehicle motion information further includes the vehicle's current location, map information for the entire road segment, actual speed limits for multiple road segments ahead, and information from the speed control lever or speed control buttons.

[0063] The current cruising speed V0 refers to the vehicle's current speed, which can be obtained through vehicle sensors or calculated based on changes in the vehicle's position. The current vehicle position information refers to the vehicle's current location, which can be obtained through the vehicle's built-in positioning device, such as a GPS locator.

[0064] The target speed limit range for the next road segment is determined based on the actual speed limit range for that road segment. The actual speed limit range is the road speed limit range stipulated by my country's traffic regulations and can be obtained through map information. In this embodiment of the invention, the upper limit of the target speed limit range is greater than or equal to the upper limit of the actual speed limit range, and the lower limit of the target speed limit range is less than or equal to the lower limit of the actual speed limit range. Preferably, the lower limit of the target speed limit range is within 10% of the lower limit of the actual speed limit range; and / or, the upper limit of the target speed limit range is within 10% of the upper limit of the actual speed limit range. Of course, the target speed limit range can also be within the actual speed limit range. In this invention, setting a target speed limit range can eliminate situations where speed adjustment is not needed when the current cruising speed fluctuates within the actual speed limit range.

[0065] The distance S value between the current vehicle position and the starting position of the next speed-limited road segment refers to the distance between the current vehicle position and the starting position of the first speed-limited road segment ahead. This distance can be calculated by combining the map information of the entire road segment with the vehicle's current position information. The target speed limit ranges for the multiple road segments ahead sequentially include the target speed limit range for the first segment, the second segment, the third segment, ..., and the final segment. These target speed limit ranges can be obtained individually or all at once. The speed control lever or button information refers to the driver's manual speed adjustment via the lever or button; for example, a single lever or button press indicates an increase or decrease of 5 kilometers per hour in the set cruise speed. Of course, the vehicle motion information includes, but is not limited to, the above information and can be obtained according to the actual needs of vehicle operation.

[0066] The first preset acceleration threshold a 上 These are parameters used to control the vehicle's cruise speed increase; the second preset acceleration threshold a 下 This is a parameter used to control the reduction of the vehicle's cruising speed. In this embodiment, the first preset acceleration threshold a 上 Second preset acceleration threshold a 下 These settings can be pre-configured based on the user's driving experience or driving comfort. Specifically, the user's driving comfort can include: the user feels comfortable driving when the vehicle's speed changes significantly; or, the user feels comfortable driving when the vehicle's speed changes slightly. Of course, other settings are also possible, and there are no restrictions here.

[0067] The control unit 302 is used to determine whether the vehicle meets the first transition condition for automatically adjusting the vehicle's cruise speed; if it does, it controls the vehicle to transition from the current speed adjustment standby state to the speed adjustment activation state, and simultaneously begins to adjust the vehicle's current cruise speed; if it does not meet the condition, it keeps the vehicle in the speed adjustment standby state and continues to determine whether to enter the speed adjustment activation state; wherein, the first transition condition includes that the current cruise speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruise speed does not meet the first preset acceleration threshold or the second preset acceleration threshold.

[0068] During application, the automatic adjustment system automatically adjusts the cruise speed according to a preset state machine mode. The state machine includes three states: speed adjustment standby state, speed adjustment activated state, and speed adjustment stopped state. Different transition conditions are used to allow the vehicle to switch between these three states. The specific process of the control unit 302 implementing the transition includes: at fixed intervals, acquiring the vehicle's current state, and when the corresponding transition condition is met, transitioning to another state while simultaneously outputting the corresponding cruise speed. This repeated transition process is considered the operating cycle. In this embodiment, the above process is executed once every 10 milliseconds.

[0069] Preferably, the control unit 302 is also used to control the vehicle to activate the automatic adjustment function, so that the vehicle enters a speed adjustment standby state, at which time the vehicle automatically drives at the initial cruise speed. In this embodiment, as long as the automatic driving function or adaptive cruise function is activated, the vehicle enters the speed adjustment standby state by default.

[0070] After the vehicle activates the automatic speed adjustment function, the vehicle enters a speed adjustment standby state. At this time, the vehicle does not adjust its speed but travels at the initial cruising speed, ready to initiate speed adjustment at any time. When the vehicle is in the speed adjustment standby state, the control unit 302 determines the vehicle's motion information and the first preset acceleration threshold α. 上 Or the second preset acceleration threshold a 下 If the relationship between the two conditions satisfies the first jump condition T1, and if it does, the vehicle is controlled to enter the speed regulation activation state and speed regulation is initiated; otherwise, speed regulation is not initiated. This invention achieves this by setting a first preset acceleration threshold a. 上 Second preset acceleration threshold a 下 This is to control the timing of speed adjustment, preventing the cruise speed from being adjusted too early or too late. Initiating speed adjustment too early results in unnecessary, insufficient acceleration or deceleration, while initiating it too late leads to excessively slow speed adjustment; the timing is therefore inappropriate. Preferably, the first jump condition specifically includes: the current cruise speed is less than the upper limit of the target speed limit range for the next road segment, and... Alternatively, the current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, and Among them, VL1 This indicates the upper limit of the target speed limit range for the next road segment, V0 represents the current cruising speed, S represents the distance of the current vehicle position from the starting position of the next road segment, and a 上 Indicates the first preset acceleration threshold, a 下 This indicates a second preset acceleration threshold. In other embodiments, V L1 Of course, it can also be the lower limit of the target speed limit range for the next road segment.

[0071] In one embodiment of the present invention, when the vehicle is currently in a speed regulation activation state during the next run, the control unit 302 determines whether the vehicle meets the second jump condition T2 and outputs the corresponding cruise speed. Specifically, when the vehicle enters the speed regulation activation state, the vehicle will accelerate or decelerate until it reaches the speed limit of the next road segment, and continue driving at the current cruise speed using that speed limit. When the vehicle motion information and the first preset acceleration threshold a... 上 Or the second preset acceleration threshold a 下 When the relationship between the two conditions satisfies the second transition condition T2, the control unit 302 controls the vehicle to enter the speed regulation standby state and continues to determine whether to enter the speed regulation activation state. The second transition condition includes: a change in the target speed limit range of the next road segment, or a change in the distance S value between the current vehicle position and the starting position of the next speed-limited road segment. Preferably, if the upper limit of the target speed limit range of the next road segment obtained in the current operating cycle is not equal to the upper limit of the target speed limit range of the next road segment obtained in the previous operating cycle; and / or, the lower limit of the target speed limit range of the next road segment obtained in the current operating cycle is not equal to the lower limit of the target speed limit range of the next road segment obtained in the previous operating cycle, and the vehicle enters a different speed-limited road segment, then the vehicle is controlled to enter the speed regulation standby state from the speed regulation activation state. In other implementations, if the distance S value between the vehicle location and the starting position of the next speed-limited road segment obtained in the current operating cycle is larger than the distance S value between the vehicle location and the starting position of the next speed-limited road segment obtained in the previous operating cycle, and the vehicle enters a different speed-limited road segment, then the vehicle is controlled to enter the speed-regulation standby state from the speed regulation activation state.

[0072] In one embodiment of the present invention, when the vehicle is currently in a speed adjustment activation state during the next run, the control unit 302 determines whether the vehicle meets the third transition condition T3 and outputs the corresponding cruise speed. Specifically, when the vehicle enters the speed adjustment activation state, the control unit 302 determines whether the vehicle meets the third transition condition T3. If it does, acceleration or deceleration stops, i.e., the speed adjustment stops. The third transition condition includes receiving a manually activated speed adjustment signal. In this embodiment, when a speed adjustment lever signal or a speed adjustment button signal is received, the control unit 302 determines that the driver has manually activated the speed. Of course, in practical applications, the determination of whether the speed has been manually activated is not limited to this method.

[0073] In another embodiment, if the vehicle does not meet the second and third jump conditions, the control unit 302 controls the vehicle to remain in the speed regulation activation state and continues to automatically adjust the speed of the vehicle.

[0074] In one embodiment of the present invention, when the vehicle is currently in a speed adjustment state during the next run, the control unit 302 determines whether the vehicle meets the fourth transition condition T4 and outputs the corresponding cruise speed. Specifically, when the vehicle is currently in a speed adjustment stop state, it indicates that speed adjustment of the vehicle has stopped. At this time, the control unit 302 determines whether the vehicle meets the fourth transition condition T4; if it does, it controls the vehicle to enter the speed adjustment standby state and continues to determine whether speed adjustment needs to be started; if it does not meet the condition, it controls the vehicle to remain in the speed adjustment stop state. The fourth transition condition is the same as the second transition condition, including a change in the target speed limit range of the next road segment, or a change in the distance S value from the current vehicle position to the starting position of the next speed limit road segment.

[0075] The output unit 303 is used to output the adjusted cruise speed according to the current speed adjustment state of the vehicle.

[0076] According to the state transition process of the control unit 302, the vehicle speed adjustment state transitions once, and the vehicle speed adjustment state stored in the system is synchronously updated to the current state. The current speed adjustment state of the vehicle includes any one of three states: speed adjustment standby state, speed adjustment active state, and speed adjustment stopped state. The specific method by which the output unit 303 outputs the cruise speed for these three different speed adjustment states is as follows:

[0077] When the vehicle is in a speed-adjustment standby state, the output unit 303 detects whether the driver has manually adjusted the speed during the current operating cycle; if so, it outputs the cruise speed set by the driver; if not, it outputs the cruise speed set in the previous operating cycle, i.e., maintaining the set cruise speed unchanged. In this embodiment, the operating cycle refers to repeating the jump process once at fixed intervals.

[0078] In one embodiment of the present invention, when the vehicle is in a speed adjustment activation state, the output unit 303 detects whether the driver has performed a manual speed adjustment operation within the current operating cycle; if so, it outputs the cruise speed manually set by the driver; if not, it recalculates and outputs the adjusted cruise speed based on the vehicle motion information, a first preset acceleration threshold, or a second preset acceleration threshold. Specifically, outputting the adjusted cruise speed based on the vehicle motion information, the first preset acceleration threshold, or the second preset acceleration threshold includes:

[0079] When the current cruising speed V0 is less than the upper limit of the target speed limit range V of the next road segment L1 At that time, the output unit 303 according to the formula Calculate and output the adjusted cruise speed V0. Where V... L1 Let S be the upper limit of the target speed limit range for the next road segment, and S be the distance from the vehicle's current position to the starting position of the next speed-limited road segment. The calculated V0 is the adjusted cruise speed. In this embodiment of the invention, since the set cruise speed is generally an integer, if the calculated result is not an integer, the calculated value can be rounded up, i.e., V0 = ceil(V0). Of course, V L1 It can also be the lower limit of the target speed limit range for the next road segment.

[0080] In another embodiment, when the current cruising speed V0 is greater than the upper limit of the target speed limit range V of the next road segment L1 At that time, the output unit 303 according to the formula Calculate and output the adjusted cruise speed V0. Where V... L1 Let S be the upper limit of the target speed limit range for the next road segment, and S be the distance from the vehicle's current position to the starting position of the next speed-limited road segment. In this embodiment of the invention, since the set cruise speed is generally an integer, if the calculation result is not an integer, the calculated value can be rounded down, i.e., V0 = floor(V0).

[0081] In one embodiment of the present invention, when the vehicle is in a speed-adjustment-stop state, the output unit 303 detects whether the driver has performed a manual speed adjustment operation within the current operating cycle; if so, it outputs the cruise speed manually set by the driver; if not, it outputs the cruise speed set in the previous operating cycle, i.e., the set cruise speed remains unchanged. In this embodiment, the control unit 302 obtains that the vehicle is currently in a speed-adjustment-active state. If a manual speed adjustment signal is received, it controls the vehicle to jump to the speed-adjustment-stop state, and at the same time, the output unit 303 outputs the cruise speed manually set by the driver within the current operating cycle and ends the operation; after an interval of 10 milliseconds, the control unit 302 starts the next operation, obtains that the vehicle is currently in a speed-adjustment-stop state, and if the fourth jump condition is met, it controls the vehicle to jump to the speed-adjustment-standby state; if no manual speed adjustment is detected, the output unit 303 continues to output the cruise speed manually set in the previous operating cycle.

[0082] This invention provides an automatic cruise speed adjustment system that controls the timing of automatic speed adjustment by setting a first preset acceleration threshold and a second preset acceleration threshold, enabling advance speed adjustment. Furthermore, during the cruise speed adjustment process, a fixed acceleration calculation formula is used to calculate the desired cruise speed, achieving gradual speed adjustment, making the speed adjustment process continuous and comfortable, and improving the user's driving comfort. In addition, a functional state machine is designed to enable the driver to suppress the automatic speed adjustment process and automatically restore the automatic speed adjustment function.

[0083] Example 3

[0084] This invention provides a vehicle controller that stores one or more instructions. When the vehicle controller executes these instructions, it implements the automatic adjustment method described in the first embodiment. For the specific steps of the automatic adjustment method, please refer to the automatic adjustment method disclosed in the first embodiment, which will not be repeated here.

[0085] Example 4

[0086] This invention provides an electric vehicle that includes a vehicle controller as described in the above embodiments. In this embodiment, the electric vehicle includes any vehicle employing an autonomous driving system, such as electric buses, light rail vehicles, and electric vehicles, etc.

[0087] The above embodiments of the present invention control the start timing of automatic speed adjustment by setting a first preset acceleration threshold and a second preset acceleration threshold, thereby enabling advance speed adjustment; furthermore, during the adjustment of the cruise speed, a fixed acceleration calculation formula is used to calculate the desired cruise speed, thereby achieving gradual speed adjustment, making the speed adjustment process continuous and comfortable, and improving the user's driving comfort; in addition, a functional state machine is designed to enable the driver to suppress the automatic speed adjustment process and automatically restore the automatic speed adjustment function.

[0088] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions as those in the present invention. The units described in the embodiments of the present invention can be implemented in software or hardware. The names of the units do not necessarily constitute a limitation on the unit itself in certain circumstances.

[0089] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0090] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A method for automatically adjusting cruising speed, characterized in that, include: The system acquires vehicle motion information, a first preset acceleration threshold, and a second preset acceleration threshold. The vehicle motion information includes: current cruising speed, the target speed limit range for the next road segment, and the distance from the current vehicle position to the starting point of the next road segment. The first preset acceleration threshold is used to control the cruise speed to increase, and the second preset acceleration threshold is used to control the cruise speed to decrease. The first and second preset acceleration thresholds are preset based on user experience or user feedback. When it is determined that the vehicle meets the first transition condition for automatically adjusting the vehicle's cruise speed, the vehicle is controlled to transition from the current speed adjustment standby state to the speed adjustment activation state, and the current cruise speed of the vehicle is adjusted simultaneously; wherein, the first transition condition includes that the current cruise speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruise speed does not meet the first preset acceleration threshold or the second preset acceleration threshold. Wherein, the current cruising speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruising speed does not meet the first preset acceleration threshold or the second preset acceleration threshold, includes: the current cruising speed is less than the lower limit of the target speed limit range of the next road segment, and or, The current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, and Among them, V L1 This indicates the upper limit of the target speed limit range for the next road segment, V0 represents the current cruising speed, S represents the distance of the current vehicle position from the starting position of the next road segment, and a 上 Indicates the first preset acceleration threshold, a 下 Indicates the second preset acceleration threshold; Based on the current speed adjustment state of the vehicle, the adjusted cruise speed is output; wherein, when the vehicle is in a speed adjustment active state, if it is detected that the driver has not actively adjusted the speed during the current operating cycle, the adjusted cruise speed is output based on the relationship between the vehicle motion information and the first preset acceleration threshold, or the relationship between the vehicle motion information and the second preset acceleration threshold, including: When the current cruising speed is less than the lower limit of the target speed limit range for the next road segment, according to the formula... Calculate and output the adjusted cruise speed; or, When the current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, according to the formula Calculate and output the adjusted cruise speed; where V0 represents the adjusted cruise speed, V L1 Indicates the upper limit of the target speed limit range for the next road segment, a 上 Indicates the first preset acceleration threshold, a 下 This indicates the second preset acceleration threshold, and S represents the distance from the current vehicle position to the starting position of the next road segment. If the vehicle does not meet the first jump condition for automatically adjusting the vehicle's cruise speed, the vehicle is controlled to remain in the speed adjustment standby state, while the system continues to determine whether to enter the speed adjustment activation state.

2. The method according to claim 1, characterized in that, The target speed limit range for the next road segment is determined based on the actual speed limit range of the road. The upper limit of the target speed limit range is greater than or equal to the upper limit of the actual speed limit range, and / or the lower limit of the target speed limit range is less than or equal to the lower limit of the actual speed limit range.

3. The method according to claim 1, characterized in that, The method further includes: During the process of adjusting the vehicle's current cruising speed, it is determined whether the vehicle meets the second transition condition for automatically adjusting the vehicle's cruising speed; if it does, the vehicle is controlled to transition from the speed adjustment activation state to the speed adjustment standby state; wherein, the second transition condition includes: the target speed limit range of the next road segment changes, or the distance from the current vehicle position to the starting position of the next road segment changes; or, During the process of adjusting the current cruising speed of the vehicle, it is determined whether the vehicle meets the third transition condition for automatically adjusting the cruising speed of the vehicle; if it does, the vehicle is controlled to transition from the speed adjustment activation state to the speed adjustment stop state, and the adjustment of the vehicle's cruising speed is stopped; wherein, the third transition condition includes: receiving a manual active speed adjustment signal.

4. The method according to claim 3, characterized in that, The method further includes: When the vehicle does not meet the second jump condition and the third jump condition, the vehicle is controlled to remain in the speed adjustment activation state, and the automatic speed adjustment of the vehicle continues.

5. The method according to claim 3, characterized in that, The method further includes: When the automatic adjustment of the vehicle's cruise speed stops, it is determined whether the vehicle meets the fourth transition condition; if it does, the vehicle is controlled to transition from the speed adjustment stop state to the speed adjustment standby state; or, If the vehicle does not meet the fourth jump condition, the vehicle is controlled to continue in the speed adjustment stop state; wherein, the fourth jump condition includes: the target speed limit range of the next road segment changes, or the distance between the current vehicle position and the starting position of the next road segment changes.

6. The method according to any one of claims 1 to 5, characterized in that, The step of outputting the adjusted cruise speed based on the vehicle's current speed control state includes: When the vehicle is in speed adjustment activation state, it detects whether the driver has manually adjusted the speed during the current operating cycle; if so, it directly outputs the cruise speed set by the driver.

7. The method according to any one of claims 1, 3, or 5, characterized in that, The step of outputting the adjusted cruise speed based on the vehicle's current speed control state includes: When the vehicle is in the speed adjustment standby state or speed adjustment stop state, it is detected whether the driver has manually adjusted the speed in the current operating cycle; if so, the cruise speed set by the driver is directly output; if not, the cruise speed set in the previous operating cycle is continued to be output.

8. An automatic cruise speed adjustment system, characterized in that, include: The acquisition unit is used to acquire vehicle motion information, a first preset acceleration threshold, and a second preset acceleration threshold; wherein, the vehicle motion information includes: the current cruising speed, the target speed limit range of the next road segment, and the distance from the current vehicle position to the starting position of the next road segment; the first preset acceleration threshold is used to control the cruise speed to increase, and the second preset acceleration threshold is used to control the cruise speed to decrease; the first preset acceleration threshold and the second preset acceleration threshold are respectively preset based on user experience or user experience; The control unit is configured to, when determining that the vehicle meets the first transition condition for automatically adjusting the vehicle's cruise speed, control the vehicle to transition from the current speed adjustment standby state to the speed adjustment activation state, and simultaneously begin adjusting the vehicle's current cruise speed; wherein, the first transition condition includes that the current cruise speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruise speed does not meet the first preset acceleration threshold or the second preset acceleration threshold; Wherein, the current cruising speed is not within the target speed limit range of the next road segment, and the acceleration required to adjust the speed at the current cruising speed does not meet the first preset acceleration threshold or the second preset acceleration threshold, includes: the current cruising speed is less than the lower limit of the target speed limit range of the next road segment, and or, The current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, and Among them, V L1 This indicates the upper limit of the target speed limit range for the next road segment, V0 represents the current cruising speed, S represents the distance of the current vehicle position from the starting position of the next road segment, and a 上 Indicates the first preset acceleration threshold, a 下 Indicates the second preset acceleration threshold; The output unit is used to output the adjusted cruise speed according to the current speed adjustment state of the vehicle; wherein, when the vehicle is in a speed adjustment active state, if it is detected that the driver has not actively adjusted the speed during the current operating cycle, the adjusted cruise speed is output according to the relationship between the vehicle motion information and the first preset acceleration threshold, or the relationship between the vehicle motion information and the second preset acceleration threshold, including: When the current cruising speed is less than the lower limit of the target speed limit range for the next road segment, according to the formula Calculate and output the adjusted cruise speed; or, When the current cruising speed is greater than the upper limit of the target speed limit range for the next road segment, according to the formula Calculate and output the adjusted cruise speed; where V0 represents the adjusted cruise speed, V L1 Indicates the upper limit of the target speed limit range for the next road segment, a 上 Indicates the first preset acceleration threshold, a 下 This indicates the second preset acceleration threshold, and S represents the distance from the current vehicle position to the starting position of the next road segment. If the vehicle does not meet the first jump condition for automatically adjusting the vehicle's cruise speed, the vehicle is controlled to remain in the speed adjustment standby state, while the system continues to determine whether to enter the speed adjustment activation state.

9. A vehicle controller, characterized in that, It stores one or more instructions, which, when executed by the vehicle controller, implement the automatic adjustment method as described in any one of claims 1-7.

10. An electric vehicle, characterized in that, Includes the vehicle controller as described in claim 9.

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