A vehicle cruise control method, device and system

Abstract

The application discloses a vehicle cruise control method, device and system. The method comprises the following steps: in response to a user triggered vehicle cruise recovery operation, obtaining a current driving speed and a first transmission gear position at a current time of an automatic transmission; determining a current recovery acceleration according to the current driving speed and a target cruise speed to be recovered to; determining a first required output torque matched with the first transmission gear position; performing iterative adjustment of the transmission gear position according to the current recovery acceleration and the first required output torque, determining a second required output torque meeting a target torque condition and a second transmission gear position corresponding to the second required output torque; and sending the second required output torque and the second transmission gear position to an engine controller and a transmission controller respectively for execution, so that the vehicle performs cruise acceleration at the current recovery acceleration. The technical scheme of the application improves the smoothness of the vehicle recovery cruise acceleration process, and greatly improves and enriches the vehicle driving performance.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle cruise control method, device and system. Background Technology

[0002] With the development of passenger vehicle technology, cruise control has become a standard feature. When using cruise control, if the driver brakes and decelerates in an emergency and wants to accelerate back to the previous cruise speed, they simply press the "resume" button. In actual use, during the initial stage of cruise control recovery, due to a large target acceleration and a high current transmission gear, the virtual throttle output is also large. This triggers the transmission to perform a multi-gear downshift, significantly increasing the gear ratio. This results in a substantial decrease in engine torque output at the same target acceleration, and the virtual throttle opening also decreases rapidly. This may trigger the transmission to upshift, causing all related parameters to fluctuate repeatedly. Frequent gear changes can even lead to vehicle jerking, affecting the smoothness of acceleration and causing serious drivability issues. Summary of the Invention

[0003] This invention provides a vehicle cruise control method, device, and system to improve the smoothness of the vehicle's cruise acceleration recovery process and enhance and enrich the vehicle's driving performance.

[0004] In a first aspect, the present invention provides a vehicle cruise control method, the method comprising:

[0005] In response to a user-triggered vehicle cruise control recovery operation, obtain the current vehicle speed and the first gear of the automatic transmission at the current moment;

[0006] Based on the current driving speed and the target cruise speed to be restored, determine the current recovery acceleration that matches the current driving speed;

[0007] Determine the first required output torque that matches the first gear of the transmission;

[0008] Based on the current recovery acceleration and the first required output torque, the transmission gear is iteratively adjusted to determine the second required output torque that meets the target torque condition and the second transmission gear corresponding to the second required output torque.

[0009] The second required output torque and the second transmission gear are sent to the engine controller and transmission controller respectively for execution, so that the vehicle can cruise and accelerate at the current recovery acceleration.

[0010] In a second aspect, the present invention provides a vehicle cruise control device, the device comprising:

[0011] The first gear acquisition module is used to respond to the user-triggered vehicle cruise control recovery operation and acquire the current driving speed and the first gear of the automatic transmission at the current moment;

[0012] The acceleration determination module is used to determine the current recovery acceleration that matches the current driving speed based on the current driving speed and the target cruise speed to be restored.

[0013] The output torque determination module is used to determine the first required output torque that matches the first gear of the transmission.

[0014] The second gear determination module is used to iteratively adjust the gear of the transmission based on the current recovery acceleration and the first required output torque, and determine the second required output torque that meets the target torque condition and the second gear of the transmission corresponding to the second required output torque.

[0015] The cruise acceleration module is used to send the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle can cruise and accelerate at the current recovery acceleration.

[0016] Thirdly, this disclosure also provides a vehicle cruise control system, the system comprising: a target controller, an engine controller, and a transmission controller.

[0017] The target controller is used to implement the vehicle cruise control method as described in any of the embodiments of this disclosure.

[0018] The technical solution provided by this invention, in response to a user-triggered vehicle cruise control recovery operation, obtains the current vehicle speed and the first gear of the automatic transmission at the current moment; determines a current recovery acceleration matching the current vehicle speed based on the current vehicle speed and the target cruise speed to be recovered; determines a first required output torque matching the first gear; iteratively adjusts the transmission gear based on the current recovery acceleration and the first required output torque to determine a second required output torque that meets the target torque condition and a second transmission gear corresponding to the second required output torque; and sends the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle accelerates during cruise control recovery at the current recovery acceleration. The technical method provided by this invention solves the technical problem of low smoothness and poor driving experience during cruise control recovery. By linking the engine controller and transmission controller through a target controller, the engine torque and transmission gear can be changed according to demand, allowing the vehicle to smoothly transition from the current vehicle speed to the target cruise speed at the current recovery acceleration, improving the smoothness of the vehicle's cruise control recovery acceleration process and significantly enhancing and enriching the vehicle's driving performance.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the information interaction structure of a vehicle cruise control method provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart of a vehicle cruise control method provided in Embodiment 1 of the present invention;

[0023] Figure 3 This is a flowchart of a vehicle cruise control method provided in Embodiment 2 of the present invention;

[0024] Figure 4 This is a flowchart of a vehicle cruise control method provided in Embodiment 3 of the present invention;

[0025] Figure 5 This is a schematic diagram illustrating the range of recovery acceleration and required output torque provided in Embodiment 3 of the present invention;

[0026] Figure 6 This is a schematic diagram illustrating that the recovery acceleration and the required output torque are not within the preset range, as provided in Embodiment 3 of the present invention.

[0027] Figure 7 This is a flowchart of a vehicle cruise control method provided in Embodiment 4 of the present invention;

[0028] Figure 8 This is a schematic diagram of a vehicle cruise control device provided in Embodiment 5 of the present invention;

[0029] Figure 9 This is a schematic diagram of a vehicle cruise control system provided in Embodiment Six of the present invention; Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first preset condition," "second preset condition," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] Before introducing this technical solution, an illustrative application scenario can be provided. With the development of passenger vehicle technology, cruise control has become a standard feature. The function of cruise control is to automatically maintain the vehicle speed after the driver activates the switch at the desired speed without needing to press the accelerator pedal, allowing the vehicle to travel at a fixed speed. Using this driving method, the user no longer needs to control the accelerator pedal, reducing fatigue and minimizing unnecessary speed changes, thus saving fuel. In specific usage scenarios, such as expressways and highways, the cruise control function is used very frequently. When using cruise control, if the driver brakes and decelerates in an emergency and wants to accelerate back to the previous cruise speed, they only need to press the "resume" button, and the vehicle will accelerate back to the previous cruise speed. The cruise control method of this embodiment mainly involves an information interaction structure, see [link to relevant documentation]. Figure 1 .like Figure 1As shown, the cruise control method in this embodiment of the invention involves control units including a target controller, an engine controller, a transmission controller, and an Electronic Stability Program (ESP). These controllers interact via a Controller Area Network (CAN). The ESP primarily collects vehicle speed and road gradient information; the engine controller controls engine torque; and the transmission controller controls gear selection. The target controller interacts with the ESP, engine controller, and transmission controller. In this embodiment, the target controller may include a cruise controller or a vehicle controller. For vehicles equipped with automatic cruise control, the target controller can be the cruise controller; for vehicles with fixed-speed cruise control, which lack a cruise controller, the target controller can be the vehicle controller. The engine controller may be an Electronic Control Unit (EUC), and the transmission controller may be an Automatic Transmission Control Unit (TUC).

[0034] Figure 2 This is a flowchart illustrating a vehicle cruise control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where, during cruise control, the driver brakes to decelerate and then wants to accelerate back to the previous cruise speed. This method can be executed by a vehicle cruise control device, which can be implemented in hardware and / or software, and is generally integrated into the vehicle. Figure 1 As shown, the method includes:

[0035] S110, in response to the user-triggered vehicle cruise control recovery operation, obtains the current vehicle speed and the first gear of the automatic transmission at the current moment.

[0036] The cruise control recovery operation can be understood as the user pressing the "resume" button on the vehicle. The current vehicle speed is the vehicle's speed at the moment the "resume" button is pressed, and this speed can be provided by the ESP (Electronic Stability Program). The first gear is the gear the automatic transmission was in at the moment the "resume" button was pressed.

[0037] Specifically, if a user encounters an unexpected situation while using the vehicle's cruise control function and applies the brakes, pressing the "resume" button after the situation is resolved triggers the cruise control to resume. The ESP then collects the current vehicle speed, and the transmission controller determines the appropriate first gear.

[0038] For example, assume the vehicle's automatic transmission has eight gears, from 1st to 8th, with higher gears resulting in faster speeds. The user sets the cruise control to a stable speed of 120 km / h, at which point the transmission is in 8th gear. Due to road conditions, the user brakes, reducing the vehicle's speed to 50 km / h, at which point the transmission is in 6th gear. Once the road conditions improve, the user presses the "resume" button, triggering cruise control recovery. The ESP (Electronic Stability Program) then detects the current speed as 50 km / h, and the transmission controller determines the current first gear to be 6th.

[0039] S120. Based on the current driving speed and the target cruise speed to be restored, determine the current recovery acceleration that matches the current driving speed.

[0040] The target cruise speed to be restored to is the stable cruise speed set by the user when using the vehicle's cruise control function before pressing the "resume" button. The current acceleration to be restored is the acceleration at the moment the user pressed the "resume" button.

[0041] Specifically, the target cruise speed to be restored to is the speed preset by the user based on driving habits when using the cruise control function. Therefore, the target cruise speed to be restored to is a known quantity in this embodiment. After the user presses the "resume" button and confirms the current driving speed, the current recovery acceleration can be determined based on the current driving speed and the target cruise speed to be restored to.

[0042] In this embodiment, the current acceleration recovery method can be determined by querying the target acceleration two-dimensional table. After the cruise recovery function is activated, the target controller receives the current vehicle speed sent by the ESP in real time, extracts the target cruise speed to be recovered from the target controller, and uses the current vehicle speed and the target cruise speed to be recovered to to look up the target acceleration two-dimensional table to determine the current acceleration recovery.

[0043] For example, when using the vehicle's cruise control function, the user sets a stable cruise speed of 120 km / h. Due to road conditions, the user brakes, and the vehicle's speed drops to 50 km / h. Once the road conditions improve, the user presses the "resume" button on the vehicle. At this point, 50 km / h is the current driving speed, and 120 km / h is the target cruise speed to be restored. The system then determines the current acceleration to be restored by consulting a target acceleration two-dimensional table.

[0044] S130, Determine the first required output torque that matches the first gear of the transmission.

[0045] The first required output torque is the torque value corresponding to the first gear of the transmission, which can be calculated using a formula.

[0046] In this embodiment, the main factors to be considered in calculating the first required output torque include: transmission ratio, tire rolling radius, vehicle running resistance (including slope and coasting resistance), and vehicle mass. The transmission ratio is determined as follows: for a vehicle's transmission, each gear corresponds to a specific transmission ratio, and this transmission ratio value has a one-to-one correspondence with the gear position. Once the gear position is determined, the corresponding transmission ratio can be determined. The tire rolling radius and vehicle mass are known parameters from vehicle production and can be directly obtained. The vehicle running resistance can be calculated using formulas in existing technologies. The formula for calculating the first required output torque is:

[0047]

[0048] In the formula, T is the first required output torque, F is the vehicle driving resistance, M is the vehicle mass, a is the current recovery acceleration determined in S120, R is the tire rolling radius, and S is the transmission ratio corresponding to the first gear.

[0049] S140. Based on the current recovery acceleration and the first required output torque, iteratively adjust the transmission gear to determine the second required output torque that meets the target torque condition and the second transmission gear corresponding to the second required output torque.

[0050] The iterative adjustment process can be understood as follows: based on pre-set conditions, it determines whether the current recovery acceleration and the first required output torque meet the pre-set conditions; if not, it sequentially adjusts the transmission gears. The target torque condition refers to the condition that the second required output torque is within a certain range of output torque; this target torque condition is a pre-set condition. The second required output torque is the output torque value that meets the pre-set conditions during the iterative adjustment of the transmission gears based on the current recovery acceleration and the first required output torque. The second transmission gear is the gear determined through adaptive adjustment based on the second required output torque.

[0051] Specifically, it is determined whether the current recovery acceleration and the first required output torque meet the preset conditions. If they do, the transmission gear does not need to be iteratively adjusted; otherwise, the transmission gear needs to be iteratively adjusted. The iterative adjustment of the transmission gear continues until the output torque determined by the adjusted gear meets the target torque condition corresponding to the current recovery acceleration. At this point, the output torque determined by the adjusted gear is the second required output torque, and the adjusted gear is the second transmission gear.

[0052] It should be noted that during the iteration process, by Figure 1 The target controller determines whether the current recovery acceleration and the first required output torque meet the preset conditions. Here, the target controller acts as the driving force arbitration mechanism, establishing information exchange between the engine controller and the transmission controller during cruise recovery. During cruise recovery, a jump in engine torque and gear shift occurs during the transition from the current vehicle speed to the target cruise speed, causing a lack of smoothness in the acceleration process. The root cause of this problem is the lack of proper information exchange between the engine controller and the transmission controller. After cruise recovery, the required wheel-end driving force is directly calculated back to the engine output torque through the current transmission gear ratio, without considering the downshifting and gear ratio changes during acceleration. This results in frequent gear shifts and even vehicle jerking. The technical solution provided by this invention can link the engine controller and the transmission controller through a target controller, and distribute the power required for cruise recovery according to the actual situation to the engine torque output and the transmission speed ratio amplification function. This enables the engine torque and transmission gear to change as needed, allowing the vehicle to smoothly transition from the current driving speed to the target cruise speed with acceleration that changes over time. This solves the drivability problem caused by the jump in engine torque and gear during the transition from the current driving speed to the target cruise speed.

[0053] S150, sends the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle can cruise at the current recovery acceleration.

[0054] The engine controller is used to control the engine's output torque. The transmission controller is used to control the gears of the transmission.

[0055] Specifically, when the target controller can determine that the relationship between the second required output torque and the current recovery acceleration meets the preset rules, the second required output torque is sent to the engine controller and the second transmission gear is sent to the transmission controller. This causes the engine controller to execute the engine's working task according to the second required output torque, and the transmission controller to execute the transmission's working task according to the second transmission gear, so that the vehicle can cruise and accelerate at the current recovery acceleration.

[0056] The technical solution provided by this invention, in response to a user-triggered vehicle cruise control recovery operation, obtains the current vehicle speed and the first gear of the automatic transmission at the current moment; determines a current recovery acceleration matching the current vehicle speed based on the current vehicle speed and the target cruise speed to be recovered; determines a first required output torque matching the first gear; iteratively adjusts the transmission gear based on the current recovery acceleration and the first required output torque to determine a second required output torque that meets the target torque condition and a second transmission gear corresponding to the second required output torque; and sends the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle accelerates during cruise control recovery at the current recovery acceleration. The technical method provided by this invention solves the technical problem of low smoothness and poor driving experience during cruise control recovery. By linking the engine controller and transmission controller through a target controller, the engine torque and transmission gear can be changed according to demand, allowing the vehicle to smoothly transition from the current vehicle speed to the target cruise speed at the current recovery acceleration, improving the smoothness of the vehicle's cruise control recovery acceleration process and significantly enhancing and enriching the vehicle's driving performance.

[0057] Example 2

[0058] Figure 3 This is a flowchart of a vehicle cruise control method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment determines the current recovery acceleration in a manner closely related to the driving mode selected by the user. In different driving modes, the current recovery acceleration can be determined based on the target mapping relationship between vehicle speed difference and acceleration. Explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 3 As shown, the method for determining the location of the first fault specifically includes the following steps:

[0059] S210, in response to the user-triggered vehicle cruise control recovery operation, obtain the current vehicle speed and the first gear of the automatic transmission at the current moment.

[0060] S220: Obtain the vehicle's current driving mode.

[0061] In this embodiment, the driving mode may include energy-saving mode, comfort mode, sport mode, etc. Different driving modes have different determination of the current recovery acceleration time. Therefore, before determining the current recovery acceleration that matches the current driving speed, the current driving mode of the vehicle can be determined first. For example, if the current driving mode of the vehicle is comfort mode, the transmission is generally in 6th gear at 50km / h; if the current driving mode of the vehicle is sport mode, the transmission is generally in 5th gear at 50km / h. The target acceleration when the "resume" button is pressed in sport mode is greater than that in comfort mode, thereby achieving a shorter acceleration time from 50km / h to the target cruising speed to be recovered, which is consistent with the driving style of sport mode.

[0062] S230: Based on the current driving mode, current driving speed, and target cruise speed to be restored, determine the current recovery acceleration that matches the current driving speed.

[0063] In this embodiment, the driving mode, current vehicle speed, and target cruise speed to be restored to are all factors to be considered in determining the current recovery acceleration. Optionally, determining the current recovery acceleration matching the current vehicle speed based on the current driving mode, current vehicle speed, and target cruise speed to be restored to can be as follows: determining the target mapping relationship between the speed difference and acceleration corresponding to the current driving mode based on the mapping relationship between the speed difference and acceleration corresponding to each driving mode; determining the current speed difference between the current vehicle speed and the target cruise speed to be restored to; and determining the current recovery acceleration corresponding to the current speed difference based on the target mapping relationship between the speed difference and acceleration.

[0064] The speed difference is the difference between the current driving speed and the target cruise speed to be restored to. The mapping relationship can be understood as a two-dimensional table of target acceleration determined using the speed difference and acceleration values. In this table, if the horizontal axis represents the speed difference and the vertical axis represents acceleration, then each point on the horizontal axis can represent a different speed difference, and each point on the horizontal axis can represent the target acceleration corresponding to that speed difference. Therefore, given that the current driving speed and the target cruise speed to be restored to are known, the current acceleration to be restored can be obtained by looking up the table.

[0065] In this embodiment, the target acceleration two-dimensional table is determined after calibration on a real vehicle. Different target acceleration two-dimensional tables are used for different driving modes, thereby achieving differentiation of cruise performance between different modes.

[0066] S240, Determine the first required output torque that matches the first gear of the transmission.

[0067] S250: Iteratively adjust the gear position of the transmission based on the current recovery acceleration and the first required output torque, and determine the second required output torque that meets the target torque condition and the second gear position corresponding to the second required output torque.

[0068] S260 sends the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle can cruise at the current recovery acceleration.

[0069] The embodiments provided by this invention, in response to a user-triggered vehicle cruise control recovery operation, obtain the current vehicle speed and the first gear of the automatic transmission at the current moment; obtain the vehicle's current driving mode; determine a current recovery acceleration matching the current vehicle speed based on the current driving mode, current vehicle speed, and target cruise speed to be recovered; determine a first required output torque matching the first gear; iteratively adjust the transmission gear based on the current recovery acceleration and the first required output torque to determine a second required output torque that meets the target torque condition and a second transmission gear corresponding to the second required output torque; send the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle cruises at the current recovery acceleration. In determining the current recovery acceleration, the technical method provided by this disclosure determines the target mapping relationship between the speed difference of the current driving mode and the acceleration based on the user's selected driving mode, thereby determining the current recovery acceleration. Different driving modes use different two-dimensional tables of target acceleration, thereby achieving differentiation in cruise performance between different modes and satisfying a rich user experience.

[0070] Example 3

[0071] Figure 4 This is a flowchart of a vehicle cruise control method provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment ensures that the mapping relationship between the current recovery acceleration and the transmission gear position is within the target required output torque range to achieve a smooth transition during the vehicle cruise recovery process. This embodiment can be combined with various optional solutions from one or more of the above embodiments. Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here. Figure 4 As shown, the method for determining the location of the first fault specifically includes the following steps:

[0072] S310, in response to a user-triggered vehicle cruise control recovery operation, obtains the current vehicle speed and the first gear of the automatic transmission at the current moment.

[0073] S320. Based on the current driving speed and the target cruise speed to be restored, determine the current recovery acceleration that matches the current driving speed.

[0074] S330, determine the first required output torque that matches the first gear of the transmission.

[0075] S340. Based on the mapping relationship between recovery acceleration and the range of required output torque, determine the target range of required output torque corresponding to the current recovery acceleration;

[0076] In this embodiment, the mapping relationship between the recovery acceleration and the required output torque range can be predetermined; for example, see [link to example]. Figure 5 .like Figure 5 As shown, Figure 5 The horizontal axis represents the recovery acceleration, and the vertical axis represents the required output torque. Each recovery acceleration corresponds to a range of required output torque; that is, each recovery acceleration has a mapping relationship with its corresponding range of required output torque. In the application of the technical solution provided in the disclosed embodiments, once the recovery acceleration is determined, the target required output torque range corresponding to the current recovery acceleration can be determined based on the mapping relationship.

[0077] Furthermore, the target required output torque range includes: the maximum target required output torque and the minimum target required output torque;

[0078] Adjusting the current reference transmission gear includes: downshifting if the current reference required output torque is greater than the maximum target required output torque; and upshifting if the current reference required output torque is less than the minimum target required output torque.

[0079] The current reference gear is the recommended gear value output by the transmission controller.

[0080] In this embodiment, the maximum and minimum target output torque within the target output torque range are pre-calibrated based on the vehicle's performance, and the target output torque range varies for different vehicles.

[0081] In practical applications, the current reference transmission gear can be adjusted based on the maximum and minimum target output torque requirements. Specifically, if the current reference output torque is greater than the maximum target output torque, it indicates that the gear ratio is too low and the gear is too high. A downshift is needed to increase the gear ratio and reduce the engine's required output torque, thus the current reference transmission gear is downshifted. Conversely, if the current reference output torque is less than the minimum target output torque, it indicates that the gear ratio is too high and the gear is too low. A upshift is needed to decrease the gear ratio and increase the engine's required output torque, thus the current reference transmission gear is upshifted.

[0082] For example, such as Figure 6 As shown, if the current recovery acceleration is 2 m / s² 2 The triangle in the diagram indicates that the current reference output torque is 450 Nm. At this time, the current reference output torque is greater than the maximum target output torque, and the current reference transmission gear needs to be downshifted. The pentagon in the diagram indicates that the current reference output torque is 50 Nm. At this time, the current reference output torque is less than the minimum target output torque, and the current reference transmission gear needs to be upshifted.

[0083] In practical applications, the target required output torque range is related to the driving mode selected by the user. Optionally, based on the correspondence between recovery acceleration and the required output torque range, the target required output torque range corresponding to the current recovery acceleration is determined, including: based on the mapping relationship between recovery acceleration and the required output torque range for each driving mode, determining the target mapping relationship between recovery acceleration and the required output torque range for the current driving mode; and based on the target mapping relationship between recovery acceleration and the required output torque range, determining the target required output torque range corresponding to the current recovery acceleration.

[0084] In this embodiment, the mapping relationship between the recovery acceleration and the required output torque range differs depending on the driving mode selected by the user. The maximum and minimum target required output torque are both higher during cruise recovery in Sport mode. Therefore, in practical applications, it is necessary to determine the vehicle's driving mode, and based on the mapping relationship between the recovery acceleration and the required output torque range corresponding to the driving mode, determine the target mapping relationship between the recovery acceleration and the required output torque range corresponding to the current driving mode, and then determine the target required output torque range corresponding to the current recovery acceleration.

[0085] S350, take the first required output torque as the current reference required output torque, and take the current transmission gear as the current reference transmission gear;

[0086] In this embodiment, the first required output torque calculated based on the transmission ratio, tire rolling radius, vehicle driving resistance (and vehicle mass) is used as the current reference required output torque, and the corresponding first transmission gear is used as the current reference transmission gear.

[0087] S360, Check whether the current reference required output torque is within the target required output torque range;

[0088] S371. If so, the current reference required output torque is determined as the second required output torque that meets the preset torque condition, and the current reference transmission gear is determined as the second transmission gear.

[0089] S372. If not, adjust the current reference transmission gear, update the current reference required output torque based on the adjusted current reference transmission gear, and return to perform the operation of detecting whether the current reference required output torque is within the range of the target required output torque.

[0090] In this embodiment, it is detected whether the current reference required output torque is between the maximum and minimum values ​​of the predetermined target required output torque. If the current reference required output torque is between the maximum and minimum values ​​of the predetermined target required output torque, the current reference required output torque is determined as the second required output torque that meets the preset torque condition, and the current reference transmission gear is determined as the second transmission gear. If the current reference required output torque is not between the maximum and minimum values ​​of the predetermined target required output torque, the current reference transmission gear is adjusted. If the current reference required output torque is greater than the maximum target required output torque, the current reference transmission gear is downshifted. If the current reference required output torque is less than the minimum target required output torque, the current reference transmission gear is upshifted. Subsequently, the current reference required output torque is updated based on the adjusted current reference transmission gear, and the operation of detecting whether the current reference required output torque is within the target required output torque range is returned until the current reference required output torque is within the target required output torque range.

[0091] S380 sends the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle can cruise at the current recovery acceleration.

[0092] The embodiments provided by this invention, in response to a user-triggered vehicle cruise control recovery operation, acquire the current vehicle speed and the first gear of the automatic transmission at the current moment; determine a current recovery acceleration matching the current vehicle speed based on the current vehicle speed and the target cruise speed to be recovered; determine a first required output torque matching the first gear; determine a target required output torque range corresponding to the current recovery acceleration based on the mapping relationship between the recovery acceleration and the required output torque range; use the first required output torque as the current reference required output torque, and the current gear as the current reference gear; detect whether the current reference required output torque is within the target required output torque range; and send the second required output torque and the second gear to the engine controller and transmission controller respectively for execution, so that the vehicle accelerates during cruise control with the current recovery acceleration. The technical method provided by this disclosure solves the technical problem of low smoothness and poor driving experience during the acceleration process in cruise control recovery. At the initial moment of cruise acceleration, it ensures that the mapping relationship between the current recovery acceleration and the transmission gear is within the target required output torque range, thereby improving the smoothness of the vehicle's cruise control recovery acceleration process.

[0093] Based on the above technical solution, during the process of the vehicle cruising and accelerating at the current recovery acceleration, the method further includes: receiving a gear shift request sent by the transmission controller, wherein the gear shift request includes a third transmission gear different from the current transmission gear, the third transmission gear being determined by the transmission controller based on a target virtual throttle opening sent by the engine controller, and the target virtual throttle opening being determined by the engine controller based on a second required output torque; determining a third required output torque that matches the third transmission gear; if it is detected that the third required output torque meets the target torque condition corresponding to the current recovery acceleration, then sending the gear shift permission information to the transmission controller for execution, and sending the third required output torque to the engine controller for execution, so that the vehicle cruises and accelerates at the current recovery acceleration.

[0094] In this embodiment, during the acceleration process of cruise recovery, the engine controller can send the virtual throttle opening calculated from the second required output torque to the transmission controller. The transmission controller, based on the virtual throttle opening and vehicle speed, calculates a recommended third transmission gear from the shift map corresponding to the current driving mode and sends it to the target controller. Upon receiving the recommended third transmission gear, the target controller calculates the third output torque corresponding to that gear and further calculates whether the third output torque is within the target required output torque range. If the third required output torque is detected to be within the target required output torque range, a gear shifting permission is sent to the transmission controller for execution, and the third required output torque is also sent to the engine controller for execution, allowing the vehicle to cruise at the current recovery acceleration. If the third required output torque is detected to be outside the target required output torque range, the gear shifting request sent by the transmission controller is blocked, i.e., the shifting request is not executed.

[0095] In the above embodiment, during cruise acceleration, the transmission controller calculates a new gear request based on the virtual throttle opening sent by the engine controller and sends a gear shift request to the target controller. However, in practical applications, vehicles may encounter downhill sections during cruise driving, where gravity increases acceleration; or they may experience a decrease in acceleration. In these situations, although the vehicle's gear does not change, the change in acceleration alters the required torque received by the target controller. This may result in the engine controller outputting a torque that does not meet the target torque condition for restoring acceleration.

[0096] Based on the above technical solution, during the process of the vehicle cruising and accelerating at the current recovery acceleration, the method may further include: if the latest sent fourth demand output torque does not meet the target torque condition corresponding to the current recovery acceleration, then iteratively adjust the transmission gear based on the current recovery acceleration and the fourth demand output torque to determine the fifth demand output torque that meets the target torque condition and the fifth transmission gear corresponding to the fifth demand output torque; and send the fifth demand output torque and the fifth transmission gear to the engine controller and the transmission controller respectively for execution so that the vehicle cruises and accelerates at the current recovery acceleration.

[0097] In this embodiment, during cruise recovery, the target controller can receive and detect the latest fourth required output torque sent by the engine controller. When the target controller detects that the fourth required output torque does not meet the target torque condition corresponding to the current recovery acceleration (e.g., the fourth required output torque is outside the preset target required output torque range), iterative adjustment of the transmission gear is required based on the current recovery acceleration and the fourth required output torque. If the fourth required output torque is greater than the maximum target required output torque, the current reference transmission gear is downshifted; if the fourth required output torque is less than the minimum target required output torque, the current reference transmission gear is upshifted. Simultaneously, during gear adjustment, it is necessary to ensure that this shift command complies with the maximum / minimum gear limit corresponding to the transmission controller's speed protection. After gear adjustment, if the engine output required torque is within the target required output torque range, the adjustment process stops, and the corresponding output torque is determined as the fifth required output torque, along with the fifth transmission gear corresponding to the fifth required output torque. Subsequently, the fifth required output torque and the fifth transmission gear are sent to the engine controller and transmission controller respectively for execution, enabling the vehicle to cruise and accelerate at the current recovery acceleration.

[0098] The embodiments provided by this invention also require ensuring that the mapping relationship between the current recovery acceleration and the transmission gear is within the target required output torque range during cruise acceleration. This allows the vehicle to smoothly transition from the current driving speed to the target cruise speed according to the current recovery acceleration, improving the smoothness of the vehicle's cruise acceleration process and significantly enhancing and enriching the vehicle's driving performance.

[0099] Example 4

[0100] In this embodiment of the invention, the process of a vehicle cruise control method is described using a specific implementation method. See [link to relevant documentation]. Figure 5 .like Figure 5As shown, after the user presses the cruise control "resume" button, the target controller determines the current recovery acceleration based on the current vehicle speed and the mapping relationship between the speed difference and acceleration. Then, it determines the gear ratio based on the current transmission gear and calculates the engine's initial required output torque using Newton's second law. An iterative detection process is then initiated, using the current recovery acceleration and the calculated output torque as two coordinate axes to obtain a coordinate point. Based on the position of this coordinate point and the pre-defined mapping relationship between recovery acceleration and the required output torque range, the direction of transmission gear adjustment is determined. After gear adjustment, the required output torque is recalculated until it falls within the range of recovery acceleration and required output torque. At this point, the target controller sends the final determined required output torque and the final target gear to the engine controller and transmission controller for execution, respectively. This embodiment uses Comfort mode and Sport mode as examples for illustrative purposes.

[0101] 1. Comfort Mode Vehicle Cruise Control Method

[0102] Assuming the current vehicle has an 8-speed automatic transmission and a stable cruising speed of 120 km / h, the transmission is currently in Comfort mode, 8th gear. Due to road conditions, the user brakes and decelerates to 50 km / h, at which point the transmission is in Comfort mode, 6th gear. After the road conditions improve, the user presses the "resume" button, and the vehicle accelerates from 50 km / h back to the target cruising speed of 120 km / h. According to the target controller's strategy, under the set current recovery acceleration, the engine's first required output torque is calculated based on the 6th gear ratio. The coordinate point determined by the first required output torque and the current recovery acceleration is higher than... Figure 5 The maximum target output torque is determined by calculating the engine's required output torque based on the 5th gear ratio. Then, the new coordinate point is compared with the pre-set recovery acceleration and the required output torque range until the coordinate point determined by the output torque and recovery acceleration falls within the range. Figure 5 The maximum and minimum target output torque requirements are typically calculated iteratively up to gear 4 to meet the demand. The target controller sends the output torque that meets the conditions and the final target gear of the transmission to the engine controller and transmission controller for execution, so that acceleration can be performed according to the current recovery acceleration.

[0103] During acceleration, the transmission controller receives the virtual throttle opening signal from the engine controller and calculates and sends the current reference transmission gear to the target controller in real time based on the vehicle speed and virtual throttle. It suggests shifting from 4th to 5th gear. The target controller calculates whether the engine's required output torque for 5th gear meets the requirements. If it does, the target controller sends the final target gear to the transmission controller to shift from 4th to 5th gear. The transmission controller then begins to execute the upshift action, and the vehicle continues to accelerate in 5th gear. Following the above control logic, as the vehicle speed finally reaches the target of 120km / h, the transmission shifts to 8th gear for stable cruising.

[0104] As a supplementary method to the cruise control during the acceleration process described above, when accelerating in 4th gear after cruise control resumes, the recovery acceleration will gradually decrease as the vehicle speed increases. There may also be a situation where the transmission controller does not send a new target upshift request. However, if the output torque calculated by the target controller and the coordinate point of the current recovery acceleration have dropped below the minimum target required output torque, the target controller will send a request to the transmission controller to upshift to 5th gear without violating the maximum / minimum gear limit of the transmission controller. After the transmission controller performs the shift action, it will continue to accelerate in 5th gear.

[0105] 2. Cruise control method for Sport mode vehicles

[0106] Under the same cruise acceleration recovery conditions as Comfort mode, if the current driving mode is Sport mode, the transmission is generally in 5th gear at 50km / h. The recovery acceleration during cruise recovery in Sport mode is greater than in Comfort mode, resulting in a shorter acceleration time from 50km / h to 120km / h, consistent with the driving style of Sport mode. The maximum and minimum target torque outputs during cruise recovery in Sport mode are also higher than in Comfort mode, and the initial acceleration during cruise recovery should iterate up to 3rd gear to meet the requirements. During acceleration, the shift map of Sport mode and the calculations of the target controller jointly determine the transmission's upshift timing, shifting to a higher gear when the vehicle speed reaches 120km / h.

[0107] The technical method provided in this disclosure solves the technical problem of low smoothness and poor driving experience during the acceleration process of cruise control recovery. By associating the engine controller and the transmission controller through the target controller, the engine torque and transmission gear can be changed as needed, so that the vehicle can smoothly transition from the current driving speed to the target cruise speed according to the current recovery acceleration, thereby improving the smoothness of the vehicle's cruise acceleration process and greatly enhancing and enriching the vehicle's driving performance.

[0108] Example 5

[0109] Figure 8This is a schematic diagram of a vehicle cruise control device according to Embodiment 5 of the present invention. The device can execute the vehicle cruise control method provided in the embodiments of the present invention. The device includes: a first gear acquisition module 510, an acceleration determination module 520, an output torque determination module 530, a second gear determination module 540, and a cruise acceleration module 550.

[0110] The system includes the following modules: a first gear acquisition module 510, which, in response to a user-triggered vehicle cruise recovery operation, acquires the current vehicle speed and the current first gear of the automatic transmission; an acceleration determination module 520, which determines a current recovery acceleration matching the current vehicle speed based on the current vehicle speed and the target cruise speed to be recovered; an output torque determination module 530, which determines a first required output torque matching the first gear; a second gear determination module 540, which iteratively adjusts the transmission gear based on the current recovery acceleration and the first required output torque to determine a second required output torque that meets the target torque condition and a second transmission gear corresponding to the second required output torque; and a cruise acceleration module 550, which sends the second required output torque and the second transmission gear to the engine controller and transmission controller, respectively, for execution, so that the vehicle accelerates during cruise at the current recovery acceleration.

[0111] Based on the above technical solutions, the acceleration determination module 520 includes:

[0112] Driving mode acquisition unit, used to acquire the vehicle's current driving mode;

[0113] The acceleration determination unit is used to determine the current recovery acceleration that matches the current driving speed based on the current driving mode, the current driving speed, and the target cruise speed to be restored.

[0114] Based on the above technical solutions, the acceleration determination unit includes:

[0115] The mapping relationship determination subunit is used to determine the target mapping relationship between the vehicle speed difference and acceleration corresponding to the current driving mode based on the mapping relationship between the vehicle speed difference and acceleration corresponding to each driving mode;

[0116] The vehicle speed difference determination subunit is used to determine the current vehicle speed difference between the current driving speed and the target cruise speed to which it needs to be restored;

[0117] The acceleration determination subunit is used to determine the current recovery acceleration corresponding to the current vehicle speed difference based on the target mapping relationship between the vehicle speed difference and acceleration.

[0118] Based on the above technical solutions, the second gear determination module 540 includes:

[0119] The torque range determination unit is used to determine the target required output torque range corresponding to the current recovery acceleration based on the mapping relationship between the recovery acceleration and the required output torque range.

[0120] The parameter determination unit is used to take the first required output torque as the current reference required output torque and the current transmission gear as the current reference transmission gear.

[0121] The output torque detection unit is used to detect whether the current reference required output torque is within the target required output torque range;

[0122] The second gear determination unit is used to determine the current reference demand output torque as the second demand output torque that meets the preset torque conditions if the current reference demand output torque is within the target demand output torque range, and to determine the current reference transmission gear as the second transmission gear.

[0123] The gear adjustment unit is used to adjust the current reference transmission gear if the current reference required output torque is not within the target required output torque range, update the current reference required output torque based on the adjusted current reference transmission gear, and return to perform the operation of detecting whether the current reference required output torque is within the target required output torque range.

[0124] Based on the above technical solutions, the torque range determination unit is also used to adjust the current reference transmission gear, including: if the current reference required output torque is greater than the maximum target required output torque, then the current reference transmission gear is downshifted; if the current reference required output torque is less than the minimum target required output torque, then the current reference transmission gear is upshifted.

[0125] Based on the above technical solutions, the torque range determination unit is further used to: determine the target mapping relationship between the recovery acceleration and the demand output torque range corresponding to the current driving mode based on the mapping relationship between the recovery acceleration and the demand output torque range corresponding to each driving mode; and determine the target demand output torque range corresponding to the current recovery acceleration based on the target mapping relationship between the recovery acceleration and the demand output torque range.

[0126] Based on the above technical solutions, the vehicle cruise control device is further configured to: receive a gear shift request sent by the transmission controller during the vehicle's cruise acceleration at the current recovery acceleration, wherein the gear shift request includes a third transmission gear different from the current transmission gear, the third transmission gear being determined by the transmission controller based on a target virtual throttle opening sent by the engine controller, and the target virtual throttle opening being determined by the engine controller based on a second required output torque; determine a third required output torque that matches the third transmission gear; if the third required output torque is detected to meet the target torque condition corresponding to the current recovery acceleration, then send gear shift permission information to the transmission controller for execution, and send the third required output torque to the engine controller for execution, so that the vehicle cruises acceleration at the current recovery acceleration.

[0127] Based on the above technical solutions, the vehicle cruise control device is also used to: if the latest sent fourth demand output torque does not meet the target torque condition corresponding to the current recovery acceleration, then iteratively adjust the transmission gear based on the current recovery acceleration and the fourth demand output torque to determine the fifth demand output torque and the fifth transmission gear corresponding to the fifth demand output torque; and send the fifth demand output torque and the fifth transmission gear to the engine controller and the transmission controller respectively for execution, so that the vehicle cruises and accelerates at the current recovery acceleration.

[0128] The embodiments provided by this invention, in response to a user-triggered vehicle cruise recovery operation, obtain the current vehicle speed and the first gear of the automatic transmission at the current moment; determine a current recovery acceleration matching the current vehicle speed based on the current vehicle speed and the target cruise speed to be recovered; determine a first required output torque matching the first gear; iteratively adjust the transmission gear based on the current recovery acceleration and the first required output torque to determine a second required output torque that meets the target torque condition and a second transmission gear corresponding to the second required output torque; and send the second required output torque and the second transmission gear to the engine controller and the transmission controller respectively for execution, so that the vehicle cruises at the current recovery acceleration. The technical method provided in this disclosure solves the technical problem of low smoothness and poor driving experience during the acceleration process of cruise control recovery. By linking the engine controller and the transmission controller through the target controller, the wheel-end driving force required during cruise recovery is distributed to the engine torque output and the transmission gear ratio amplification function according to the actual situation. This realizes the on-demand change of engine torque and transmission gear, so that the vehicle can smoothly transition from the current speed to the target speed according to the target acceleration, which improves the smoothness of the vehicle's cruise recovery acceleration process and greatly enhances and enriches the vehicle's driving performance.

[0129] Example 6

[0130] Figure 9 This is a schematic diagram of a vehicle cruise control system according to Embodiment Six of the present invention. The system can execute the vehicle cruise control method provided in this embodiment. The system includes: a target controller 610, an engine controller 620, and a transmission controller 630.

[0131] The target controller 610 is used to interact with the engine controller and the transmission controller; the engine controller 620 is used to control the torque of the vehicle engine; and the transmission controller 630 is used to control the gears of the transmission.

[0132] It should be noted that the target controller 610 is used to implement the vehicle cruise control method according to any one of claims 1-8.

[0133] In this embodiment of the invention, the engine controller and the transmission controller are associated through a target controller to realize the on-demand change of engine torque and transmission gear. This allows the vehicle to smoothly transition from the current driving speed to the target cruise speed according to the current recovery acceleration, improving the smoothness of the vehicle's cruise acceleration process and greatly enhancing and enriching the vehicle's driving performance.

[0134] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0135] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle cruise control method, characterized in that, Applied to the target controller, including: In response to a user-triggered vehicle cruise control recovery operation, obtain the current vehicle speed and the first gear of the automatic transmission at the current moment; Based on the current driving speed and the target cruise speed to be restored, determine the current recovery acceleration that matches the current driving speed; Determine the first required output torque that matches the first gear of the transmission; Based on the current recovery acceleration and the first required output torque, the transmission gear is iteratively adjusted to determine the second required output torque that meets the target torque condition and the second transmission gear corresponding to the second required output torque. The second required output torque and the second transmission gear are sent to the engine controller and transmission controller for execution, respectively, so that the vehicle can cruise at the current recovery acceleration.

2. The method according to claim 1, characterized in that, Based on the current vehicle speed and the target cruise speed to be restored, determine the current recovery acceleration that matches the current vehicle speed, including: Obtain the vehicle's current driving mode; Based on the current driving mode, current vehicle speed, and target cruise speed to be restored, determine the current recovery acceleration that matches the current vehicle speed.

3. The method according to claim 2, characterized in that, Based on the current driving mode, current vehicle speed, and target cruise speed to be restored, determine the current recovery acceleration that matches the current vehicle speed, including: Based on the mapping relationship between the vehicle speed difference and acceleration corresponding to each driving mode, determine the target mapping relationship between the vehicle speed difference and acceleration corresponding to the current driving mode; Determine the speed difference between the current driving speed and the target cruise speed to which the vehicle needs to return; Based on the target mapping relationship between the vehicle speed difference and acceleration, the current recovery acceleration corresponding to the current vehicle speed difference is determined.

4. The method according to claim 1, characterized in that, Based on the current recovery acceleration and the first required output torque, iterative adjustments are made to the transmission gear to determine the second required output torque that meets the preset torque condition and the second transmission gear corresponding to the second required output torque, including: Based on the mapping relationship between recovery acceleration and the range of required output torque, the target range of required output torque corresponding to the current recovery acceleration is determined; The first required output torque is used as the current reference required output torque, and the current transmission gear is used as the current reference transmission gear; Detect whether the current reference required output torque is within the range of the target required output torque; If so, the current reference required output torque is determined as the second required output torque that meets the preset torque condition, and the current reference transmission gear is determined as the second transmission gear; If not, the current reference transmission gear is adjusted, and the current reference required output torque is updated based on the adjusted current reference transmission gear. Then, the operation of detecting whether the current reference required output torque is within the range of the target required output torque is returned.

5. The method according to claim 4, characterized in that, The target required output torque range includes: the maximum target required output torque and the minimum target required output torque; The adjustment of the current reference transmission gear includes: If the current reference required output torque is greater than the maximum target required output torque, then the current reference transmission gear is downshifted. If the current reference required output torque is less than the minimum target required output torque, then the current reference transmission gear will be shifted up.

6. The method according to claim 4, characterized in that, Based on the correspondence between recovery acceleration and the range of required output torque, the target range of required output torque corresponding to the current recovery acceleration is determined, including: Based on the mapping relationship between the recovery acceleration and the required output torque range corresponding to each driving mode, determine the target mapping relationship between the recovery acceleration and the required output torque range corresponding to the current driving mode; Based on the target mapping relationship between recovery acceleration and the range of required output torque, the target range of required output torque corresponding to the current recovery acceleration is determined.

7. The method according to any one of claims 1-6, characterized in that, During the vehicle's cruise acceleration at the current recovery acceleration, the following is also included: The transmission controller receives a gear shift request, wherein the gear shift request includes a third transmission gear that is different from the current transmission gear. The third transmission gear is determined by the transmission controller based on a target virtual throttle opening sent by the engine controller. The target virtual throttle opening is determined by the engine controller based on the second required output torque. Determine the third required output torque that matches the third gear of the transmission; If the third required output torque is detected to meet the target torque condition corresponding to the current recovery acceleration, then the gear shifting permission information is sent to the transmission controller for execution, and the third required output torque is sent to the engine controller for execution, so that the vehicle can cruise and accelerate at the current recovery acceleration.

8. The method according to any one of claims 1-6, characterized in that, During the vehicle's cruise acceleration at the current recovery acceleration, the following is also included: If the latest fourth demand output torque does not meet the target torque condition corresponding to the current recovery acceleration, then the transmission gear is iteratively adjusted based on the current recovery acceleration and the fourth demand output torque to determine the fifth demand output torque that meets the target torque condition and the fifth transmission gear corresponding to the fifth demand output torque. The fifth required output torque and the fifth transmission gear are sent to the engine controller and transmission controller respectively for execution, so that the vehicle can cruise and accelerate at the current recovery acceleration.

9. A vehicle cruise control device, characterized in that, include: The first gear acquisition module is used to respond to the user-triggered vehicle cruise control recovery operation and acquire the current driving speed and the first gear of the automatic transmission at the current moment; The acceleration determination module is used to determine the current recovery acceleration that matches the current driving speed based on the current driving speed and the target cruise speed to be restored. The output torque determination module is used to determine the first required output torque that matches the first gear of the transmission. The second gear determination module is used to iteratively adjust the transmission gear according to the current recovery acceleration and the first required output torque, and determine the second required output torque that meets the target torque condition and the second transmission gear corresponding to the second required output torque. The cruise acceleration module is used to send the second required output torque and the second transmission gear to the engine controller and transmission controller respectively for execution, so that the vehicle cruises at the current recovery acceleration.

10. A vehicle cruise control system, characterized in that, The system includes a target controller, an engine controller, and a transmission controller: The target controller is used to implement the vehicle cruise control method according to any one of claims 1-8.

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