Cruise control method and device

Abstract

The application discloses a cruise speed adjusting method and device, and relates to the technical field of vehicle control, which comprises the following steps: obtaining a target cruise speed of a vehicle; calculating a vehicle speed deviation change rate in a current period according to the target cruise speed and actual cruise speeds at different time nodes; determining a vehicle speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the vehicle speed deviation change rate; obtaining an actual cruise speed of the vehicle in a next period corresponding to the current period, and performing vehicle speed compensation on the actual cruise speed in the next period based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time to obtain a compensated vehicle speed; and calculating a cruise speed control system input deviation based on the compensated vehicle speed and the target cruise speed, and performing closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation. By applying the technical scheme of the application, the response speed of the cruise speed control system can be ensured, and the overshoot of the cruise speed can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a cruise speed adjusting method and device. BACKGROUND

[0002] With the development of vehicle technology, in order to provide better driving experience for drivers, the constant speed cruise function emerges as the times require. The constant speed cruise function is an auxiliary driving function, when certain conditions are met, the vehicle will travel at a preset speed, which can not only reduce the burden of the driver, but also improve the comfort of driving.

[0003] At present, the traditional PID control method is usually used to adjust the cruise speed. However, for the traditional PID control method, increasing the proportional coefficient can improve the response sensitivity of the cruise speed control system and speed up the response, but if the proportional coefficient is too large, it will lead to an increase in overshoot and an increase in vibration frequency, and even the vehicle speed closed-loop control system will be unstable, so there is a contradiction between response speed and overshoot when the traditional PID control method is used to adjust the cruise speed. SUMMARY

[0004] The present application provides a cruise speed adjusting method and device, which can not only ensure the response speed of the cruise speed control system, but also reduce the overshoot of the cruise speed.

[0005] According to a first aspect of the embodiment of the present application, a cruise speed adjusting method is provided, comprising:

[0006] obtaining a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes in a current period;

[0007] calculating a speed deviation change rate in the current period according to the target cruise speed and the actual cruise speeds at the different time nodes;

[0008] determining a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate;

[0009] obtaining an actual cruise speed of the vehicle in a next period corresponding to the current period, and performing speed compensation on the actual cruise speed in the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain a compensated speed;

[0010] calculating a cruise speed control system input deviation based on the compensated speed and the target cruise speed, and performing closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0011] According to a second aspect of the embodiments of the present application, a cruise speed adjusting device is provided, comprising:

[0012] an acquisition unit configured to acquire a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes within a current period;

[0013] a calculation unit configured to calculate a speed deviation change rate within the current period according to the target cruise speed and the actual cruise speeds at the different time nodes;

[0014] a determination unit configured to determine a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate;

[0015] a compensation unit configured to acquire actual cruise speeds of the vehicle within a next period corresponding to the current period, and perform speed compensation on the actual cruise speeds within the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain compensated speeds;

[0016] a regulation unit configured to calculate a cruise speed control system input deviation based on the compensated speeds and the target cruise speed, and perform closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0017] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program, and the program is executed by a processor to implement the following steps:

[0018] acquiring a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes within a current period;

[0019] calculating a speed deviation change rate within the current period according to the target cruise speed and the actual cruise speeds at the different time nodes;

[0020] determining a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate;

[0021] acquiring actual cruise speeds of the vehicle within a next period corresponding to the current period, and performing speed compensation on the actual cruise speeds within the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain compensated speeds;

[0022] calculating a cruise speed control system input deviation based on the compensated speeds and the target cruise speed, and performing closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0023] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the program:

[0024] obtaining a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes in a current period;

[0025] calculating a speed deviation change rate in the current period according to the target cruise speed and the actual cruise speeds at the different time nodes;

[0026] determining a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate;

[0027] obtaining actual cruise speeds of the vehicle in a next period corresponding to the current period, and performing speed compensation on the actual cruise speeds in the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain compensated speeds;

[0028] calculating a cruise speed control system input deviation based on the compensated speeds and the target cruise speed, and performing closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0029] The innovations of the embodiments of the present application include:

[0030] 1. By compensating the actual cruise speed, the overshoot of the system can be reduced when the actual cruise speed deviation is small, and the stability of the system is improved, which is one of the innovations of the embodiments of the present application.

[0031] 2. The original control parameters of the PID controller do not need to be changed, and the data compatibility and portability can be ensured, which is one of the innovations of the embodiments of the present application.

[0032] 3. The proportional coefficient of the PID controller does not need to be reduced to reduce the overshoot, and the response time of the system can be ensured, which is one of the innovations of the embodiments of the present application.

[0033] The cruise speed adjusting method and device provided by the application can obtain the target cruise speed of the vehicle and the actual cruise speed of the vehicle at different time nodes in the current period, calculate the speed deviation change rate in the current period according to the target cruise speed and the actual cruise speed at the different time nodes, determine the speed deviation disappearance time matched with the cruise speed control system of the vehicle according to the speed deviation change rate, obtain the actual cruise speed of the vehicle in the next period corresponding to the current period, perform speed compensation on the actual cruise speed in the next period based on the speed deviation change rate and the speed deviation disappearance time, obtain the compensated speed, finally calculate the cruise speed control system input deviation based on the compensated speed and the target cruise speed, and perform closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0034] The above description is only a summary of the technical scheme of the application. In order to more clearly understand the technical means of the application, the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0036] Figure 1 A cruise speed adjusting method flowchart provided by an embodiment of the application is shown;

[0037] Figure 2 Another cruise speed adjusting method flowchart provided by an embodiment of the application is shown;

[0038] Figure 3 Fig. 1 shows a structural schematic diagram of a cruise speed adjusting device according to an embodiment of the present application;

[0039] Figure 4 Fig. 2 shows a structural schematic diagram of another cruise speed adjusting device according to an embodiment of the present application;

[0040] Figure 5 Fig. 3 shows a physical structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0042] It should be noted that the terms “include” and “have” and any variations thereof in the embodiments of the present application and the drawings are intended to cover the inclusions without the exclusions. For example, a process, a method, a system, a product or an apparatus including a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed or optionally further includes other steps or units inherent to the process, the method, the product or the apparatus.

[0043] At present, the cruise speed is adjusted by using the traditional PID control method, and the contradiction between the response speed and the overshoot exists.

[0044] In order to overcome the above defects, the embodiments of the present application provide a cruise speed adjusting method, as shown in the figure, the method comprises the following steps. Figure 1

[0045] Step 101, obtaining a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes in a current period.

[0046] Wherein, the vehicle has a cruise control function, the target cruise speed is a speed provided by a cruise system of the vehicle, and the actual cruise speed is a speed collected by a speed sensor.

[0047] The embodiments of the present application are mainly applicable to the scene of adjusting the cruise speed. The execution subject of the embodiments of the present application is a device or equipment capable of adjusting the cruise speed.

[0048] ​In order to reduce the overshoot without affecting the system response speed, the embodiment of the present application needs to calculate the vehicle speed deviation change rate, and then based on the vehicle speed deviation change rate, the actual cruise speed is supplemented to ensure that the cruise speed control system input deviation is less than the actual deviation. Further, in order to calculate the vehicle speed deviation change rate, the actual cruise speed of the vehicle at different time nodes in the current period needs to be collected by the vehicle speed sensor. Among them, the different time nodes in the current period can include two time nodes or multiple time nodes.

[0049] Step 102, according to the target cruise speed and the actual cruise speed at different time nodes, calculate the vehicle speed deviation change rate in the current period.

[0050] For the embodiment of the present application, after obtaining the target cruise speed and the actual cruise speed at different time nodes, the vehicle speed deviation change can be calculated according to the target cruise speed and the actual cruise speed at different time nodes. For this process, when the actual cruise speed at different time nodes is the actual cruise speed at two time nodes, step 102 specifically includes: subtracting the target cruise speed from the actual cruise speed at the two time nodes to obtain the cruise speed deviation at the two time nodes; determine the duration of the current period; subtract the cruise speed deviation at the two time nodes to obtain the first vehicle speed deviation change, and divide the first vehicle speed deviation change by the duration to obtain the vehicle speed deviation change rate in the current period.

[0051] For example, the actual cruise speed of the vehicle is collected by the vehicle speed sensor at time node t and time node t+t_c respectively, and the target cruise speed is subtracted from the actual cruise speed at time node t to obtain the cruise speed deviation e(t) at time node t. Similarly, the target cruise speed is subtracted from the actual cruise speed at time node t+t_c to obtain the cruise speed deviation e(t+t_c) at time node t+t_c. Further, since the current period lasts from time node t to time node t+t_c, the duration of the current period can be determined as t_c. Finally, according to the cruise speed deviation e(t) at time node t, the cruise speed deviation e(t+t_c) at time node t+t_c, and the duration of the current period t_c, the vehicle speed deviation change rate a(t) in the current period is calculated, and the specific formula is as follows:

[0052] a(t)=e(t)-e(t+t_c) / t_c

[0053] Therefore, the vehicle speed deviation change rate in the current period can be determined according to the above calculation method, and the actual cruise speed of the vehicle in the next period can be compensated based on time through the vehicle speed deviation change rate.

[0054] Step 103, determining a vehicle speed deviation disappearance time matched with the cruise speed control system of the vehicle according to the vehicle speed deviation change rate.

[0055] The vehicle speed deviation disappearance time can be calibrated according to different systems. For the embodiment of the application, if the calculated vehicle speed deviation rate is large, it indicates that the cruise speed control system is a system with fast change of deviation, and a smaller vehicle speed deviation disappearance time can be used; on the contrary, if the calculated vehicle speed deviation is small, it indicates that the cruise speed control system is a system with slow change of deviation, and a larger vehicle speed deviation disappearance time can be used.

[0056] Step 104, obtaining an actual cruise speed of the vehicle in a next period corresponding to the current period, and performing vehicle speed compensation on the actual cruise speed in the next period based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time to obtain a compensated vehicle speed.

[0057] For the embodiment of the application, after determining the vehicle speed deviation change rate and the vehicle speed deviation disappearance time, it can be approximately considered that the vehicle speed deviation change rate in the last period is equal to the vehicle speed deviation change rate in the next period, and then the actual cruise speed in the next period is compensated based on time according to the vehicle speed deviation disappearance time and the vehicle speed deviation change rate in the next period to obtain the compensated vehicle speed, i.e. the corrected vehicle speed, and the specific formula is as follows:

[0058] Vact_mod=Vact+a(t)*T

[0059] Wherein, Vact is the actual cruise speed in the next period, a(t) is the vehicle speed deviation change rate, T is the vehicle speed deviation disappearance time, and Vact_mod is the compensated vehicle speed (corrected vehicle speed).

[0060] Step 105, calculating a cruise speed control system input deviation based on the compensated vehicle speed and the target cruise speed, and performing closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0061] For the embodiment of the application, after calculating the compensated vehicle speed, the target cruise speed can be subtracted from the compensated vehicle speed to obtain the cruise speed control system input deviation, and the specific formula is as follows:

[0062] e(t)=Vcrc-Vact_mod

[0063] Wherein, e(t) is the cruise speed control system input deviation, Vcrc is the target cruise speed, Vact_mod is the compensated speed. From the above formula, it can be seen that when the actual deviation is reduced to a(t)*T, the cruise speed control system input deviation is 0, that is, the actual deviation predicted according to the current speed deviation change rate a(t) will be reduced to 0 after T time. As can be seen, the cruise speed control system input deviation e(t) in the embodiment of the application will be smaller than the actual deviation, so when the actual deviation is small, the embodiment of the application can reduce the adjustment strength and reduce the overshoot.

[0064] Further, based on the calculated cruise speed control system input deviation, the cruise speed can be closed-loop controlled, and for this process, the method comprises: performing proportional, integral and differential operations on the cruise speed control system input deviation respectively to obtain proportional operation result, integral operation result and differential operation result; adding the proportional operation result, the integral operation result and the differential operation result to obtain an output; based on the output, the actual cruise speed in the next period is regulated and controlled to obtain the regulated and controlled cruise speed; based on the speed deviation change rate and the speed deviation disappearance time, the regulated and controlled cruise speed is further compensated, and the cruise speed control system input deviation is recalculated to form closed-loop control of the cruise speed. Wherein, the specific formula of proportional, integral and differential operation is as follows:

[0065]

[0066] Wherein, u(t) is the output, Kp is the proportional coefficient of the cruise speed control system, Ti is the integral coefficient of the cruise speed control system, and Td is the differential coefficient of the cruise speed control system.

[0067] Further, u(t) as the output of the cruise speed control system will regulate and control the cruise speed of the vehicle, and the regulated and controlled cruise speed of the vehicle can be collected through the speed sensor, then based on the calculated speed deviation efficiency and the speed deviation disappearance time, the regulated and controlled cruise speed is further compensated, and the cruise speed control system input deviation is recalculated, and the process is repeated to form closed-loop control of the cruise speed.

[0068] The cruise speed adjusting method provided by the embodiment of the present application can make the input deviation of the cruise speed control system smaller than the actual deviation, so that when the actual deviation is small, the speed is adjusted based on the input deviation of the cruise speed control system, the adjusting strength is reduced, the overshoot of the cruise speed control system is reduced, and at the same time, since the embodiment of the present application does not reduce the proportional coefficient of the PID controller, the response speed of the cruise speed control system can be ensured, and in addition, since the embodiment of the present application does not change other control parameters of the PID controller, the overall compatibility and portability can be ensured.

[0069] Further, as a refinement and expansion of the above-mentioned embodiment, the embodiment of the present application provides another cruise speed adjusting method, as shown in Figure 2 The method comprises the following steps:

[0070] In step 201, the target cruise speed of the vehicle and the actual cruise speed of the vehicle at different time nodes in the current period are obtained.

[0071] For the embodiment of the present application, the target cruise speed can be calculated by the cruise system of the vehicle, and the actual cruise speed at different time nodes in the current period can be collected by the speed sensor.

[0072] In step 202, the speed deviation change rate in the current period is calculated according to the target cruise speed and the actual cruise speed at different time nodes.

[0073] For the embodiment of the present application, in order to improve the calculation accuracy of the speed deviation change rate, the actual cruise speed at multiple time nodes can be collected by the speed sensor, and the speed deviation change rate in the current period is calculated according to the actual cruise speed at multiple time nodes. For this process, step 202 specifically comprises: subtracting the target cruise speed from the actual cruise speed at multiple time nodes to obtain the cruise speed deviation at multiple time nodes; determining the duration of the current period; subtracting the cruise speed deviation at any adjacent two time nodes in the multiple time nodes to obtain a second speed deviation change amount; calculating the average value of the speed deviation variable according to multiple second speed deviation change amounts; and dividing the average value of the speed deviation variable by the duration to obtain the speed deviation change rate in the current period.

[0074] For example, the target cruise speed is subtracted from the actual cruise speed at time node 1, time node 2 and time node 3 respectively to obtain a cruise speed deviation at time node 1, a cruise speed deviation at time node 2 and a cruise speed deviation at time node 3, then the duration of the current period is determined according to time node 3 and time node 1, then the cruise speed deviation at time node 1 is subtracted from the cruise speed deviation at time node 2 to obtain a speed deviation change A, and the cruise speed deviation at time node 2 is subtracted from the cruise speed deviation at time node 3 to obtain a speed deviation change B, further, the average value of the speed deviation change is calculated according to the speed deviation change A and the speed deviation change B, and finally the average value of the speed deviation change is divided by the duration to obtain the speed deviation change rate in the current period.

[0075] Step 203, determining the speed deviation disappearance time matched with the cruise speed control system of the vehicle according to the speed deviation change rate.

[0076] For the embodiment of the application, in order to determine the speed deviation disappearance time, step 203 specifically comprises: determining the target change rate interval to which the speed deviation change rate belongs; and determining the speed deviation disappearance time corresponding to the target change rate interval as the speed deviation disappearance time matched with the cruise speed control system.

[0077] Specifically, the speed deviation change rate can be divided into multiple intervals, and the speed deviation disappearance time corresponding to different intervals is different, the faster the speed deviation change rate of the system, the smaller the corresponding deviation disappearance time; on the contrary, the slower the speed deviation change rate of the system, the larger the corresponding deviation disappearance time.

[0078] Step 204, obtaining the actual cruise speed of the vehicle in the next period corresponding to the current period, and performing speed compensation on the actual cruise speed in the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain a compensated speed.

[0079] For the embodiment of the application, in order to calculate the compensated speed, step 204 specifically comprises: multiplying the speed deviation change rate by the speed deviation disappearance time to obtain an accumulated speed deviation change; and adding the accumulated speed deviation change to the actual cruise speed in the next period to obtain the compensated speed. The specific formula is as follows:

[0080] Vact_mod=Vact+a(t)*T

[0081] Wherein, Vact is the actual cruise speed in the next period, a(t) is the speed deviation change rate, T is the speed deviation disappearance time, and Vact_mod is the compensated speed (corrected speed).

[0082] Step 205, based on the compensated vehicle speed and the target cruise speed, calculating a cruise speed control system input deviation, and performing closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0083] For the embodiment of the application, after determining the compensated vehicle speed, the target cruise speed can be subtracted from the compensated vehicle speed to obtain a cruise speed control system input deviation, and further, the cruise speed of the vehicle is controlled in a closed loop according to the cruise speed control system input deviation. Since the cruise speed control system input deviation is smaller than the actual deviation, when the actual deviation is small, the adjustment intensity can be reduced, and the overshoot can be reduced.

[0084] Step 206, updating the vehicle speed deviation change rate according to the cruise speed control system input deviation.

[0085] For the embodiment of the application, in order to ensure the regulation accuracy of the cruise speed, the calculated vehicle speed deviation change rate needs to be updated. Specifically, the vehicle speed deviation change rate can be updated once every preset period, such as once every t_c time length. In addition, the vehicle speed deviation change rate can also be updated once every time a time node actual cruise speed is obtained, such as the current vehicle speed deviation change rate is calculated according to the actual cruise speed at time node 1 and the actual cruise speed at time node 2. During the process of regulating the cruise speed of the vehicle by using the cruise speed control system input deviation, if the actual cruise speed at time node 3 is collected, the vehicle speed deviation change rate can be recalculated based on the actual cruise speed at time node 3 and the actual cruise speed at time node 2, that is, the vehicle speed deviation change rate is updated.

[0086] Another cruise speed regulation method provided by the embodiment of the application can make the cruise speed control system input deviation smaller than the actual deviation by calculating the vehicle speed deviation change rate and compensating the actual cruise speed based on the vehicle speed deviation change rate. Therefore, when the actual deviation is small, the vehicle speed is regulated based on the cruise speed control system input deviation, which can reduce the adjustment intensity and reduce the overshoot of the cruise speed control system. At the same time, since the proportional coefficient of the PID controller is not reduced in the embodiment of the application, the response speed of the cruise speed control system can be ensured. In addition, since other control parameters of the PID controller are not changed in the embodiment of the application, the overall compatibility and portability can be ensured.

[0087] Further, as a specific implementation of Figure 1 , the embodiment of the application provides a cruise speed regulation device, such as Figure 3As shown, the apparatus comprises: an acquisition unit 31, a calculation unit 32, a determination unit 33, a compensation unit 34, and a regulation unit 35.

[0088] The acquisition unit 31 can be configured to acquire a target cruise speed of a vehicle, and actual cruise speeds of the vehicle at different time nodes within a current period.

[0089] The calculation unit 32 can be configured to calculate a speed deviation change rate within the current period according to the target cruise speed and the actual cruise speeds at the different time nodes.

[0090] The determination unit 33 can be configured to determine a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate.

[0091] The compensation unit 34 can be configured to acquire actual cruise speeds of the vehicle within a next period corresponding to the current period, and perform speed compensation on the actual cruise speeds within the next period based on the speed deviation change rate and the speed deviation disappearance time, to obtain compensated speeds.

[0092] The regulation unit 35 can be configured to calculate a cruise speed control system input deviation based on the compensated speeds and the target cruise speed, and perform closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0093] In a specific application scenario, when the actual cruise speeds at the different time nodes are actual cruise speeds at two time nodes, the calculation unit 32 comprises: a calculation module 321 and a determination module 322. Figure 4

[0094] The calculation module 321 can be configured to subtract the target cruise speed from the actual cruise speeds at the two time nodes respectively, to obtain cruise speed deviations at the two time nodes.

[0095] The determination module 322 can be configured to determine a duration of the current period.

[0096] The calculation module 321 can also be configured to subtract the cruise speed deviations at the two time nodes to obtain a first speed deviation change amount, and divide the first speed deviation change amount by the duration to obtain the speed deviation change rate within the current period.

[0097] ​In a specific application scenario, when the actual cruising speed at the different time nodes is the actual cruising speed at the plurality of time nodes, the calculation module 321 can be further configured to subtract the target cruising speed from the actual cruising speed at the plurality of time nodes, to obtain cruising speed deviations at the plurality of time nodes.

[0098] The determination module 322 can be further configured to determine the duration of the current period.

[0099] The calculation module 321 can be further configured to, for any two adjacent time nodes in the plurality of time nodes, subtract the cruising speed deviations at the any two adjacent time nodes to obtain a second speed deviation change amount.

[0100] The calculation module 321 can be further configured to calculate an average value of the speed deviation change variable according to a plurality of the second speed deviation change amounts.

[0101] The calculation module 321 can be further configured to divide the average value of the speed deviation change variable by the duration to obtain a speed deviation change rate in the current period.

[0102] In a specific application scenario, the determination unit 33 can be specifically configured to determine a target change rate interval to which the speed deviation change rate belongs, and determine a speed deviation disappearance time corresponding to the target change rate interval as a speed deviation disappearance time matched with the cruising speed control system.

[0103] In a specific application scenario, the compensation unit 34 includes a multiplication module 341 and an addition module 342.

[0104] The multiplication module 341 can be configured to multiply the speed deviation change rate by the speed deviation disappearance time to obtain an accumulated speed deviation change amount.

[0105] The addition module 342 can be configured to add the accumulated speed deviation change amount to the actual cruising speed in the next period to obtain a compensated speed.

[0106] In a specific application scenario, the regulation unit 35 can be specifically used for performing proportional, integral and differential operations on the cruise speed control system input deviation respectively to obtain a proportional operation result, an integral operation result and a differential operation result; adding the proportional operation result, the integral operation result and the differential operation result to obtain an output quantity; based on the output quantity, regulating the actual cruise speed in the next period to obtain a regulated cruise speed; based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time, continuing to perform vehicle speed compensation on the regulated cruise speed, and recalculating the cruise speed control system input deviation to form a closed-loop regulation on the cruise speed.

[0107] In a specific application scenario, the device further includes an updating unit 36.

[0108] The updating unit 36 can be used for updating the vehicle speed deviation change rate according to the cruise speed control system input deviation.

[0109] It should be noted that other corresponding descriptions of the functions of the cruise speed regulation device provided by the embodiments of the present application can be referred to the corresponding descriptions of the method shown in Figure 1 , which will not be repeated here.

[0110] Based on the above method shown in Figure 1 , accordingly, the embodiments of the present application also provide a computer readable storage medium having a computer program stored thereon, which is executed by a processor to implement the following steps: obtaining a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes in a current period; calculating a vehicle speed deviation change rate in the current period according to the target cruise speed and the actual cruise speeds at the different time nodes; determining a vehicle speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the vehicle speed deviation change rate; obtaining an actual cruise speed of the vehicle in a next period corresponding to the current period, and performing vehicle speed compensation on the actual cruise speed in the next period based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time to obtain a compensated vehicle speed; calculating a cruise speed control system input deviation based on the compensated vehicle speed and the target cruise speed, and performing closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0111] Based on the above method shown in Figure 1 and the device shown in Figure 3 , the embodiments of the present application also provide a physical structure diagram of an electronic device, as shown in Figure 5As shown, the electronic device comprises a processor 41, a memory 42, and a computer program stored on the memory 42 and executable on the processor, wherein the memory 42 and the processor 41 are both arranged on a bus 43, and the processor 41 implements the following steps when executing the program: obtaining a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes in a current period; calculating a speed deviation change rate in the current period according to the target cruise speed and the actual cruise speeds at the different time nodes; determining a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate; obtaining actual cruise speeds of the vehicle in a next period corresponding to the current period, and performing speed compensation on the actual cruise speeds in the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain compensated speeds; calculating a cruise speed control system input deviation based on the compensated speeds and the target cruise speed, and performing closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation.

[0112] The embodiment of the present application can make the cruise speed control system input deviation less than the actual deviation by calculating the speed deviation change rate and compensating the actual cruise speed based on the speed deviation change rate, so that when the actual deviation is small, the speed is adjusted based on the cruise speed control system input deviation, the adjustment strength can be reduced, the overshoot of the cruise speed control system can be reduced, at the same time, since the embodiment of the present application does not reduce the proportional coefficient of the PID controller, the response speed of the cruise speed control system can be ensured, and since the embodiment of the present application does not change other control parameters of the PID controller, the overall compatibility and portability can be ensured.

[0113] Those skilled in the art can understand that the modules or flows in the drawings are not necessarily necessary for implementing the present application.

[0114] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further split into multiple sub-modules.

[0115] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of cruise speed adjustment, characterized by, The method comprises the following steps: obtaining a target cruise speed of a vehicle and actual cruise speeds of the vehicle at different time nodes in a current period; calculating a speed deviation change rate in the current period according to the target cruise speed and the actual cruise speeds at the different time nodes; determining a speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the speed deviation change rate, wherein the determination of the speed deviation disappearance time matched with the cruise speed control system comprises determining a target change rate interval to which the speed deviation change rate belongs, and determining a speed deviation disappearance time corresponding to the target change rate interval as the speed deviation disappearance time matched with the cruise speed control system; obtaining actual cruise speeds of the vehicle in a next period corresponding to the current period, and performing speed compensation on the actual cruise speeds in the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain compensated speeds, wherein the speed compensation on the actual cruise speeds in the next period based on the speed deviation change rate and the speed deviation disappearance time to obtain the compensated speeds comprises multiplying the speed deviation change rate by the speed deviation disappearance time to obtain an accumulated speed deviation change amount, and adding the accumulated speed deviation change amount to the actual cruise speeds in the next period to obtain the compensated speeds; calculating a cruise speed control system input deviation based on the compensated speeds and the target cruise speed, and performing closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation, wherein the closed-loop regulation and control on the cruise speed of the vehicle according to the cruise speed control system input deviation comprises performing proportional, integral and differential operations on the cruise speed control system input deviation respectively to obtain proportional operation results, integral operation results and differential operation results, adding the proportional operation results, the integral operation results and the differential operation results to obtain an output, regulating and controlling the actual cruise speeds in the next period based on the output to obtain regulated and controlled cruise speeds, and continuously performing speed compensation on the regulated and controlled cruise speeds based on the speed deviation change rate and the speed deviation disappearance time, and recalculating the cruise speed control system input deviation to form the closed-loop regulation and control on the cruise speed.

2. The method of claim 1, wherein, When the actual cruise speeds at the different time nodes are actual cruise speeds at two time nodes, the calculation of the speed deviation change rate in the current period according to the target cruise speed and the actual cruise speeds at the different time nodes comprises: subtracting the target cruise speed from the actual cruise speeds at the two time nodes to obtain cruise speed deviations at the two time nodes; determining a duration of the current period; Subtracting the cruise speed deviations at the two time nodes from each other obtains a first vehicle speed deviation change amount, and dividing the first vehicle speed deviation change amount by the duration of the current period obtains the vehicle speed deviation change rate in the current period.

3. The method of claim 1, wherein, When the actual cruising speeds at the different time nodes are actual cruising speeds at multiple time nodes, the calculating the vehicle speed deviation change rate in the current period according to the target cruising speed and the actual cruising speeds at the different time nodes comprises: Subtracting the target cruising speed from the actual cruising speeds at the multiple time nodes obtains cruising speed deviations at the multiple time nodes. Determining the duration of the current period. For any two adjacent time nodes in the multiple time nodes, subtracting the cruising speed deviations at the two adjacent time nodes from each other obtains a second vehicle speed deviation change amount. According to the multiple second vehicle speed deviation change amounts, calculating an average of vehicle speed deviation change amounts. Dividing the average of vehicle speed deviation change amounts by the duration of the current period obtains the vehicle speed deviation change rate in the current period.

4. The method of claim 1, wherein, The method further comprises: According to the cruise speed control system input deviation, updating the vehicle speed deviation change rate.

5. A cruise control device characterized by comprising: Comprise: An acquisition unit is configured to acquire a target cruising speed of a vehicle and actual cruising speeds of the vehicle at different time nodes in a current period. A calculation unit is configured to calculate a vehicle speed deviation change rate in the current period according to the target cruising speed and the actual cruising speeds at the different time nodes. A determination unit is configured to determine a vehicle speed deviation disappearance time matched with a cruise speed control system of the vehicle according to the vehicle speed deviation change rate, wherein the determining the vehicle speed deviation disappearance time matched with the cruise speed control system of the vehicle according to the vehicle speed deviation change rate comprises: determining a target change rate interval to which the vehicle speed deviation change rate belongs; and determining a vehicle speed deviation disappearance time corresponding to the target change rate interval as the vehicle speed deviation disappearance time matched with the cruise speed control system. A compensation unit is configured to acquire actual cruising speeds of the vehicle in a next period corresponding to the current period, and perform vehicle speed compensation on the actual cruising speeds in the next period based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time to obtain compensated vehicle speeds, wherein the performing vehicle speed compensation on the actual cruising speeds in the next period based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time to obtain the compensated vehicle speeds comprises: multiplying the vehicle speed deviation change rate by the vehicle speed deviation disappearance time to obtain an accumulated vehicle speed deviation change amount; and adding the accumulated vehicle speed deviation change amount to the actual cruising speeds in the next period to obtain the compensated vehicle speeds. The regulation unit is configured to calculate a cruise speed control system input deviation based on the compensated vehicle speed and the target cruise speed, and to perform closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation; wherein the closed-loop regulation on the cruise speed of the vehicle according to the cruise speed control system input deviation comprises: performing proportional, integral and differential operations on the cruise speed control system input deviation respectively to obtain a proportional operation result, an integral operation result and a differential operation result; adding the proportional operation result, the integral operation result and the differential operation result to obtain an output quantity; regulating the actual cruise speed in the next period based on the output quantity to obtain a regulated cruise speed; and performing vehicle speed compensation on the regulated cruise speed based on the vehicle speed deviation change rate and the vehicle speed deviation disappearance time, and recalculating the cruise speed control system input deviation to form the closed-loop regulation on the cruise speed.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 4.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 4.

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