A method, device, vehicle, and storage medium for cruise mode torque control

Abstract

This invention discloses a cruise mode torque control method, device, vehicle, and storage medium. The cruise mode torque control method includes: acquiring the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode; and acquiring the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode; determining a first required torque based on the initial vehicle weight, initial road gradient, initial required torque, current vehicle weight, current road gradient, and theoretical required torque; determining a second required torque based on the current vehicle speed; and determining a target required torque based on the first and second required torques, where the target required torque is the torque required to maintain the cruise set speed. This invention enables the immediate calculation of the torque required to maintain the cruise speed upon entering cruise mode, reducing speed adjustment time and minimizing excessive speed overshoot when entering cruise mode.

Description

Technical Field

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

[0002] Cruise control mode is a cruise control system, also known as cruise control driving device, speed control system, automatic driving system, etc. Its function is to allow the vehicle to maintain a fixed speed automatically after the switch is turned on at the speed required by the driver, without needing to press the accelerator pedal.

[0003] When a vehicle enters or returns to cruise mode, the motor will reduce the vehicle speed from zero torque or negative torque until it is below the set speed. Then, the required torque is calculated according to the PID control. This means that the actual vehicle speed must be lower than the set cruise speed before the motor can start to increase torque. Since the PID control needs a certain amount of time to calculate the required torque and the motor response, the actual vehicle speed will drop below the set cruise speed. Summary of the Invention

[0004] This invention provides a method, device, vehicle, and storage medium for torque control in cruise mode, in order to solve the problem that current vehicles cannot accurately control torque to maintain the set cruise speed when entering or returning to cruise mode.

[0005] According to one aspect of the present invention, a cruise mode torque control method is provided, the cruise mode torque control method comprising:

[0006] The system acquires the initial vehicle weight, initial road gradient, and initial torque requirement when the vehicle is in cruise mode, and acquires the current vehicle speed, current vehicle weight, current road gradient, and theoretical torque requirement when the vehicle returns to cruise mode.

[0007] The first required torque is determined based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque;

[0008] The second required torque is determined based on the current vehicle speed, and the target required torque is determined based on the first required torque and the second required torque, wherein the target required torque is the torque required to maintain the cruise set speed.

[0009] Optionally, the cruise mode torque control method further includes:

[0010] Get the duration of the vehicle being in cruise mode;

[0011] Determining the first required torque based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque includes:

[0012] When the duration is less than a set time threshold, or when the vehicle first enters cruise mode, the theoretical required torque is determined as the first required torque.

[0013] Optionally, the cruise mode torque control method further includes:

[0014] When the vehicle exits cruise mode or the cruise set speed changes, the duration of control is reset to zero.

[0015] Optionally, determining the first required torque based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque includes:

[0016] The torque correction coefficient is determined based on the initial vehicle weight, the initial road gradient, the current vehicle weight, and the current road gradient.

[0017] The first required torque is determined based on the torque correction coefficient, the initial required torque, and the theoretical required torque.

[0018] Optionally, determining the torque correction coefficient based on the initial vehicle weight, the initial road gradient, the current vehicle weight, and the current road gradient includes:

[0019] The torque correction coefficient is obtained by looking up a table based on the difference between the initial vehicle weight and the current vehicle weight, and the difference between the initial road slope and the current road slope.

[0020] Optionally, determining the first required torque based on the torque correction coefficient, the initial required torque, and the theoretical required torque includes:

[0021] The first required torque is determined based on the torque correction coefficient, the initial required torque, and the theoretical required torque using the following formula:

[0022] k*T MTAct +(1k)iT MTCal =T MTDes

[0023] Where k is the torque correction coefficient; T MTAct The initial required torque; T MTCal T represents the theoretically required torque. MTDes The required torque is the primary torque.

[0024] Optionally, determining the second required torque based on the current vehicle speed includes:

[0025] The vehicle speed change rate is determined based on the current vehicle speed and the number of delay steps, and the adjustment torque is increased based on the vehicle speed change rate.

[0026] The increased adjustment torque is added to the adjustment requirement torque of the previous step to obtain the second required torque.

[0027] According to another aspect of the present invention, a cruise mode torque control device is provided, the cruise mode torque control device comprising:

[0028] The data acquisition module is used to acquire the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode, and to acquire the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode.

[0029] The first required torque determination module is used to determine the first required torque based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque;

[0030] The target required torque determination module is used to determine a second required torque based on the current vehicle speed, and to determine a target required torque based on the first required torque and the second required torque, wherein the target required torque is the torque required to maintain the cruise set speed.

[0031] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0032] At least one processor; and,

[0033] A memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the cruise mode torque control method according to any embodiment of the present invention.

[0035] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the cruise mode torque control method according to any embodiment of the present invention.

[0036] The technical solution of this invention obtains the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode, and obtains the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode. A first required torque is determined based on the initial vehicle weight, initial road gradient, initial required torque, current vehicle weight, current road gradient, and theoretical required torque; a second required torque is determined based on the current vehicle speed; and a target required torque is determined based on the first and second required torques, where the target required torque is the torque required to maintain the cruise set speed. This invention solves the problem that current vehicles cannot accurately control torque to maintain the cruise set speed when entering or returning to cruise mode, achieving immediate calculation of the torque required to maintain the cruise speed upon entering cruise mode, reducing speed adjustment time, and minimizing excessive speed overshoot when entering cruise mode.

[0037] 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

[0038] 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.

[0039] Figure 1 This is a flowchart of a cruise mode torque control method provided according to an embodiment of the present invention;

[0040] Figure 2 This is an architecture diagram of a method for determining the first required torque to maintain a cruise set speed according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of a method for setting the adjusted torque according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of a cruise mode torque control device according to an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of a vehicle implementing the cruise mode torque control method of this invention. Detailed Implementation

[0044] 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.

[0045] It should be noted that the terms "first," "second," etc., 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 a 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.

[0046] Figure 1 This invention provides a flowchart of a cruise mode torque control method. This embodiment is applicable to situations where the vehicle begins to decelerate and torque changes are controlled. To minimize excessive overshoot when entering cruise mode, and thus control the torque, this cruise mode torque control method can be executed by a cruise mode torque control device. This cruise mode torque control device can be implemented in hardware and / or software, and can be configured in a vehicle with a cruise mode. Figure 1 As shown, the torque control method for cruise mode includes:

[0047] S110: Obtain the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode, and obtain the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode.

[0048] The initial vehicle weight and the current vehicle weight can be obtained, but are not limited to, by automatically sensing the vehicle weight through an on-board weighing sensor, or by collecting data through other existing methods of sensing vehicle weight. This embodiment does not impose any restrictions on this.

[0049] For example, the initial vehicle weight is obtained automatically by the on-board weighing sensor when the vehicle is in cruise mode, and the current vehicle weight is obtained automatically by the on-board weighing sensor when the vehicle exits cruise mode or when the cruise set speed changes and the vehicle returns to cruise mode.

[0050] The initial road slope and the current road slope can be obtained, but are not limited to, through vehicle-mounted slope sensors, or through other slope acquisition methods. This embodiment does not impose any restrictions on this.

[0051] For example, the initial road gradient is collected by the vehicle's onboard gradient sensor when the vehicle is in cruise mode, and the current road gradient is collected by the vehicle's onboard gradient sensor when the vehicle exits cruise mode or when the cruise set speed changes and the vehicle returns to cruise mode.

[0052] The initial torque requirement can be calculated based on existing vehicle dynamics formulas, using the initial vehicle weight and initial road gradient, or it can be determined through other calculation methods. This embodiment does not impose any restrictions on this. Similarly, the theoretical torque requirement can be calculated based on existing vehicle dynamics formulas, using the current vehicle weight and current road gradient, or it can be determined through other calculation methods. This embodiment does not impose any restrictions on this.

[0053] The initial required torque is obtained when the vehicle is in cruise mode. The initial required torque is the motor drive torque when the vehicle is in cruise mode. The initial required torque is the torque required to maintain the set cruise speed.

[0054] Furthermore, the duration of the vehicle being in cruise mode is obtained; when the vehicle is in cruise mode, the timer starts from when the vehicle speed reaches the cruise set speed and remains constant, and the accumulated time is the duration at this point.

[0055] When the vehicle is in cruise mode, if there is no pressing of the accelerator or brake and the vehicle has not exited cruise mode, and the duration is greater than or equal to the set time threshold, the cruise setting speed, initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode are saved.

[0056] The time threshold can be set by those skilled in the art according to the actual situation, but this embodiment does not impose any restrictions on it.

[0057] Based on the above, when the vehicle exits cruise mode or the cruise set speed changes, the duration is reset to zero, i.e., the timer restarts.

[0058] S120. Determine the first required torque based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque.

[0059] When the vehicle returns to cruise mode, see Figure 2The method for determining the first required torque to maintain the cruise set speed, as shown, determines the torque correction coefficient k based on the initial vehicle weight m1, the initial road slope g1, the current vehicle weight m2, and the current road slope g2, and then determines the torque correction coefficient k based on the initial required torque T. MTAct And the theoretically required torque T MTCal Determine the first required torque T MTDes .

[0060] Specifically, such as Figure 2 As shown, the torque correction coefficient k is obtained by looking up a table based on the difference between the initial vehicle weight m1 and the current vehicle weight m2, and the difference between the initial road slope g1 and the current road slope g2.

[0061] It is understood that the above table is a pre-calibrated table of the correspondence between vehicle weight, road slope and torque correction coefficient. It can be, but is not limited to, calibrated by those skilled in the art based on a large amount of experimental data and relevant experience. This embodiment does not impose any restrictions on this.

[0062] Further details can be found by referring to [link / reference]. Figure 2 The first required torque is determined based on the torque correction coefficient, the initial required torque, and the theoretical required torque using the following formula:

[0063] k*T MTAct +(1-k)*T MTCal =T MTDes

[0064] Where k is the torque correction coefficient; T MTAct The initial required torque; T MTCal T represents the theoretically required torque. MTDes The required torque is the primary torque.

[0065] As we know, the torque correction coefficient k is a value less than 1. By correcting the initial required torque and the theoretical required torque, we can obtain the required torque when the vehicle returns to cruise mode.

[0066] Based on the above embodiments, when the duration is less than a set time threshold, or when the vehicle first enters cruise mode (i.e., the motor has not yet adjusted to maintain the set cruise speed), the initial required torque T cannot be obtained. MTAct Then the theoretical required torque is directly determined as the first required torque.

[0067] S130. Determine the second required torque based on the current vehicle speed, and determine the target required torque based on the first required torque and the second required torque, wherein the target required torque is the torque required to maintain the cruise set speed.

[0068] When the vehicle returns to cruise mode, i.e., cruise control resumes, the torque adjustment is increased again. The specific method for setting the torque adjustment is as follows: Figure 3 As shown, the vehicle speed change rate is determined based on the current vehicle speed and the number of delay steps, and the increase adjustment torque is determined based on the vehicle speed change rate; the increase adjustment torque is added to the adjustment demand torque of the previous step to obtain the second demand torque.

[0069] The number of delay steps can be determined by those skilled in the art based on relevant experience, and this embodiment does not impose any restrictions on this. Figure 3 In this example, n is a positive integer greater than or equal to 1, and no restrictions are placed on the value of n.

[0070] Specifically, the vehicle speed change rate is calculated by subtracting the current vehicle speed from the previous speed and combining the current speed with the calculated speed change rate. By querying the correlation MAP between the speed change rate and torque, the increase in adjustment torque corresponding to the calculated speed change rate can be determined. Then, the increase in adjustment torque is added to the adjustment torque required in the previous speed to obtain the second required torque.

[0071] In this embodiment, the target required torque is determined based on the first required torque and the second required torque using the following formula:

[0072] T MTAdj +T MTDes =T MTDesFinal

[0073] Among them, T MTAdj The second required torque; T MTDesFinal The target torque requirement.

[0074] Based on the above embodiments, when the vehicle reaches the cruise set speed, the required torque of the motor is recorded at this time, and a PID adjustment module is introduced to adapt to the cruise speed requirements under different operating conditions of the vehicle.

[0075] The technical solution of this invention obtains the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode, and obtains the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode. A first required torque is determined based on the initial vehicle weight, initial road gradient, initial required torque, current vehicle weight, current road gradient, and theoretical required torque; a second required torque is determined based on the current vehicle speed; and a target required torque is determined based on the first and second required torques, where the target required torque is the torque required to maintain the cruise set speed. This invention solves the problem that current vehicles cannot accurately control torque to maintain the cruise set speed when entering or returning to cruise mode, achieving immediate calculation of the torque required to maintain the cruise speed upon entering cruise mode, reducing speed adjustment time, and minimizing excessive speed overshoot when entering cruise mode.

[0076] Based on the same inventive concept Figure 4 This is a schematic diagram of a cruise mode torque control device provided in an embodiment of the present invention. Figure 4 As shown, the cruise mode torque control device includes:

[0077] The data acquisition module 410 is used to acquire the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode, and to acquire the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode.

[0078] The first required torque determination module 420 is used to determine the first required torque based on the initial vehicle weight, the initial road slope, the initial required torque, the current vehicle weight, the current road slope, and the theoretical required torque;

[0079] The target required torque determination module 430 is used to determine a second required torque based on the current vehicle speed, and to determine a target required torque based on the first required torque and the second required torque, wherein the target required torque is the torque required to maintain the cruise set speed.

[0080] Optionally, the cruise mode torque control device further includes:

[0081] The duration acquisition module is used to acquire the duration of the vehicle in cruise mode.

[0082] The first required torque determination module 420 is specifically used for:

[0083] When the duration is less than a set time threshold, or when the vehicle first enters cruise mode, the theoretical required torque is determined as the first required torque.

[0084] Optionally, the cruise mode torque control device further includes:

[0085] The time reset module is used to reset the duration to zero when the vehicle exits cruise mode or when the cruise set speed changes.

[0086] Optionally, the first required torque determination module 420 includes:

[0087] A torque correction coefficient determination unit is used to determine the torque correction coefficient based on the initial vehicle weight, the initial road gradient, the current vehicle weight, and the current road gradient.

[0088] A first demand torque determination unit is used to determine the first demand torque based on the torque correction coefficient, the initial demand torque, and the theoretical demand torque.

[0089] Optionally, the torque correction coefficient determining unit is specifically used for:

[0090] The torque correction coefficient is obtained by looking up a table based on the difference between the initial vehicle weight and the current vehicle weight, and the difference between the initial road slope and the current road slope.

[0091] Optionally, the first required torque unit is specifically used for:

[0092] The first required torque is determined based on the torque correction coefficient, the initial required torque, and the theoretical required torque using the following formula:

[0093] k*T MTAct +(1-k)*T MTCal =T MTDes

[0094] Where k is the torque correction coefficient; T MTAct The initial required torque; T MTCal T represents the theoretically required torque. MTDes The required torque is the primary torque.

[0095] Optionally, a second required torque is determined based on the current vehicle speed, specifically for:

[0096] The vehicle speed change rate is determined based on the current vehicle speed and the number of delay steps, and the adjustment torque is increased based on the vehicle speed change rate.

[0097] The increased adjustment torque is added to the adjustment requirement torque of the previous step to obtain the second required torque.

[0098] The cruise mode torque control device provided in this embodiment of the invention can execute the cruise mode torque control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the cruise mode torque control method.

[0099] Based on the same inventive concept Figure 5 A schematic diagram of a vehicle 510 that can be used to implement embodiments of the present invention is shown. The vehicle is intended to include various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The vehicle may also include various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0100] like Figure 5 As shown, vehicle 510 includes at least one processor 511 and a memory, such as read-only memory (ROM 512) or random access memory (RAM 513), communicatively connected to the at least one processor 511. The memory stores computer programs executable by the at least one processor. The processor 511 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM 512) or loaded from storage unit 518 into the random access memory (RAM 513). The RAM 513 can also store various programs and data required for the operation of vehicle 510. The processor 511, ROM 512, and RAM 513 are interconnected via bus 514. An I / O (input / output) interface 515 is also connected to bus 514.

[0101] Multiple components in vehicle 510 are connected to I / O interface 515, including: input unit 516, such as keyboard, mouse, etc.; output unit 517, such as various types of displays, speakers, etc.; storage unit 518, such as disk, optical disk, etc.; and communication unit 519, such as network card, modem, wireless transceiver, etc. Communication unit 519 allows vehicle 510 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0102] Processor 511 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 511 performs the various methods and processes described above, such as the cruise mode torque control method.

[0103] In some embodiments, the cruise mode torque control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 518. In some embodiments, part or all of the computer program may be loaded into and / or installed on vehicle 510 via ROM 512 and / or communication unit 519. When the computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the cruise mode torque control method described above may be performed. Alternatively, in other embodiments, processor 511 may be configured to perform the cruise mode torque control method by any other suitable means (e.g., by means of firmware).

[0104] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0106] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0107] To provide interaction with the user, the systems and technologies described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0108] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0109] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0110] 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.

[0111] 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 method for torque control in cruise mode, characterized in that, include: The system acquires the initial vehicle weight, initial road gradient, and initial torque requirement when the vehicle is in cruise mode, and acquires the current vehicle speed, current vehicle weight, current road gradient, and theoretical torque requirement when the vehicle returns to cruise mode. The first required torque is determined based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque; wherein, determining the first required torque based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque includes: determining a torque correction coefficient based on the initial vehicle weight, the initial road gradient, the current vehicle weight, and the current road gradient; and determining the first required torque based on the torque correction coefficient, the initial required torque, and the theoretical required torque. A second required torque is determined based on the current vehicle speed, and a target required torque is determined based on the first required torque and the second required torque, wherein the target required torque is the torque required to maintain the cruise set speed; wherein, determining the second required torque based on the current vehicle speed includes: determining the vehicle speed change rate based on the current vehicle speed and the number of delay steps, and determining an increase adjustment torque based on the vehicle speed change rate; the increase adjustment torque is added to the adjustment required torque of the previous step to obtain the second required torque.

2. The cruise mode torque control method according to claim 1, characterized in that, The cruise mode torque control method further includes: Get the duration of the vehicle being in cruise mode; Determining the first required torque based on the initial vehicle weight, the initial road gradient, the initial required torque, the current vehicle weight, the current road gradient, and the theoretical required torque includes: When the duration is less than a set time threshold, or when the vehicle first enters cruise mode, the theoretical required torque is determined as the first required torque.

3. The cruise mode torque control method according to claim 2, characterized in that, The cruise mode torque control method further includes: When the vehicle exits cruise mode or the cruise set speed changes, the duration of control is reset to zero.

4. The cruise mode torque control method according to claim 1, characterized in that, Determining the torque correction coefficient based on the initial vehicle weight, the initial road gradient, the current vehicle weight, and the current road gradient includes: The torque correction coefficient is obtained by looking up a table based on the difference between the initial vehicle weight and the current vehicle weight, and the difference between the initial road slope and the current road slope.

5. The cruise mode torque control method according to claim 1, characterized in that, Determining the first required torque based on the torque correction coefficient, the initial required torque, and the theoretical required torque includes: The first required torque is determined based on the torque correction coefficient, the initial required torque, and the theoretical required torque using the following formula: in, This refers to the torque correction coefficient; The initial required torque; This is the theoretically required torque; The required torque is the primary torque.

6. A cruise mode torque control device, characterized in that, include: The data acquisition module is used to acquire the initial vehicle weight, initial road gradient, and initial required torque when the vehicle is in cruise mode, and to acquire the current vehicle speed, current vehicle weight, current road gradient, and theoretical required torque when the vehicle returns to cruise mode. A first required torque determination module is used to determine a first required torque based on the initial vehicle weight, the initial road slope, the initial required torque, the current vehicle weight, the current road slope, and the theoretical required torque; wherein, the first required torque determination module includes: a torque correction coefficient determination unit, used to determine a torque correction coefficient based on the initial vehicle weight, the initial road slope, the current vehicle weight, and the current road slope; and a first required torque determination unit, used to determine the first required torque based on the torque correction coefficient, the initial required torque, and the theoretical required torque; The target required torque determination module is used to perform the following operations: determining a second required torque based on the current vehicle speed, and determining a target required torque based on the first required torque and the second required torque, wherein the target required torque is the torque required to maintain the cruise set speed; wherein, determining the second required torque based on the current vehicle speed specifically involves: determining the vehicle speed change rate based on the current vehicle speed and the number of delay steps, and determining an increase adjustment torque based on the vehicle speed change rate; and adding the increase adjustment torque to the adjustment required torque of the previous step to obtain the second required torque.

7. A vehicle, characterized in that, The vehicles include: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the cruise mode torque control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the cruise mode torque control method according to any one of claims 1-5.

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