A cruise control method, system, electronic device and readable storage medium

Abstract

This application discloses a cruise control method, system, electronic device, and readable storage medium, relating to the field of vehicle control. The cruise control method includes: calculating a first torque based on the vehicle's target speed and actual speed in the current control cycle; determining whether to execute any limiting operation based on the vehicle's current driving information; if so, determining a second torque corresponding to the limiting operation, and outputting a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque; if not, outputting a torque request based on the first torque. This application can limit the torque request output by the adaptive cruise system, optimizing the vehicle's shift shock problem during acceleration and improving driving comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to a cruise control method, system, electronic device, and readable storage medium. Background Technology

[0002] Adaptive Cruise Control (ACC) is a system that allows a vehicle to travel at a set speed while maintaining a set distance from the vehicle in front. When the driver activates ACC and requests acceleration, in traditional gasoline vehicles, the TCU (Transmission Control Unit) typically requests a reduction in torque during gear shifts. This reduction in torque increases the discrepancy between the vehicle's actual acceleration and the target acceleration. ACC then continuously increases the torque request based on this discrepancy. This results in ACC requesting a larger torque during gear shifts. When the actual torque catches up to the target torque, the vehicle's acceleration overshoots, causing a jerking or jerk.

[0003] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a cruise control method, system, electronic device, and readable storage medium that can limit the torque request output by the adaptive cruise system, optimize the vehicle shift jerking problem that occurs during acceleration, and improve driving comfort.

[0005] To address the aforementioned technical problems, this application provides a cruise control method, the cruise control method comprising:

[0006] The first torque is calculated based on the vehicle's target speed and actual speed in the current control cycle.

[0007] Determine whether to perform any restriction operation based on the vehicle's current driving information;

[0008] If so, determine the second torque corresponding to the limiting operation, and output a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque;

[0009] If not, output torque request based on the first torque.

[0010] Optionally, the process of calculating the first torque based on the target vehicle speed and the actual vehicle speed in the current control cycle includes:

[0011] Calculate the target acceleration based on the vehicle's target speed and actual speed in the current control cycle;

[0012] The proportional control force, feedforward force, and actual deviation control force are determined using the target acceleration and the actual acceleration.

[0013] The first torque is calculated based on the target force synthesized from the proportional control force, the feedforward force, and the actual deviation control force.

[0014] Optionally, the restriction operation includes a first restriction operation;

[0015] The process of determining whether to perform any restriction operation based on the vehicle's current driving information includes:

[0016] The vehicle's current driving information is obtained, including the vehicle's target acceleration and indication information in the current control cycle. The indication information includes a first indication information corresponding to the receipt of a shift signal or a second indication information corresponding to the failure to receive the shift signal.

[0017] When the target acceleration is greater than the preset acceleration and the indication information is the first indication information, it is determined that the first restriction operation will be executed.

[0018] Accordingly, the process of determining the second torque corresponding to the limiting operation includes:

[0019] Determine the second torque corresponding to the first limiting operation.

[0020] Optionally, the process of determining the second torque corresponding to the first limiting operation includes:

[0021] The proportional control force and feedforward force are calculated based on the target acceleration and actual acceleration of the vehicle in the current control cycle.

[0022] Determine the limiting deviation control force corresponding to the current control cycle; the limiting deviation control force does not change with the deviation between the target acceleration and the actual acceleration;

[0023] The second torque corresponding to the first limiting operation is calculated based on the target force synthesized from the limiting deviation control force, the feedforward force, and the proportional control force.

[0024] Optionally, the process of determining the limiting deviation control force corresponding to the current control cycle includes:

[0025] The historical deviation control force of the previous control cycle is obtained as the limiting deviation control force of the current control cycle. The historical deviation control force is the deviation control force used to synthesize the target force in the previous control cycle.

[0026] Optionally, the restriction operation includes a second restriction operation;

[0027] The process of determining whether to perform any restriction operation based on the vehicle's current driving information includes:

[0028] The vehicle's current driving information is obtained, including the vehicle's first torque and indication information in the current control cycle. The indication information includes a first indication information corresponding to the receipt of a shift signal or a second indication information corresponding to the failure to receive the shift signal.

[0029] When the indication information is the second indication information and the first torque is not within the preset range, it is determined that the second limiting operation will be executed;

[0030] Accordingly, the process of determining the second torque corresponding to the limiting operation includes:

[0031] Determine the second torque corresponding to the second limiting operation.

[0032] Optionally, the process of determining the second torque corresponding to the second limiting operation includes:

[0033] Obtain the gear information of the vehicle in the current control cycle;

[0034] The current adjustment value is determined based on the gear information;

[0035] Based on the historical torque and the current adjustment value, a second torque corresponding to the second limiting operation is obtained.

[0036] Optionally, the process of determining the current adjustment value based on the gear information includes:

[0037] The current torque request slope is determined based on the gear information;

[0038] The current adjustment value is determined based on the current torque request slope and the duration of the current control cycle.

[0039] To address the aforementioned technical problems, this application also provides a cruise control system, the cruise control system comprising:

[0040] The first calculation module is used to calculate the first torque based on the vehicle's target speed and actual speed in the current control cycle;

[0041] The judgment module is used to determine whether to perform any restriction operation based on the current driving information of the vehicle. If yes, it generates a first trigger signal; if no, it generates a second trigger signal.

[0042] The first processing module is configured to, upon receiving the first trigger signal, determine the second torque corresponding to the limiting operation, and output a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque;

[0043] The second processing module is used to output a torque request based on the first torque when the second trigger signal is received.

[0044] To address the aforementioned technical problems, this application also provides an electronic device, comprising:

[0045] Memory, used to store computer programs;

[0046] A processor for executing the computer program to implement the steps of the cruise control method as described in any of the above.

[0047] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the cruise control method described in any of the above claims.

[0048] This application provides a cruise control method that determines whether to execute any restriction operation based on the vehicle's current driving information. If no restriction operation is required, the adaptive cruise system calculates a first torque request based on the vehicle's target speed and actual speed. If a restriction operation is required, the adaptive cruise system outputs a second torque request corresponding to the restriction operation. Since the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is smaller than the deviation between the first torque and the historical torque, the torque request output by the adaptive cruise system is limited, thus optimizing the vehicle's shift shock problem during acceleration and improving driving comfort. This application also provides a cruise control system, electronic device, and computer-readable storage medium with the same beneficial effects as the above-described cruise control method. Attached Figure Description

[0049] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart of the steps of a cruise control method provided in this application;

[0051] Figure 2This is a schematic diagram of a cruise control system provided in this application. Detailed Implementation

[0052] The core of this application is to provide a cruise control method, system, electronic device, and readable storage medium that can limit the torque request output by the adaptive cruise system, optimize the vehicle's shift jerking problem during acceleration, and improve driving comfort.

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] Firstly, please refer to Figure 1 , Figure 1 A flowchart of a cruise control method provided in this application is shown, the cruise control method comprising:

[0055] S101: Calculate the first torque based on the vehicle's target speed and actual speed in the current control cycle;

[0056] It's understandable that when a driver activates adaptive cruise control, the system can control the vehicle to travel at the target speed set by the driver. In the current control cycle, the system acquires the vehicle's target speed and actual speed. The target speed is the speed set by the driver, and the actual speed is the speed currently displayed on the instrument panel. When the actual speed does not reach the target speed, torque adjustment is required. This can be understood as calculating the target torque to be achieved in the current control cycle based on the deviation between the actual speed and the target speed; this target torque is the initial torque.

[0057] In some embodiments, the process of calculating the first torque based on the target vehicle speed and the actual vehicle speed in the current control cycle includes:

[0058] Calculate the target acceleration based on the vehicle's target speed and actual speed in the current control cycle;

[0059] The proportional control force, feedforward force, and actual deviation control force are determined using the target acceleration and the actual acceleration.

[0060] The first torque is calculated based on the target force synthesized from the proportional control force, feedforward force, and actual deviation control force. First, the target vehicle speed V is calculated. set And actual vehicle speed V display Deviation V diff ,in,

[0061] V diff =V set -V display Then, based on the target vehicle speed V set And actual vehicle speed V display Deviation V diff Calculate the target acceleration AxTar, AxTar = V diff / P, where P is the target vehicle speed V. set The required time. After calculating the target acceleration AxTar, the proportional control force FxTarP, feedforward force FxTarS, and deviation control force FxTarI can be calculated based on the target acceleration AxTar and the actual acceleration AxAct. The proportional control force FxTarP, feedforward force FxTarS, and deviation control force FxTarI are added together to obtain the target force FxTar. The first torque can be calculated based on the target force FxTar.

[0062] The feedforward force FxTarS is calculated according to the first relation, which is FxTarS = AxCtrlKs × AxTar × m, where AxCtrlKs is the feedforward coefficient and m is the mass of the vehicle. The deviation control force and proportional control force are calculated based on the deviation AxCtrlDev between the target acceleration AxTar and the actual acceleration AxAct, where AxCtrlDev = AxTar - AxAct. The proportional control force FxTarP is calculated according to the second relation, which is FxTarP = AxTarKs × AxTar × m. xCtrlKp×AxCtrlDevDZP×m, where AxCtrlKp is the proportional coefficient and AxCtrlDevDZP is the proportional control deviation; the deviation control force FxTarI is calculated according to the third relation, which is FxTarI=FxTarI+AxCtrlKi×AxCtrlDevDZI×m, where AxCtrlKp is the integral coefficient and AxCtrlDevDZP is the integral control deviation, FxTar=FxTarP+FxTarS+FxTarI.

[0063] S102: Determine whether to perform any restriction operation based on the vehicle's current driving information. If yes, proceed to S103; otherwise, proceed to S104.

[0064] S103: Determine the second torque corresponding to the limiting operation, and output a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque;

[0065] S104: Torque request based on the first torque output.

[0066] The vehicle's current driving information is obtained, including but not limited to whether the vehicle is currently shifting gears and the vehicle's target acceleration. In this embodiment, the limiting operation includes at least one type, which is used to limit the torque request output by the adaptive cruise control system. Referring to the above, the deviation control force is mainly calculated based on the deviation between the actual acceleration and the target acceleration. Therefore, the response of different actuators will directly affect the magnitude of the target force. If the response is poor, or if it is during a gear shift, the deviation control force will continue to increase as the acceleration deviation increases, leading to final acceleration overshoot and vehicle jerking. Therefore, one limiting operation for limiting the torque request output by the adaptive cruise control system includes limiting the magnitude of the deviation control force, thereby indirectly limiting the torque request output by the adaptive cruise control system. Of course, it may also include a limiting operation that directly limits the torque request output by the adaptive cruise control system according to some preset rules.

[0067] The vehicle's driving information at different times may meet different execution conditions for restrictive operations. First, it's determined whether the vehicle's current driving information meets the execution conditions for any restrictive operation. If it does, and the ACC continues to generate a torque request based on the first torque calculated from the actual acceleration and target acceleration, it may cause severe acceleration overshoot and vehicle jerking. Therefore, if the vehicle's current driving information does not meet the execution conditions for any restrictive operation, a second torque is determined according to the required restrictive operation. A torque request is generated based on the second torque. The deviation between the second torque and the historical torque in the torque request output from the previous control cycle is less than the deviation between the first torque and the target torque. The deviation in historical torque is used to limit the torque request output by the adaptive cruise control system, preventing the torque request from changing based on acceleration deviation. This means that different limiting operations correspond to different second torques, further optimizing the vehicle's shift shock issue during acceleration. The historical torque is the torque requested for output in the previous control cycle. If the previous control cycle's torque request was based on the first torque, then the historical torque is the first torque of the previous control cycle; if the previous control cycle's torque request was based on the second torque, then the historical torque is the second torque of the previous control cycle. Correspondingly, if the vehicle's current driving information does not meet the execution conditions of any limiting operation, the adaptive cruise control system can output the torque request based on the first torque, thus preventing vehicle shock.

[0068] As can be seen, in this embodiment, the system determines whether to perform any restriction operation based on the vehicle's current driving information. If no restriction operation is required, the adaptive cruise system outputs a torque request based on the first torque calculated from the vehicle's target speed and actual speed. If a restriction operation is required, the adaptive cruise system outputs a torque request based on the second torque corresponding to the restriction operation. Since the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is smaller than the deviation between the first torque and the historical torque, the torque request output by the adaptive cruise system is restricted, thus optimizing the vehicle's shift jerking problem during acceleration and improving driving comfort.

[0069] Based on the above embodiments:

[0070] In some embodiments, the restriction operation includes a first restriction operation;

[0071] The process of determining whether to perform any restrictive operation based on the vehicle's current driving information includes:

[0072] Obtain the vehicle's current driving information, which includes the vehicle's target acceleration and indication information in the current control cycle. The indication information includes a first indication information corresponding to the received shift signal or a second indication information corresponding to the absence of a shift signal.

[0073] When the target acceleration is greater than the preset acceleration and the indication information is the first indication information, it is determined that the first restriction operation will be executed.

[0074] Accordingly, the process of determining the second torque corresponding to the limiting operation includes:

[0075] Determine the second torque corresponding to the first limiting operation.

[0076] In this embodiment, the limiting operation includes a first limiting operation, which is used to limit the torque request output by the adaptive cruise control system during vehicle gear shifting. It can be understood that if the vehicle's current driving information includes a first indication corresponding to the received gear shift signal, it indicates that the vehicle needs to perform a gear shift. During the gear shift, the acceleration deviation will continuously increase, causing the torque request output by the adaptive cruise control system to continuously increase. To avoid vehicle acceleration overshoot, if the current acceleration is greater than a preset acceleration, it is determined that the first limiting operation needs to be performed to limit the torque request output by the adaptive cruise control system. A second torque corresponding to the first limiting operation is obtained, and the torque request is output based on the second torque. The preset acceleration can be set to 0.

[0077] In some embodiments, the process of determining the second torque corresponding to the first limiting operation includes:

[0078] Calculate the proportional control force and feedforward force based on the vehicle's target acceleration and actual acceleration in the current control cycle;

[0079] Determine the limiting deviation control force corresponding to the current control cycle; the limiting deviation control force does not change with the deviation between the target acceleration and the actual acceleration;

[0080] The second torque corresponding to the first limiting operation is calculated based on the target force synthesized from the limiting deviation control force, feedforward force, and proportional control force.

[0081] In some embodiments, the process of determining the limiting deviation control force corresponding to the current control cycle includes:

[0082] The historical deviation control force of the previous control cycle is obtained as the limiting deviation control force of the current control cycle. The historical deviation control force is the deviation control force used to synthesize the target force in the previous control cycle.

[0083] As mentioned above, the deviation control force is mainly calculated based on the deviation between the actual acceleration and the target acceleration. Therefore, the response of different actuators will directly affect the magnitude of the target force. If the response is poor, or during a gear shift, the deviation control force will continue to increase as the acceleration deviation increases, leading to final acceleration overshoot and vehicle jerking. Therefore, the first limiting operation in this embodiment is a limiting operation on the deviation control force. In the current control cycle, the target force is not synthesized from the actual deviation control force calculated from the acceleration deviation, but instead, the target force synthesized from the limiting deviation control force, feedforward force, and proportional control force is used to calculate the second torque corresponding to the first limiting operation. To further reduce the vehicle jerking problem, the limiting deviation control force in the current control cycle can be the historical deviation control force from the previous control cycle. The historical deviation control force is the deviation control force used to synthesize the target force in the previous control cycle. It can be understood that the deviation control force used to synthesize the target force in the previous control cycle may be the limiting deviation control force or the actual deviation control force.

[0084] In some embodiments, when a shift signal is received, the duration of the shift operation can be determined. During this duration, the target force is synthesized using the actual deviation control force calculated by the acceleration deviation, but not by using the actual deviation control force. Instead, the target force is synthesized using the limited deviation control force. That is, the target force is synthesized by limiting the deviation control force throughout the entire shift process, thereby freezing the deviation control force. This prevents the force from increasing continuously due to the continuous increase in acceleration deviation, thus avoiding excessive torque requested by the adaptive cruise control system when the shift is completed, severe acceleration overshoot, and vehicle jerking.

[0085] In some embodiments, the limiting operation includes a second limiting operation;

[0086] The process of determining whether to perform any restrictive operation based on the vehicle's current driving information includes:

[0087] Obtain the vehicle's current driving information, which includes the vehicle's first torque and indication information in the current control cycle. The indication information includes first indication information corresponding to the receipt of a shift signal or second indication information corresponding to the absence of a shift signal.

[0088] When the indication information is the second indication information and the first torque is not within the preset range, it is determined that the second limiting operation will be executed;

[0089] Accordingly, the process of determining the second torque corresponding to the limiting operation includes:

[0090] Determine the second torque corresponding to the second limiting operation.

[0091] In this embodiment, the limiting operation includes a second limiting operation. This second limiting operation restricts the torque request output by the adaptive cruise control system when no gear shift is performed during vehicle operation. It can be understood that if the vehicle's current driving information includes a second indication corresponding to the absence of a gear shift signal, it indicates that the vehicle does not currently need to perform a gear shift. When the vehicle begins to accelerate, if the first torque calculated based on the actual acceleration and target acceleration in the current control cycle exceeds a preset range, it is determined that the second limiting operation needs to be performed to limit the torque request output by the adaptive cruise control system. A second torque corresponding to the second limiting operation is obtained, and a torque request is output based on this second torque to reduce the triggering of gear shift operations and make vehicle acceleration smoother.

[0092] In some embodiments, the process of determining the second torque corresponding to the second limiting operation includes:

[0093] Obtain the vehicle's gear information in the current control cycle;

[0094] Determine the current adjustment value based on gear information;

[0095] Based on the historical torque and the current adjustment value, the second torque corresponding to the second limit operation is obtained.

[0096] It is understood that the adjustment value is used to limit the amount of torque adjustment between the current torque request and the previous torque request in the current gear. For example, the vehicle has different torque adjustment values ​​when it is in different gears, such as gear A with adjustment value Δa, gear B with adjustment value Δb, and gear C with adjustment value Δc. If the first torque calculated based on the actual acceleration and the target acceleration is not within the preset range, the current adjustment value is determined according to the current gear indicated in the current gear information. Then, the sum of the current adjustment value and the historical torque of the previous control cycle is used as the second torque for the second limit operation.

[0097] Taking gear A as an example, if the first torque exceeds the preset torque range corresponding to gear A, for example, during the torque increase process, the first torque calculated in real time exceeds the upper limit of the preset torque range, then the second torque is calculated using the historical torque and Δa from the previous control cycle, i.e., T2 = T his +Δa, T2 is the second torque, T his This refers to historical torque.

[0098] In some embodiments, the process of determining the current adjustment value based on gear information includes:

[0099] Determine the current torque request slope based on gear information;

[0100] The current adjustment value is determined based on the current torque request slope and the duration of the current control cycle.

[0101] In this embodiment, when determining the adjustment value corresponding to the current gear information, the current torque request slope corresponding to the current gear information can be determined first. In the current gear, the torque request increases or decreases according to the current torque request slope. To improve processing efficiency, a correspondence table between gear information and torque request slope can be pre-stored. The current torque request slope can be quickly obtained by looking up the table, and the product of the current torque request slope and the duration of the current control cycle is used as the current adjustment value.

[0102] Secondly, please refer to Figure 2 , Figure 2 This application provides a schematic diagram of the structure of a cruise control system, which includes:

[0103] The first calculation module 21 is used to calculate the first torque based on the vehicle's target speed and actual speed in the current control cycle;

[0104] The judgment module 22 is used to determine whether to perform any restriction operation based on the current driving information of the vehicle. If yes, it generates a first trigger signal; if no, it generates a second trigger signal.

[0105] The first processing module 23 is used to, upon receiving the first trigger signal, determine the second torque corresponding to the limiting operation, and output a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque.

[0106] The second processing module 24 is used to output a torque request based on the first torque when a second trigger signal is received.

[0107] In some embodiments, the process of calculating the first torque based on the target vehicle speed and the actual vehicle speed in the current control cycle includes:

[0108] Calculate the target acceleration based on the vehicle's target speed and actual speed in the current control cycle;

[0109] The proportional control force, feedforward force, and actual deviation control force are determined using the target acceleration and the actual acceleration.

[0110] The first torque is calculated based on the target force synthesized from the proportional control force, feedforward force, and actual deviation control force.

[0111] In some embodiments, the restriction operation includes a first restriction operation;

[0112] The process of determining whether to perform any restrictive operation based on the vehicle's current driving information includes:

[0113] Obtain the vehicle's current driving information, which includes the vehicle's target acceleration and indication information in the current control cycle. The indication information includes a first indication information corresponding to the received shift signal or a second indication information corresponding to the absence of a shift signal.

[0114] When the target acceleration is greater than the preset acceleration and the indication information is the first indication information, it is determined that the first restriction operation will be executed.

[0115] Accordingly, the process of determining the second torque corresponding to the limiting operation includes:

[0116] Determine the second torque corresponding to the first limiting operation.

[0117] In some embodiments, the process of determining the second torque corresponding to the first limiting operation includes:

[0118] Calculate the proportional control force and feedforward force based on the vehicle's target acceleration and actual acceleration in the current control cycle;

[0119] Determine the limiting deviation control force corresponding to the current control cycle; the limiting deviation control force does not change with the deviation between the target acceleration and the actual acceleration;

[0120] The second torque corresponding to the first limiting operation is calculated based on the target force synthesized from the limiting deviation control force, feedforward force, and proportional control force.

[0121] In some embodiments, the process of determining the limiting deviation control force corresponding to the current control cycle includes:

[0122] The historical deviation control force of the previous control cycle is obtained as the limiting deviation control force of the current control cycle. The historical deviation control force is the deviation control force used to synthesize the target force in the previous control cycle.

[0123] In some embodiments, the limiting operation includes a second limiting operation;

[0124] The process of determining whether to perform any restrictive operation based on the vehicle's current driving information includes:

[0125] Obtain the vehicle's current driving information, which includes the vehicle's first torque and indication information in the current control cycle. The indication information includes first indication information corresponding to the receipt of a shift signal or second indication information corresponding to the absence of a shift signal.

[0126] When the indication information is the second indication information and the first torque is not within the preset range, it is determined that the second limiting operation will be executed;

[0127] Accordingly, the process of determining the second torque corresponding to the limiting operation includes:

[0128] Determine the second torque corresponding to the second limiting operation.

[0129] In some embodiments, the process of determining the second torque corresponding to the second limiting operation includes:

[0130] Obtain the vehicle's gear information in the current control cycle;

[0131] Determine the current adjustment value based on gear information;

[0132] Based on the historical torque and the current adjustment value, the second torque corresponding to the second limit operation is obtained.

[0133] In some embodiments, the process of determining the current adjustment value based on gear information includes:

[0134] Determine the current torque request slope based on gear information;

[0135] The current adjustment value is determined based on the current torque request slope and the duration of the current control cycle.

[0136] Thirdly, this application also provides an electronic device, including:

[0137] Memory, used to store computer programs;

[0138] A processor is used to execute a computer program to implement the steps of the cruise control method as described in any of the embodiments above.

[0139] Of course, electronic devices may also include various network interfaces, power supplies, and other components.

[0140] For a description of the electronic device provided in this application, please refer to the above embodiments; further details will not be repeated here.

[0141] The electronic device provided in this application has the same beneficial effects as the cruise control method described above.

[0142] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the cruise control method as described in any of the embodiments above.

[0143] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] For a description of the computer-readable storage medium provided in this application, please refer to the above embodiments; further details will not be repeated here.

[0145] The computer-readable storage medium provided in this application has the same beneficial effects as the cruise control method described above.

[0146] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0147] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cruise control method, characterized in that, The cruise control method includes: The first torque is calculated based on the vehicle's target speed and actual speed in the current control cycle. Determine whether to perform any restriction operation based on the vehicle's current driving information; If so, determine the second torque corresponding to the limiting operation, and output a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque; If not, output torque request based on the first torque; The restriction operation includes a first restriction operation; The process of determining whether to perform any restriction operation based on the vehicle's current driving information includes: The vehicle's current driving information is obtained, including the vehicle's target acceleration and indication information in the current control cycle. The indication information includes a first indication information corresponding to the receipt of a shift signal or a second indication information corresponding to the failure to receive the shift signal. When the target acceleration is greater than the preset acceleration and the indication information is the first indication information, it is determined that the first restriction operation will be executed. Accordingly, the process of determining the second torque corresponding to the limiting operation includes: Determine the second torque corresponding to the first limiting operation; The process of determining the second torque corresponding to the first limiting operation includes: The proportional control force and feedforward force are calculated based on the target acceleration and actual acceleration of the vehicle in the current control cycle. Determine the limiting deviation control force corresponding to the current control cycle; the limiting deviation control force does not change with the deviation between the target acceleration and the actual acceleration; The second torque corresponding to the first limiting operation is calculated based on the target force synthesized from the limiting deviation control force, the feedforward force, and the proportional control force.

2. The cruise control method according to claim 1, characterized in that, The process of calculating the first torque based on the vehicle's target speed and actual speed in the current control cycle includes: Calculate the target acceleration based on the vehicle's target speed and actual speed in the current control cycle; The proportional control force, feedforward force, and actual deviation control force are determined using the target acceleration and the actual acceleration. The first torque is calculated based on the target force synthesized from the proportional control force, the feedforward force, and the actual deviation control force.

3. The cruise control method according to claim 1, characterized in that, The process of determining the limiting deviation control force corresponding to the current control cycle includes: The historical deviation control force of the previous control cycle is obtained as the limiting deviation control force of the current control cycle. The historical deviation control force is the deviation control force used to synthesize the target force in the previous control cycle.

4. The cruise control method according to claim 1, characterized in that, The restriction operation includes a second restriction operation; The process of determining whether to perform any restriction operation based on the vehicle's current driving information includes: The vehicle's current driving information is obtained, including the vehicle's first torque and indication information in the current control cycle. The indication information includes a first indication information corresponding to the receipt of a shift signal or a second indication information corresponding to the failure to receive the shift signal. When the indication information is the second indication information and the first torque is not within the preset range, it is determined that the second limiting operation will be executed; Accordingly, the process of determining the second torque corresponding to the limiting operation includes: Determine the second torque corresponding to the second limiting operation.

5. The cruise control method according to claim 4, characterized in that, The process of determining the second torque corresponding to the second limiting operation includes: Obtain the gear information of the vehicle in the current control cycle; The current adjustment value is determined based on the gear information; Based on the historical torque and the current adjustment value, a second torque corresponding to the second limiting operation is obtained.

6. The cruise control method according to claim 5, characterized in that, The process of determining the current adjustment value based on the gear information includes: The current torque request slope is determined based on the gear information; The current adjustment value is determined based on the current torque request slope and the duration of the current control cycle.

7. A cruise control system, characterized in that, The cruise control system includes: The first calculation module is used to calculate the first torque based on the vehicle's target speed and actual speed in the current control cycle; The judgment module is used to determine whether to perform any restriction operation based on the current driving information of the vehicle. If yes, it generates a first trigger signal; if no, it generates a second trigger signal. The first processing module is configured to, upon receiving the first trigger signal, determine the second torque corresponding to the limiting operation, and output a torque request based on the second torque; the deviation between the second torque and the historical torque in the torque request output in the previous control cycle is less than the deviation between the first torque and the historical torque; The second processing module is configured to output a torque request based on the first torque when the second trigger signal is received. The restriction operation includes a first restriction operation; The process of determining whether to perform any restriction operation based on the vehicle's current driving information includes: The vehicle's current driving information is obtained, including the vehicle's target acceleration and indication information in the current control cycle. The indication information includes a first indication information corresponding to the receipt of a shift signal or a second indication information corresponding to the failure to receive the shift signal. When the target acceleration is greater than the preset acceleration and the indication information is the first indication information, it is determined that the first restriction operation will be executed. Accordingly, the process of determining the second torque corresponding to the limiting operation includes: Determine the second torque corresponding to the first limiting operation; The process of determining the second torque corresponding to the first limiting operation includes: The proportional control force and feedforward force are calculated based on the target acceleration and actual acceleration of the vehicle in the current control cycle. Determine the limiting deviation control force corresponding to the current control cycle; the limiting deviation control force does not change with the deviation between the target acceleration and the actual acceleration; The second torque corresponding to the first limiting operation is calculated based on the target force synthesized from the limiting deviation control force, the feedforward force, and the proportional control force.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the cruise control method as described in any one of claims 1-6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the cruise control method as described in any one of claims 1-6.

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