Control method, device and equipment of constant speed cruise and storage medium

Abstract

The application discloses a control method, device and equipment of a constant speed cruise and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: determining that a vehicle enters a constant speed cruise state, acquiring a first driving speed of the vehicle, and controlling the vehicle to drive at the first driving speed; in the case that it is determined to adjust the speed of the vehicle, acquiring a target speed after adjustment, and controlling the vehicle to drive at the target speed after adjustment; in the case that the vehicle switches from the constant speed cruise state to a pre-cruise state, acquiring a signal of an accelerator pedal of the vehicle, and controlling the driving speed of the vehicle based on the signal of the accelerator pedal; based on the vehicle recovering from the pre-cruise state to the constant speed cruise state, controlling the vehicle to drive at the target speed after adjustment; and based on the vehicle exiting the pre-cruise state, controlling the target speed after adjustment to be cleared. The control of the range-extending vehicle entering the constant speed cruise state and exiting the constant speed cruise state is realized, and the comfort and safety of driving are ensured.

Description

Technical Field

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

[0002] Range-extended vehicles generate and store electricity by burning fuel through a range extender, providing power to the battery when its charge is low. As cruise control becomes increasingly common in the driver assistance technologies of range-extended vehicles, controlling the entry and exit of cruise control is crucial for ensuring driving comfort and safety. Summary of the Invention

[0003] This application provides a cruise control method, apparatus, device, and storage medium, which can be used to solve the problem of how to control a range-extended vehicle to enter and exit cruise control mode. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a cruise control method, the method comprising:

[0005] Once the vehicle is confirmed to be in cruise control mode, the first driving speed of the vehicle is obtained, and the vehicle is controlled to drive at the first driving speed.

[0006] If it is determined that the speed of the vehicle needs to be adjusted, the adjusted target speed is obtained, and the vehicle is controlled to travel at the adjusted target speed.

[0007] When the vehicle switches from the cruise control state to the pre-cruise state, the signal of the accelerator pedal of the vehicle is acquired, and the driving speed of the vehicle is controlled based on the signal of the accelerator pedal.

[0008] Based on the vehicle's recovery from the pre-cruise state to the cruise control state, the vehicle is controlled to travel at the adjusted target speed.

[0009] Based on the vehicle exiting the pre-cruise state, the adjusted target speed is controlled to be zero.

[0010] On the other hand, a cruise control device is provided, the device comprising:

[0011] The first control module is used to determine that the vehicle has entered cruise control mode, obtain the first driving speed of the vehicle, and control the vehicle to drive at the first driving speed.

[0012] The second control module is used to obtain the adjusted target speed when it is determined that the vehicle speed needs to be adjusted, and to control the vehicle to travel at the adjusted target speed.

[0013] The third control module is used to acquire the signal of the accelerator pedal of the vehicle when the vehicle switches from the cruise control state to the pre-cruise state, and control the driving speed of the vehicle based on the signal of the accelerator pedal.

[0014] The fourth control module is used to control the vehicle to travel at the adjusted target speed based on the vehicle's return from the pre-cruise state to the cruise control state.

[0015] The fifth control module is used to control the adjusted target speed to zero based on the vehicle exiting the pre-cruise state.

[0016] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the above-described cruise control methods.

[0017] On the other hand, a computer-readable storage medium is also provided, wherein at least one computer program is stored in the computer-readable storage medium, the at least one computer program being loaded and executed by a processor to enable a computer to implement any of the above-described cruise control methods.

[0018] On the other hand, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform any of the above-described cruise control methods.

[0019] The technical solution provided in this application has at least the following beneficial effects:

[0020] This application, when the vehicle enters cruise control mode, acquires the vehicle's first speed and controls the vehicle to travel at that speed, thus controlling the extended-range vehicle to enter cruise control mode. When the vehicle speed is adjusted, the application acquires the adjusted target speed and controls the vehicle to travel at that speed. When the vehicle switches from cruise control mode to pre-cruise mode, the application acquires the accelerator pedal signal and controls the vehicle's second speed based on the accelerator pedal signal. When the vehicle returns from pre-cruise mode to cruise control mode, the application controls the vehicle to travel at the adjusted target speed. When the vehicle exits pre-cruise mode, the application resets the adjusted target speed to zero, thus controlling the extended-range vehicle to exit cruise control mode. By controlling the entry and exit of the extended-range vehicle from cruise control mode, driving comfort and safety are ensured. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0023] Figure 2 This is a flowchart of a cruise control method provided in an embodiment of this application;

[0024] Figure 3 This is a control principle diagram of cruise control provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of a cruise control device provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the structure of a server provided in an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the structure of a cruise control device provided in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0029] This application provides a cruise control method. Please refer to... Figure 1The diagram illustrates the implementation environment of the method provided in this application embodiment. This implementation environment may include: a vehicle 11 and a vehicle control system 12.

[0030] Optionally, upon determining that vehicle 11 has entered cruise control mode, vehicle control system 12 acquires the first driving speed of vehicle 11, uses the first driving speed as the first target speed, and controls vehicle 11 to drive at the first target speed; upon determining that vehicle 11 needs speed adjustment, vehicle control system 12 acquires the adjusted target speed and controls vehicle 11 to drive at the adjusted target speed; upon determining that vehicle has switched from cruise control mode to pre-cruise mode, vehicle control system 12 acquires the signal from the accelerator pedal and controls the second driving speed of vehicle 11 based on the accelerator pedal signal; upon vehicle 11 resuming from pre-cruise mode to cruise control mode, vehicle control system 12 controls vehicle 11 to drive at the adjusted target speed; upon vehicle 11 exiting pre-cruise mode, the adjusted target speed is reset to zero.

[0031] The vehicle control system 12 can store the first driving speed of the vehicle 11, thereby controlling the vehicle 11 to maintain the first driving speed. The vehicle 11 can obtain the first driving speed from the vehicle control system 12.

[0032] Optionally, the vehicle 11 and the vehicle control system 12 establish a communication connection via a wired or wireless network.

[0033] Those skilled in the art should understand that the above-described vehicle 11 and vehicle control system 12 are merely examples. Other existing or future vehicles 11 or vehicle control systems 12 that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0034] Based on the above Figure 1 The implementation environment shown in this application provides a cruise control method, such as... Figure 2 As shown, taking the application of this method to a vehicle control system as an example, the method includes steps 201-205.

[0035] In step 201, it is determined that the vehicle has entered cruise control mode, the first driving speed of the vehicle is obtained, and the vehicle is controlled to drive at the first driving speed.

[0036] This application does not limit the method of determining whether a vehicle has entered cruise control mode. For example, the state of the cruise control master switch button and the cruise control setting button on the vehicle can be detected to determine whether the vehicle has entered cruise control mode. Both the cruise control master switch button and the cruise control setting button are located on the vehicle's cruise control system. The cruise control master switch button controls whether the vehicle enters or exits the pre-cruise mode, and the cruise control setting button controls whether the vehicle switches from the pre-cruise mode to the cruise control mode.

[0037] In one possible implementation, the status of the vehicle's cruise control main switch button and cruise setting button is detected. When the cruise control main switch button is pressed for the first time, the vehicle control system controls the vehicle to enter the pre-cruise state. If the cruise setting button is also pressed while the cruise control main switch is pressed, the vehicle control system controls the vehicle to switch from the pre-cruise state to the cruise control state.

[0038] This application does not limit the device for obtaining the vehicle's first driving speed. For example, the vehicle's first driving speed can be obtained by a speed sensor installed on the vehicle.

[0039] In one possible implementation, after determining that the vehicle has entered cruise control mode, the vehicle's first driving speed is obtained through a speed sensor installed on the vehicle, and the vehicle is controlled to drive at the first driving speed.

[0040] In step 202, if it is determined that the vehicle speed needs to be adjusted, the adjusted target speed is obtained, and the vehicle is controlled to travel at the adjusted target speed.

[0041] In one possible implementation, adjusting the vehicle speed includes either accelerating or decelerating the vehicle. If the vehicle speed is adjusted, obtaining the adjusted target speed includes: determining a first target speed based on accelerating the vehicle, where the first target speed is greater than a first driving speed; and determining a second target speed based on decelerating the vehicle, where the second target speed is less than the first driving speed.

[0042] This application does not limit the method of determining whether to accelerate or decelerate the vehicle. For example, the acceleration or deceleration of the vehicle can be determined by detecting the acceleration and deceleration buttons on the vehicle. Both the acceleration and deceleration buttons are located on the vehicle's cruise control system.

[0043] In one possible implementation, the states of the vehicle's accelerator and deceleration buttons are detected. When the accelerator button is pressed, the vehicle accelerates, and the increase in speed is proportional to the duration the accelerator button is pressed. When the deceleration button is pressed, the vehicle decelerates, and the decrease in speed is proportional to the duration the deceleration button is pressed.

[0044] In one possible implementation, after determining the magnitude of the increase or decrease in speed, based on the pressed accelerator button, the increase in speed is added to the first target vehicle speed to obtain the first target vehicle speed, and the vehicle is controlled to travel at the first target vehicle speed at a constant speed; based on the pressed deceleration button, the decrease in speed is subtracted from the first target vehicle speed to obtain the second target vehicle speed, and the vehicle is controlled to travel at the second target vehicle speed at a constant speed.

[0045] In step 203, when the vehicle switches from cruise control to pre-cruise mode, the signal of the accelerator pedal is acquired, and the vehicle speed is controlled based on the signal of the accelerator pedal.

[0046] This application does not limit the method of determining whether a vehicle switches from cruise control to pre-cruise mode. For example, the method can be modified by detecting the cruise cancellation button to determine whether the vehicle has switched from cruise control to pre-cruise mode. The cruise cancellation button is located on the vehicle's cruise control system and can control the vehicle's switch from cruise control to pre-cruise mode.

[0047] In one possible implementation, the state of the vehicle's cruise cancellation button is detected, and when the cruise cancellation button is pressed, the vehicle control system controls the vehicle to switch from cruise control mode to pre-cruise mode.

[0048] When the vehicle switches from cruise control to pre-cruise mode, the accelerator pedal signal is acquired, including the accelerator pedal opening degree and the rate of change of the opening degree. Based on the accelerator pedal signal, a second driving speed is controlled, including: determining the second driving speed based on the accelerator pedal opening degree (a larger opening degree results in a larger second driving speed); and determining the target acceleration based on the rate of change of the accelerator pedal opening degree (a larger rate of change of the accelerator pedal opening degree results in a larger target acceleration).

[0049] In addition to the case where the cruise cancellation button is pressed, other cases that cause the vehicle to switch from cruise control to pre-cruise mode are obtained, including: obtaining at least one of the following detection results: first detection result, second detection result, third detection result, fourth detection result, fifth detection result, sixth detection result, seventh detection result, eighth detection result, or ninth detection result. The first detection result is used to indicate whether the brake pedal is pressed; the second detection result is used to indicate whether the start-stop function is activated; the third detection result is used to indicate whether the actual acceleration of the vehicle is greater than the acceleration threshold; the fourth detection result is used to indicate whether the pedal torque demand is greater than the cruise torque demand; the fifth detection result is used to indicate whether the vehicle's third driving speed is less than the second reference speed or greater than the third reference speed; the sixth detection result is used to indicate whether the gradient of the road where the vehicle is located is greater than the gradient threshold; the seventh detection result is used to indicate whether the electronic parking system is activated; the eighth detection result is used to indicate whether the electronic stability system is activated; and the ninth detection result is used to indicate whether the vehicle has disengaged from forward gear.

[0050] Based on at least one of the following detection results: the first detection result indicates that the brake pedal is depressed; the second detection result indicates that the start-stop function is activated; the third detection result indicates that the actual acceleration of the vehicle is greater than the acceleration threshold; the fourth detection result indicates that the pedal torque demand is greater than the cruise torque demand; the fifth detection result indicates that the third driving speed of the vehicle is less than the second reference speed or greater than the third reference speed; the sixth detection result indicates that the slope of the road where the vehicle is located is greater than the slope threshold; the seventh detection result indicates that the electronic parking system is activated; the eighth detection result indicates that the electronic stability system is activated; or the ninth detection result indicates that the vehicle is disengaged from forward gear, the vehicle is controlled to switch from cruise control mode to pre-cruise mode.

[0051] Next, examples will be given to illustrate the methods for obtaining various test results.

[0052] (1) Obtain the first detection result used to indicate whether the brake pedal has been pressed.

[0053] For example, obtaining a first detection result indicating whether the brake pedal is depressed includes: the vehicle control system obtains the brake pedal status information through the braking system; based on the brake pedal status being that the brake pedal is depressed, the eighth detection result indicates that the brake pedal is depressed. Here, the braking system is located on the vehicle, the braking system includes the brake pedal, and the brake pedal status information includes whether the brake pedal is depressed.

[0054] (2) Obtain a second detection result to indicate whether the start / stop function is enabled.

[0055] In one possible implementation, a video recognition device is installed on the vehicle, which can detect the illumination status of the start-stop indicator light on the instrument control system. The instrument control system is located on the vehicle, and when the start-stop function is activated, the start-stop indicator light on the instrument control system illuminates.

[0056] For example, obtaining a second detection result indicating whether the vehicle's start-stop function is abnormal includes: the vehicle control system detects the illumination status of the start-stop indicator light on the instrument control system through a video recognition device; if the start-stop indicator light is illuminated, the second detection result indicates that the start-stop function is enabled; if the start-stop indicator light is off, the ninth detection result indicates that the start-stop function is disabled.

[0057] (3) Obtain a third detection result to indicate whether the actual acceleration of the vehicle is greater than the first acceleration threshold or less than the second acceleration threshold.

[0058] In one possible implementation, an accelerometer is installed on the vehicle, which can acquire the vehicle's actual acceleration. A third detection result is acquired to indicate whether the vehicle's actual acceleration is greater than an acceleration threshold, including but not limited to: the vehicle control system acquires the vehicle's actual acceleration via the accelerometer installed on the vehicle; based on the acquired actual acceleration being greater than a first acceleration threshold or less than a second acceleration threshold, the third detection result indicates that the vehicle's actual acceleration is greater than the first acceleration threshold or less than the second acceleration threshold.

[0059] This application does not impose any restrictions on the first acceleration threshold and the second acceleration threshold. For example, the first acceleration threshold and the second acceleration threshold can be set based on experience, or they can be adjusted according to the actual situation.

[0060] (4) Obtain a fourth detection result to indicate whether the required torque of the pedal is greater than the required torque of the cruise.

[0061] For example, obtaining a fourth detection result for indicating whether the pedal demand torque is greater than the cruise demand torque includes: determining the target acceleration of the vehicle based on a first driving speed and an adjusted target vehicle speed; determining the cruise demand torque based on the actual acceleration and the target acceleration; and indicating that the pedal demand torque is greater than the cruise demand torque based on the pedal demand torque being greater than the cruise demand torque.

[0062] For example, determining the target acceleration of the vehicle based on the first driving speed and the adjusted target vehicle speed includes: subtracting the first driving speed from the adjusted target vehicle speed and then dividing by the acceleration time to obtain the target acceleration of the vehicle. This application embodiment does not limit the acceleration time; for example, the acceleration time can be set based on experience, or it can be adjusted according to actual conditions.

[0063] For example, determining the cruise torque demand based on the actual acceleration and the target acceleration includes: inputting the actual acceleration and the target acceleration into a range-extended PID (proportional integral derivative) controller, performing proportional, integral, and derivative processing on the controller, and outputting the cruise torque demand. The pedal torque demand is determined based on the accelerator pedal signal. Since the pedal torque demand is greater than the cruise torque demand, a fourth detection result indicates that the pedal torque demand is greater than the cruise torque demand.

[0064] (5) Obtain a fifth detection result to indicate whether the third driving speed of the vehicle is less than the second reference speed or greater than the third reference speed.

[0065] In one possible implementation, the vehicle control system acquires the vehicle's third driving speed through a speed sensor installed on the vehicle. Based on the acquisition of the third driving speed being less than or greater than the second reference speed, the fifth detection result indicates that the vehicle's third driving speed is less than or greater than the second reference speed.

[0066] This application does not limit the second reference speed and the third reference speed. For example, the second reference speed and the third reference speed can be set based on experience, or they can be adjusted according to the actual situation.

[0067] (6) Obtain a sixth detection result to indicate whether the slope of the road where the vehicle is located is greater than the slope threshold.

[0068] For example, a slope sensor is installed on the vehicle, which can detect the slope of the road where the vehicle is located. In one possible implementation, obtaining a sixth detection result to indicate whether the slope of the road where the vehicle is located is greater than a slope threshold includes: detecting the slope of the road where the vehicle is located by the slope sensor installed on the vehicle, and based on the detected slope being greater than the slope threshold, the sixth detection result indicates that the slope of the road where the vehicle is located is greater than the slope threshold.

[0069] This application does not impose any restrictions on the slope threshold. For example, the slope threshold can be set based on experience, or it can be adjusted according to the actual situation.

[0070] (7) Obtain the seventh detection result used to indicate whether the electronic parking system is activated.

[0071] For example, obtaining the seventh detection result indicating whether the electronic parking system is activated includes: the vehicle control system detects the illumination status of the electronic parking indicator light on the instrument control system through a video recognition device; if the electronic parking indicator light is illuminated, the seventh detection result indicates that the electronic parking system is activated; if the electronic parking indicator light is off, the seventh detection result indicates that the electronic parking system is deactivated.

[0072] (8) Obtain the eighth detection result used to indicate whether the electronic stability system is activated.

[0073] For example, obtaining the eighth detection result indicating whether the electronic stability system is activated includes: the vehicle control system detects the illumination status of the electronic stability indicator light on the instrument control system through a video recognition device; if the electronic stability indicator light is illuminated, the eighth detection result indicates that the electronic stability system is activated; if the electronic stability indicator light is off, the eighth detection result indicates that the electronic stability system is deactivated.

[0074] (9) Obtain the ninth detection result used to indicate whether the vehicle has disengaged from forward gear.

[0075] For example, obtaining a ninth detection result for indicating whether a vehicle has disengaged from a forward gear includes: the vehicle control system detecting the status of the gear position indicator on the instrument control system via a video recognition device; if the forward gear indicator is lit, the ninth detection result indicates that the vehicle has not disengaged from a forward gear; if any one of the reverse, neutral, or parking gear indicator lights is lit, the ninth detection result indicates that the vehicle has disengaged from a forward gear.

[0076] In step 204, based on the vehicle's return from pre-cruise state to cruise control state, the vehicle is controlled to travel at the adjusted target speed.

[0077] This application does not limit the method by which the vehicle resumes from the pre-cruise state to the cruise control state. For example, the method can be modified by detecting the cruise control resume button to determine whether the vehicle has resumed from the pre-cruise state to the cruise control state. The cruise control resume button is located on the vehicle's cruise control system and can control the vehicle to resume from the pre-cruise state to the cruise control state.

[0078] In one possible implementation, after the cruise cancellation button is pressed, the state of the vehicle's cruise resumption button is detected. When the cruise resumption button is pressed, the vehicle's second driving speed is acquired. Based on the fact that the second driving speed is greater than the first reference speed and less than the second reference speed, the vehicle control system controls the vehicle to resume the cruise control state from the pre-cruise state.

[0079] In one possible implementation, when the cruise control resume button is pressed, if the second driving speed is less than or greater than the first reference speed, the second driving speed can be adjusted by changing the depth of the accelerator pedal. When the second driving speed is greater than the first reference speed but less than the second reference speed, the vehicle control system controls the vehicle to resume cruise control from the pre-cruise state to the constant speed cruise state.

[0080] This application embodiment does not adjust the first reference speed and the second reference speed. For example, the first reference speed and the second reference speed can be set based on experience, or they can be adjusted according to the actual situation.

[0081] Once the vehicle has resumed cruise control from pre-cruise mode, the vehicle control system controls the vehicle to travel at a constant speed according to the adjusted target speed.

[0082] In step 205, based on the vehicle exiting the pre-cruise state, the adjusted target speed is reset to zero.

[0083] This application does not limit the method of determining whether a vehicle has exited the pre-cruise state. For example, the method of detecting the cruise main switch button can be used to determine whether the vehicle has exited the pre-cruise state.

[0084] In one possible implementation, the state of the vehicle's cruise control main switch button is detected. When the cruise control main switch button is pressed again, the vehicle control system controls the vehicle to exit the pre-cruise state and controls the adjusted target speed to zero. The third driving speed of the vehicle is controlled based on the accelerator pedal.

[0085] In addition to the case where the cruise control main switch button is pressed again, other cases that cause the vehicle to exit the pre-cruise state include: obtaining at least one of the tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, or sixteenth detection results, where the tenth detection result indicates whether the cruise control system is malfunctioning, the eleventh detection result indicates whether the vehicle's airbags are malfunctioning, the twelfth detection result indicates whether the vehicle's braking system is malfunctioning, the thirteenth detection result indicates whether the vehicle's power battery is malfunctioning, the fourteenth detection result indicates whether the vehicle's drive motor is malfunctioning, the fifteenth detection result indicates whether the vehicle's alternator is malfunctioning, and the sixteenth detection result indicates whether the vehicle's engine is malfunctioning.

[0086] If at least one of the following is detected: the tenth test result indicates a malfunction in the cruise control system; the eleventh test result indicates a malfunction in the vehicle's airbags; the twelfth test result indicates a malfunction in the vehicle's braking system; the thirteenth test result indicates a malfunction in the vehicle's power battery; the fourteenth test result indicates a malfunction in the vehicle's drive motor; the fifteenth test result indicates a malfunction in the vehicle's alternator; or the sixteenth test result indicates a malfunction in the vehicle's engine, the vehicle will be controlled to exit the pre-cruise state.

[0087] Next, examples will be given to illustrate the methods for obtaining various test results.

[0088] (1) Obtain the tenth test result indicating whether the cruise control system is malfunctioning.

[0089] For example, obtaining a tenth detection result indicating whether the cruise control system is malfunctioning includes: detecting the AD (Analog to Digital) conversion function or signal input logic of the cruise control system; if any one of the AD conversion function or signal input logic is malfunctioning, the tenth detection result indicates that the cruise control system is malfunctioning.

[0090] (2) Obtain the eleventh test result indicating whether the vehicle's airbags are abnormal.

[0091] For example, obtaining the eleventh detection result indicating whether the vehicle's airbags are abnormal includes: the vehicle control system detects the illumination status of the airbag light on the instrument control system through a video recognition device; based on the airbag light being illuminated, the eleventh detection result indicates that the vehicle's airbags are abnormal; based on the airbag light being off, the eleventh detection result indicates that the vehicle's airbags are normal.

[0092] (3) Obtain the twelfth test result indicating whether the vehicle's braking system is abnormal.

[0093] In one possible implementation, obtaining a twelfth detection result indicating whether the vehicle's braking system is abnormal includes: the vehicle control system detects the illumination status of the handbrake light or the ABS (Anti-lock Brake System) warning light on the instrument control system via a video recognition device; if either the handbrake light or the ABS warning light is illuminated, the twelfth detection result indicates that the vehicle's braking system is abnormal; if both the handbrake light and the ABS warning light are off, the twelfth detection result indicates that the vehicle's braking system is normal.

[0094] (4) Obtain the thirteenth test result indicating whether the vehicle's power battery is abnormal.

[0095] For example, a vehicle is equipped with a BMS (Battery Management System), which can detect the SOH (State of Health) of the vehicle's power battery. Under normal circumstances, the SOH of the power battery is greater than the reference percentage.

[0096] This application does not limit the reference percentage; for example, the reference percentage can be 80%.

[0097] In one possible implementation, obtaining the thirteenth detection result indicating whether the vehicle's power battery is abnormal includes: the vehicle control system detects the SOH of the vehicle's power battery through the BMS; if the SOH is less than a reference percentage, the thirteenth detection result indicates that the vehicle's power battery is abnormal; if the SOH is greater than a reference percentage, the thirteenth detection result indicates that the vehicle's power battery is normal.

[0098] (5) Obtain the fourteenth test result indicating whether the vehicle's drive motor is abnormal.

[0099] In one possible implementation, obtaining the fourteenth detection result indicating whether the vehicle's drive motor is abnormal includes: the vehicle control system detecting the resistance value between the three terminals of the drive motor; if the resistance values ​​of the three terminals are not equal, the fourteenth detection result indicates that the vehicle's drive motor is abnormal; if the resistance values ​​of the three terminals are equal, the fourteenth detection result indicates that the vehicle's drive motor is normal.

[0100] For example, the terminals are located on the drive motor. This application embodiment does not limit the device for detecting the resistance value between the three terminals. The resistance value between the three terminals can be detected by a multimeter, wherein the multimeter is set to the ohm range.

[0101] (6) Obtain the fifteenth test result indicating whether the generator of the vehicle is abnormal.

[0102] In one possible implementation, obtaining a fifteenth detection result indicating whether the vehicle's generator is malfunctioning includes: the vehicle control system reading at least one of the voltage or ampere readings from the generator instrument via a video recognition device; if the voltage reading is less than a first reference value or less than a second reference value, then the voltage reading of the generator instrument is malfunctioning; if the ampere reading is less than a third reference value or less than a fourth reference value, then the ampere reading of the generator instrument is malfunctioning; and if at least one of the voltage or ampere readings is malfunctioning, then the fifteenth detection result indicates that the vehicle's generator is malfunctioning.

[0103] This application does not impose restrictions on the first reference value, the second reference value, the third reference value, and the fourth reference value. For example, they can be set based on experience, and the first reference value must be less than the second reference value, and the third reference value must be less than the fourth reference value.

[0104] (7) Obtain the sixteenth test result indicating whether the vehicle's engine is abnormal.

[0105] In one possible implementation, obtaining the sixteenth detection result indicating whether the vehicle's engine is abnormal includes: the vehicle control system reads the engine malfunction indicator light on the instrument control system through a video recognition device; if the engine malfunction indicator light is red or yellow, the sixteenth detection result indicates that the vehicle's engine is abnormal; if the engine malfunction indicator light is off, the sixteenth detection result indicates that the vehicle's engine is normal.

[0106] In this embodiment, when the vehicle enters cruise control mode, a first driving speed is acquired, and the vehicle is controlled to travel at that speed. This achieves control over the extended-range vehicle entering cruise control mode. When the vehicle speed is adjusted, the adjusted target speed is acquired, and the vehicle is controlled to travel at the adjusted target speed. When the vehicle switches from cruise control mode to pre-cruise mode, the accelerator pedal signal is acquired, and the second driving speed is controlled using the accelerator pedal signal. When the vehicle returns from pre-cruise mode to cruise control mode, the vehicle is controlled to travel at the adjusted target speed. When the vehicle exits pre-cruise mode, the adjusted target speed is reset to zero. This achieves control over the extended-range vehicle exiting cruise control mode. By controlling the extended-range vehicle's entry and exit from cruise control mode, driving comfort and safety are ensured.

[0107] During the control of vehicle cruise control, the determined cruise torque demand and pedal torque demand can also be used to determine whether the range extender needs to be activated. The range extender, located on the vehicle, provides power to the vehicle when the battery's state of charge (SOC) is insufficient. In one possible implementation, the battery management system coordinates the cruise torque demand and pedal torque demand to determine the vehicle's motion torque demand, and calculates the vehicle's power demand based on this torque demand. The maximum power of the drive motor is calculated based on its maximum torque, and the output power of the battery is calculated based on the battery's SOC. The vehicle's power demand is then subtracted from the battery's output power and the drive motor's maximum power to obtain the result. If the result is greater than 0, the range extender needs to be activated. For example, using... Figure 3The control principle diagram of a cruise control system is illustrated below. The first driving speed 301 and the adjusted target vehicle speed 302 are input to the cruise module 303. The cruise module 303 calculates the target acceleration. The target acceleration and the actual acceleration 305 are input to the torque calculation module 304. The torque calculation module 304 calculates the cruise torque requirement. The cruise torque requirement and the pedal torque requirement 306 are input to the torque coordination module 307. The torque coordination module 307 coordinates the torque requirement to obtain the vehicle motion torque. The vehicle motion torque requirement is then input to the drive motor module 310, which is used by the vehicle control module 311 to request the vehicle motion torque requirement from the drive motor module 310. Based on the vehicle motion torque requirement, the vehicle's power requirement is calculated. The vehicle control module 311 determines the vehicle's charging power requirement based on the vehicle's overall power requirement and the maximum power of the drive motor module 310. Combined with the SOC of the power battery 308, it determines whether the range extender 309 needs to be activated to provide power to the vehicle.

[0108] See Figure 4 This application provides a cruise control device, which includes:

[0109] The first control module 401 is used to determine that the vehicle has entered the cruise control state, obtain the first driving speed of the vehicle, and control the vehicle to drive at the first driving speed.

[0110] The second control module 402 is used to obtain the adjusted target speed when it is determined that the vehicle speed needs to be adjusted, and to control the vehicle to drive at the adjusted target speed.

[0111] The third control module 403 is used to acquire the accelerator pedal signal when the vehicle switches from cruise control to pre-cruise mode, and control the vehicle speed based on the accelerator pedal signal.

[0112] The fourth control module 404 is used to control the vehicle to travel at the adjusted target speed based on the vehicle's recovery from pre-cruise state to cruise control state.

[0113] The fifth control module 405 is used to control the adjusted target speed to zero based on the vehicle exiting the pre-cruise state.

[0114] In one possible implementation, adjusting the vehicle speed includes either accelerating or decelerating the vehicle. The second control module 402 is used to determine, based on accelerating the vehicle, an adjusted target speed as a first target speed, the first target speed being greater than a first driving speed; and based on decelerating the vehicle, to determine an adjusted target speed as a second target speed, the second target speed being less than the first driving speed.

[0115] In one possible implementation, the device further includes: a first acquisition module, configured to acquire at least one of a first detection result, a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result, a seventh detection result, an eighth detection result, or a ninth detection result, wherein the first detection result is used to indicate whether the brake pedal is depressed, the second detection result is used to indicate whether the start-stop function is activated, the third detection result is used to indicate whether the actual acceleration of the vehicle is greater than an acceleration threshold, the fourth detection result is used to indicate whether the pedal torque requirement is greater than the cruise torque requirement, the fifth detection result is used to indicate whether the third driving speed of the vehicle is less than a second reference speed or greater than a third reference speed, the sixth detection result is used to indicate whether the gradient of the road where the vehicle is located is greater than a gradient threshold, the seventh detection result is used to indicate whether the electronic parking system is activated, the eighth detection result is used to indicate whether the electronic stability system is activated, and the ninth detection result is used to indicate whether the vehicle has disengaged from a forward gear;

[0116] The sixth control module is used to control the vehicle to switch from cruise control state to pre-cruise state based on at least one of the following: the first detection result indicates that the brake pedal is depressed; the second detection result indicates that the start-stop function is activated; the third detection result indicates that the actual acceleration of the vehicle is greater than the acceleration threshold; the fourth detection result indicates that the pedal torque demand is greater than the cruise torque demand; the fifth detection result indicates that the third driving speed of the vehicle is less than the second reference speed or greater than the third reference speed; the sixth detection result indicates that the slope of the road where the vehicle is located is greater than the slope threshold; the seventh detection result indicates that the electronic parking system is activated; the eighth detection result indicates that the electronic stability system is activated; or the ninth detection result indicates that the vehicle is disengaged from forward gear.

[0117] In one possible implementation, the device further includes: a first determining module for determining the target acceleration of the vehicle based on a first driving speed and an adjusted target vehicle speed; and a second determining module for determining the cruise demand torque based on the actual acceleration and the target acceleration.

[0118] In one possible implementation, the device further includes: a second acquisition module, configured to acquire at least one of a tenth detection result, an eleventh detection result, a twelfth detection result, a thirteenth detection result, a fourteenth detection result, a fifteenth detection result, or a sixteenth detection result, wherein the tenth detection result is used to indicate whether the cruise control system is malfunctioning, the eleventh detection result is used to indicate whether the vehicle's airbag is malfunctioning, the twelfth detection result is used to indicate whether the vehicle's braking system is malfunctioning, the thirteenth detection result is used to indicate whether the vehicle's power battery is malfunctioning, the fourteenth detection result is used to indicate whether the vehicle's drive motor is malfunctioning, the fifteenth detection result is used to indicate whether the vehicle's generator is malfunctioning, and the sixteenth detection result is used to indicate whether the vehicle's engine is malfunctioning.

[0119] The seventh control module is used to control the vehicle to exit the pre-cruise state based on at least one of the following: the tenth detection result indicates a functional abnormality of the cruise control system; the eleventh detection result indicates a functional abnormality of the vehicle's airbag; the twelfth detection result indicates a functional abnormality of the vehicle's braking system; the thirteenth detection result indicates a functional abnormality of the vehicle's power battery; the fourteenth detection result indicates a functional abnormality of the vehicle's drive motor; the fifteenth detection result indicates a functional abnormality of the vehicle's generator; or the sixteenth detection result indicates a functional abnormality of the vehicle's engine.

[0120] This device acquires the vehicle's initial speed when the vehicle is in cruise control mode and controls the vehicle to travel at that speed. This enables control of extended-range vehicles entering cruise control mode. When the vehicle speed is adjusted, the device acquires the adjusted target speed and controls the vehicle to travel at that speed. When the vehicle switches from cruise control to pre-cruise control mode, the device acquires the accelerator pedal signal and controls the vehicle's second speed based on the accelerator pedal signal. When the vehicle returns from pre-cruise control to cruise control mode, the device controls the vehicle to travel at the adjusted target speed. When the vehicle exits pre-cruise control mode, the device resets the adjusted target speed to zero. This enables control of extended-range vehicles exiting cruise control mode. By controlling the entry and exit of extended-range vehicles from cruise control mode, driving comfort and safety are ensured.

[0121] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0122] Figure 5 This is a schematic diagram of a server structure provided in an embodiment of this application. The server can vary significantly due to differences in configuration or performance. It may include one or more processors 901 and one or more memories 902. The one or more memories 902 store at least one computer program, which is loaded and executed by the one or more processors 901 to enable the server to implement the cruise control method provided in the various method embodiments described above. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated upon here.

[0123] Figure 6This is a schematic diagram of a cruise control device according to an embodiment of this application. The device can be a terminal, such as an in-vehicle system, smartphone, tablet, media player, laptop, or desktop computer. The terminal may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0124] Typically, a terminal includes a processor 1501 and a memory 1502.

[0125] Processor 1501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0126] The memory 1502 may include one or more computer-readable storage media, which may be non-transitory. The memory 1502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1502 is used to store at least one instruction, which is executed by the processor 1501 to cause the terminal to implement the cruise control method provided in the method embodiments of this application.

[0127] In some embodiments, the terminal may also optionally include: a peripheral device interface 1503 and at least one peripheral device. The processor 1501, memory 1502, and peripheral device interface 1503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 1504, a display screen 1505, a camera assembly 1506, an audio circuit 1507, and a power supply 1508.

[0128] Peripheral interface 1503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1501 and memory 1502. In some embodiments, processor 1501, memory 1502 and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1501, memory 1502 and peripheral interface 1503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0129] The radio frequency (RF) circuit 1504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1504 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0130] Display screen 1505 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1501 for processing. In this case, display screen 1505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 1505 can be a single screen, located on the front panel of the terminal; in other embodiments, display screen 1505 can be at least two screens, respectively located on different surfaces of the terminal or in a folded design; in other embodiments, display screen 1505 can be a flexible display screen, located on a curved or folded surface of the terminal. Furthermore, display screen 1505 can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 1505 can be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0131] The camera assembly 1506 is used to acquire images or videos. Optionally, the camera assembly 1506 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0132] The audio circuit 1507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1501 for processing, or input to the radio frequency circuit 1504 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location on the terminal. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1507 may also include a headphone jack.

[0133] Power supply 1508 is used to power the various components in the terminal. Power supply 1508 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1508 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0134] In some embodiments, the terminal further includes one or more sensors 1509. The one or more sensors 1509 include, but are not limited to: an acceleration sensor 1510, a gyroscope sensor 1511, a pressure sensor 1512, an optical sensor 1513, and a proximity sensor 1514.

[0135] Accelerometer 1510 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by the terminal. For example, accelerometer 1510 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1501 can control display screen 1505 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1510. Accelerometer 1510 can also be used for games or for acquiring user motion data.

[0136] The gyroscope sensor 1511 can detect the terminal's orientation and rotation angle. The gyroscope sensor 1511 can work in conjunction with the accelerometer sensor 1510 to collect the user's 3D movements on the terminal. Based on the data collected by the gyroscope sensor 1511, the processor 1501 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0137] The pressure sensor 1512 can be disposed on the side bezel of the terminal and / or the lower layer of the display screen 1505. When the pressure sensor 1512 is disposed on the side bezel of the terminal, it can detect the user's grip signal on the terminal, and the processor 1501 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1512. When the pressure sensor 1512 is disposed on the lower layer of the display screen 1505, the processor 1501 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 1505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0138] Optical sensor 1513 is used to collect ambient light intensity. In one embodiment, processor 1501 can control the display brightness of display screen 1505 based on the ambient light intensity collected by optical sensor 1513. Specifically, when the ambient light intensity is high, the display brightness of display screen 1505 is increased; when the ambient light intensity is low, the display brightness of display screen 1505 is decreased. In another embodiment, processor 1501 can also dynamically adjust the shooting parameters of camera assembly 1506 based on the ambient light intensity collected by optical sensor 1513.

[0139] The proximity sensor 1514, also known as a distance sensor, is typically installed on the front panel of the terminal. The proximity sensor 1514 is used to detect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually decreasing, the processor 1501 controls the display screen 1505 to switch from a screen-on state to a screen-off state; when the proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually increasing, the processor 1501 controls the display screen 1505 to switch from a screen-off state to a screen-on state.

[0140] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0141] In an exemplary embodiment, a computer device is also provided, comprising a processor and a memory storing at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the aforementioned cruise control methods.

[0142] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-described cruise control methods.

[0143] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0144] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the above-described cruise control methods.

[0145] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application are authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the first and second driving speeds involved in this application were obtained with full authorization.

[0146] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0147] It should be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application 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 this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0148] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling cruise speed, characterized in that, The method includes: Once the vehicle is confirmed to be in cruise control mode, the first driving speed of the vehicle is obtained, and the vehicle is controlled to drive at the first driving speed. If it is determined that the speed of the vehicle needs to be adjusted, the adjusted target speed is obtained, and the vehicle is controlled to travel at the adjusted target speed. When the vehicle switches from the cruise control state to the pre-cruise state, the signal of the accelerator pedal of the vehicle is acquired, and the driving speed of the vehicle is controlled based on the signal of the accelerator pedal. Based on the vehicle's recovery from the pre-cruise state to the cruise control state, the vehicle is controlled to travel at the adjusted target speed. Based on the vehicle exiting the pre-cruise state, the adjusted target vehicle speed is controlled to be zero. Based on at least one of the following: the brake pedal is depressed, the start-stop function is activated, the actual acceleration of the vehicle is greater than the acceleration threshold, the pedal torque requirement is greater than the cruise torque requirement, the third driving speed of the vehicle is less than the second reference speed or greater than the third reference speed, the slope of the road where the vehicle is located is greater than the slope threshold, the electronic parking system is activated, the electronic stability system is activated, or the vehicle is out of forward gear, the vehicle is controlled to switch from the cruise control state to the pre-cruise state.

2. The method according to claim 1, characterized in that, The speed adjustment of the vehicle includes either accelerating or decelerating the vehicle, and the acquisition of the adjusted target vehicle speed includes: Based on the acceleration of the vehicle, the adjusted target vehicle speed is determined to be the first target vehicle speed, which is greater than the first driving speed. Based on the deceleration of the vehicle, the adjusted target speed is determined to be the second target speed, which is less than the first driving speed.

3. The method according to claim 1, characterized in that, The method further includes: The target acceleration of the vehicle is determined based on the first driving speed and the adjusted target vehicle speed. The cruise torque requirement is determined based on the actual acceleration and the target acceleration.

4. The method according to claim 1, characterized in that, The method further includes: Obtain at least one of the following detection results: the tenth detection result, the eleventh detection result, the twelfth detection result, the thirteenth detection result, the fourteenth detection result, the fifteenth detection result, or the sixteenth detection result. The tenth detection result is used to indicate whether the cruise control system is malfunctioning; the eleventh detection result is used to indicate whether the vehicle's airbag is malfunctioning; the twelfth detection result is used to indicate whether the vehicle's braking system is malfunctioning; the thirteenth detection result is used to indicate whether the vehicle's power battery is malfunctioning; the fourteenth detection result is used to indicate whether the vehicle's drive motor is malfunctioning; the fifteenth detection result is used to indicate whether the vehicle's generator is malfunctioning; and the sixteenth detection result is used to indicate whether the vehicle's engine is malfunctioning. Based on at least one of the following: the tenth detection result indicates a malfunction in the cruise control system; the eleventh detection result indicates a malfunction in the vehicle's airbags; the twelfth detection result indicates a malfunction in the vehicle's braking system; the thirteenth detection result indicates a malfunction in the vehicle's power battery; the fourteenth detection result indicates a malfunction in the vehicle's drive motor; the fifteenth detection result indicates a malfunction in the vehicle's generator; or the sixteenth detection result indicates a malfunction in the vehicle's engine, the vehicle is controlled to exit the pre-cruise state.

5. A cruise control device, characterized in that, The device includes: The first control module is used to determine that the vehicle has entered cruise control mode, obtain the first driving speed of the vehicle, and control the vehicle to drive at the first driving speed. The second control module is used to obtain the adjusted target speed when it is determined that the vehicle speed needs to be adjusted, and to control the vehicle to travel at the adjusted target speed. The third control module is used to acquire the accelerator pedal signal of the vehicle when the vehicle switches from the cruise control state to the pre-cruise state, and control the vehicle speed based on the accelerator pedal signal. The fourth control module is used to control the vehicle to travel at the adjusted target speed based on the vehicle's return from the pre-cruise state to the cruise control state. The fifth control module is used to control the adjusted target speed to zero based on the vehicle exiting the pre-cruise state; Based on at least one of the following: the brake pedal is depressed, the start-stop function is activated, the actual acceleration of the vehicle is greater than the acceleration threshold, the pedal torque requirement is greater than the cruise torque requirement, the third driving speed of the vehicle is less than the second reference speed or greater than the third reference speed, the slope of the road where the vehicle is located is greater than the slope threshold, the electronic parking system is activated, the electronic stability system is activated, or the vehicle is out of forward gear, the vehicle is controlled to switch from the cruise control state to the pre-cruise state.

6. The apparatus according to claim 5, characterized in that, The speed adjustment of the vehicle includes either accelerating or decelerating the vehicle. The second control module is used to determine the adjusted target speed as a first target speed based on accelerating the vehicle, wherein the first target speed is greater than the first driving speed; and to determine the adjusted target speed as a second target speed based on decelerating the vehicle, wherein the second target speed is less than the first driving speed.

7. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the computer device to implement the cruise control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the cruise control method as described in any one of claims 1 to 4.

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