Intelligent driving method and device for improving vehicle economy

Abstract

The present application relates to an intelligent driving method and device for improving vehicle economy, and relates to the field of vehicle control technology. The method includes the following steps: based on the target vehicle on the current road section, obtaining the corresponding maximum cruising speed and the maximum cruising speed in the curve corresponding to the front curve in the current road section; obtaining the slope information in front of the target vehicle; obtaining the cruise planning acceleration based on the maximum cruising speed, the maximum cruising speed in the curve, the slope information, and the target cruise speed of the target vehicle; based on the cruise planning acceleration and the planned acceleration set for the target vehicle, combined with the driving conditions of the target vehicle, obtaining the wire control braking acceleration. The present application rationally plans the vehicle speed and longitudinal acceleration based on the vehicle driving data of the target vehicle and the relevant information of the current road section, realizes the rational use of road information by the entire vehicle, improves the economy of the entire vehicle, and thus increases the cruising range.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an intelligent driving method and device for improving vehicle economy. Background Art

[0002] With the increasing prevalence of intelligent technology, more and more users are choosing smart cars. Their advanced intelligence, particularly in enabling intelligent driving within certain limits, can reduce driver fatigue and improve safety. Current smart cars are equipped with multiple sensors, high-precision map information, and other inputs, but these are mostly used only for intelligent driving, and have yet to be integrated into other vehicle features. Vehicle economy is a core product characteristic; better vehicle economy increases range, alleviating range anxiety. However, current intelligent driving software development fails to consider improving vehicle economy. For example, when the intelligent driving function is activated on a sloping road, the car will maintain a fixed speed according to the driver's set speed. This lacks proper longitudinal speed planning based on actual road conditions.

[0003] For example, on downhill sections, to maintain the vehicle's cruising speed, braking intervention is used to maintain a stable speed. On downhill sections, gravitational potential energy can be used to power the vehicle. On uphill sections, the vehicle's inertia allows it to charge uphill, reducing fuel consumption and optimizing energy utilization in both uphill and downhill conditions, thereby improving overall vehicle efficiency. Currently, there is a lack of a method that can control the vehicle's overall efficiency based on the vehicle's operating conditions.

[0004] Therefore, in order to meet current usage needs, an intelligent driving technology is now provided to improve vehicle economy. Summary of the Invention

[0005] The present application provides an intelligent driving method and device for improving vehicle economy. Based on the vehicle driving data of the target vehicle and relevant information of the current road section, the vehicle speed and longitudinal acceleration are rationally planned to achieve rational use of road information by the entire vehicle, improve the economy of the entire vehicle, and thus increase the cruising range.

[0006] To achieve the above objectives, this application provides the following solutions.

[0007] In a first aspect, the present application provides an intelligent driving method for improving vehicle economy, the method comprising the following steps:

[0008] Based on the target vehicle on the current road section, obtaining a corresponding maximum cruising speed and a maximum cruising speed within a curve corresponding to a front curve in the current road section;

[0009] Obtaining slope information in front of the target vehicle;

[0010] Obtaining a planned cruise acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle;

[0011] Based on the planned cruise acceleration and the planned acceleration set for the target vehicle, and in combination with the driving condition of the target vehicle, a brake-by-wire acceleration is obtained.

[0012] Furthermore, the method further comprises the following steps:

[0013] The maximum cruising speed is obtained based on the road speed limit information of the current road section.

[0014] Furthermore, the method further comprises the following steps:

[0015] Based on the curvature and curvature change rate of the front curve in the current road section, a maximum cruising speed in the curve is obtained.

[0016] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0017] When the slope gradients in the maximum slope information and the minimum slope information of the slope information are both greater than 0, it is determined that the target vehicle is in a climbing condition, and the corresponding target slope speed is set equal to the value of the target cruising speed;

[0018] A cruise planning acceleration is calculated based on the target ramp speed and the current speed of the target vehicle.

[0019] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0020] When the slope gradients in the maximum slope information and the minimum slope information of the slope information are both less than 0, determining that the target vehicle is in a downhill condition, and setting a corresponding target slope speed based on the target cruising speed and a preset first coefficient;

[0021] When the current speed of the target vehicle is equal to the target ramp speed, a corresponding cruise planning acceleration is calculated;

[0022] The cruise planning acceleration is to keep the current speed of the target vehicle equal to the value of the target slope speed; wherein,

[0023] The target slope speed is not greater than the maximum cruising speed and the maximum cruising speed in the curve.

[0024] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0025] When the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is greater than the slope distance of the minimum slope information, it is determined that the target vehicle is in a downhill-first-then-uphill operating condition;

[0026] In the corresponding downhill curve section, limiting the cruise planning acceleration to be greater than 0, and setting a target slope speed corresponding to the downhill curve section based on the target cruising speed and a preset first coefficient;

[0027] If the target vehicle is coasting on the downhill curve section and the current speed of the target vehicle reaches the target slope speed corresponding to the downhill curve section, a corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no more than the target slope speed corresponding to the downhill curve section;

[0028] If the target vehicle enters an uphill curve section from the downhill curve section, the initial value of the cruise planning acceleration is set to 0, and the target slope speed corresponding to the uphill curve section is set based on the target cruising speed and a preset second coefficient;

[0029] When the target vehicle is traveling on the uphill curve section, if the current speed of the target vehicle is less than the target slope speed corresponding to the uphill curve section, the corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to not less than the target slope speed corresponding to the uphill curve section.

[0030] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0031] When the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is less than the slope distance of the minimum slope information, it is determined that the target vehicle is in an uphill-then-downhill operating condition;

[0032] Based on the target cruising speed and a preset first coefficient, setting a corresponding target slope speed;

[0033] If the target vehicle is traveling on the uphill curve section, a corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no less than the target slope speed;

[0034] If the target vehicle enters a downhill curve section from the uphill curve section, the cruise planning acceleration is set to 0;

[0035] When the target vehicle is coasting on the downhill curve section, the corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no more than the target slope speed.

[0036] Preferably, the preset first coefficient is greater than 1.

[0037] Preferably, the preset second coefficient is a decimal.

[0038] In a second aspect, the present application provides an intelligent driving device for improving vehicle economy, the device comprising:

[0039] A road section information acquisition module, which is used to obtain the corresponding maximum cruising speed of the target vehicle on the current road section and the maximum cruising speed in the curve corresponding to the front curve in the current road section;

[0040] A slope acquisition module, which is used to obtain the slope information in front of the target vehicle;

[0041] a cruise planning module, configured to obtain a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and a target cruise speed of the target vehicle;

[0042] The wire control adjustment module is used to obtain the wire control brake acceleration based on the cruise planning acceleration and the planning acceleration set for the target vehicle in combination with the driving condition of the target vehicle.

[0043] Furthermore, the road section information acquisition module is further configured to obtain the maximum cruising speed based on the road speed limit information of the current road section.

[0044] Furthermore, the road section information acquisition module is further configured to obtain a maximum cruising speed in the curve based on the curvature and curvature change rate of the curve ahead in the current road section.

[0045] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in a climbing condition when the slope gradients in the maximum slope information and the minimum slope information are both greater than 0, and set the corresponding target slope speed to be equal to the value of the target cruising speed;

[0046] The cruise planning module is further configured to calculate a cruise planning acceleration based on the target ramp speed and the current speed of the target vehicle.

[0047] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in a downhill condition when the slope gradients in the maximum slope information and the minimum slope information of the slope information are both less than 0, and to set a corresponding target slope speed based on the target cruising speed and a preset first coefficient;

[0048] The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the current speed of the target vehicle is equal to the target ramp speed;

[0049] The cruise planning module is further configured to plan the cruise acceleration so that the current speed of the target vehicle is kept equal to the target ramp speed; wherein,

[0050] The target slope speed is not greater than the maximum cruising speed and the maximum cruising speed in the curve.

[0051] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in a downhill-first-then-uphill operating condition when the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is greater than the slope distance of the minimum slope information;

[0052] The cruise planning module is further configured to limit the cruise planning acceleration to be greater than 0 in a corresponding downhill curve segment, and to set a target slope speed corresponding to the downhill curve segment based on the target cruise speed and a preset first coefficient;

[0053] The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the current speed of the target vehicle reaches a target slope speed corresponding to the downhill curve section when the target vehicle is coasting in the downhill curve section, so as to limit the current speed of the target vehicle to no more than the target slope speed corresponding to the downhill curve section;

[0054] The cruise planning module is further configured to set an initial value of the cruise planning acceleration to 0 when the target vehicle enters an uphill curve section from the downhill curve section, and to set a target slope speed corresponding to the uphill curve section based on the target cruise speed and a preset second coefficient;

[0055] The cruise planning module is also used to calculate the corresponding cruise planning acceleration when the target vehicle is traveling on the uphill curve section, if the current speed of the target vehicle is less than the target slope speed corresponding to the uphill curve section, to limit the current speed of the target vehicle to not less than the target slope speed corresponding to the uphill curve section.

[0056] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in an uphill-first-downhill condition when the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is less than the slope distance of the minimum slope information;

[0057] The cruise planning module is further configured to set a corresponding target slope speed based on the target cruising speed and a preset first coefficient;

[0058] The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the target vehicle is traveling on the uphill curve section, so as to limit the current speed of the target vehicle to be no less than the target slope speed;

[0059] The cruise planning module is further configured to set the cruise planning acceleration to 0 if the target vehicle enters a downhill curve section from the uphill curve section;

[0060] The cruise planning module is further configured to calculate the corresponding cruise planning acceleration when the target vehicle is coasting in the downhill curve section, so as to limit the current speed of the target vehicle to no more than the target slope speed.

[0061] Preferably, the preset first coefficient is greater than 1.

[0062] Preferably, the preset second coefficient is a decimal.

[0063] The beneficial effects of the technical solution provided by this application include:

[0064] This application rationally plans the vehicle speed and longitudinal acceleration based on the target vehicle's driving data and related information of the current road section, enables the vehicle to make rational use of road information, improves the vehicle's economy, and thus increases the cruising range. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Explanation of terms:

[0066] NOA: Navigate on Autopilot, automatic assisted navigation driving.

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0068] Figure 1 A flowchart of the steps of the intelligent driving method for improving vehicle economy provided in an embodiment of the present application;

[0069] Figure 2 A schematic diagram of the principle framework of the intelligent driving method for improving vehicle economy provided in an embodiment of the present application;

[0070] Figure 3 A slope distance curve diagram under the first working condition in the intelligent driving method for improving vehicle economy provided in an embodiment of the present application;

[0071] Figure 4 A slope distance curve diagram under the second working condition in the intelligent driving method for improving vehicle economy provided in an embodiment of the present application;

[0072] Figure 5 This is a slope distance curve diagram under the third working condition in the intelligent driving method for improving vehicle economy provided in an embodiment of the present application;

[0073] Figure 6 This is a slope distance curve diagram under the fourth working condition in the intelligent driving method for improving vehicle economy provided in an embodiment of the present application;

[0074] Figure 7 This is a structural block diagram of the intelligent driving device for improving vehicle economy provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0076] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0077] The embodiments of the present application provide an intelligent driving method and device for improving vehicle economy. Based on the vehicle driving data of the target vehicle and information related to the current road section, the vehicle speed and longitudinal acceleration are rationally planned to achieve rational use of road information by the entire vehicle, improve the economy of the entire vehicle, and thus increase the cruising range.

[0078] To achieve the above technical effects, the overall idea of this application is as follows:

[0079] An intelligent driving method for improving vehicle economy, the method comprising the following steps:

[0080] S1. Based on the target vehicle on the current road section, obtain the corresponding maximum cruising speed and the maximum cruising speed in the curve corresponding to the front curve in the current road section;

[0081] S2. Obtaining slope information in front of the target vehicle;

[0082] S3. Obtaining a planned cruise acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle;

[0083] S4. Obtaining a brake-by-wire acceleration based on the planned cruise acceleration and the planned acceleration set for the target vehicle and in combination with the driving condition of the target vehicle.

[0084] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0085] First, see Figures 1 to 6 As shown, an embodiment of the present application provides an intelligent driving method for improving vehicle economy, the method comprising the following steps:

[0086] S1. Based on the target vehicle on the current road section, obtain the corresponding maximum cruising speed and the maximum cruising speed in the curve corresponding to the front curve in the current road section;

[0087] S2. Obtaining slope information in front of the target vehicle;

[0088] S3. Obtaining a planned cruise acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle;

[0089] S4. Obtaining a brake-by-wire acceleration based on the planned cruise acceleration and the planned acceleration set for the target vehicle and in combination with the driving condition of the target vehicle.

[0090] In an embodiment of the present application, based on the vehicle driving data of the target vehicle and the relevant information of the current road section, the vehicle speed and longitudinal acceleration are reasonably planned to achieve reasonable use of road information by the entire vehicle, improve the economy of the entire vehicle, and thus increase the cruising range.

[0091] It should be noted that the technical solution of the embodiment of the present application is aimed at cars equipped with high-precision maps and perception systems. Under the premise of activating the high-speed navigation function, the target speed set by the current driver, the current lane line information, the road speed limit information, and the slope information of the road ahead are obtained. Through the longitudinal planning of economical cruise, the planned acceleration is calculated, and finally the final acceleration is arbitrated with the longitudinal acceleration planned for the target obstacle to be output to the wire control.

[0092] Furthermore, the method further comprises the following steps:

[0093] The maximum cruising speed is obtained based on the road speed limit information of the current road section.

[0094] Furthermore, the method further comprises the following steps:

[0095] Based on the curvature and curvature change rate of the front curve in the current road section, a maximum cruising speed in the curve is obtained.

[0096] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0097] When the slope gradients in the maximum slope information and the minimum slope information of the slope information are both greater than 0, it is determined that the target vehicle is in a climbing condition, and the corresponding target slope speed is set equal to the value of the target cruising speed;

[0098] A cruise planning acceleration is calculated based on the target ramp speed and the current speed of the target vehicle.

[0099] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0100] When the slope gradients in the maximum slope information and the minimum slope information of the slope information are both less than 0, determining that the target vehicle is in a downhill condition, and setting a corresponding target slope speed based on the target cruising speed and a preset first coefficient;

[0101] When the current speed of the target vehicle is equal to the target ramp speed, a corresponding cruise planning acceleration is calculated;

[0102] The cruise planning acceleration is to keep the current speed of the target vehicle equal to the value of the target slope speed; wherein,

[0103] The target slope speed is not greater than the maximum cruising speed and the maximum cruising speed in the curve.

[0104] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0105] When the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is greater than the slope distance of the minimum slope information, it is determined that the target vehicle is in a downhill-first-then-uphill operating condition;

[0106] In the corresponding downhill curve section, limiting the cruise planning acceleration to be greater than 0, and setting a target slope speed corresponding to the downhill curve section based on the target cruising speed and a preset first coefficient;

[0107] If the target vehicle is coasting on the downhill curve section and the current speed of the target vehicle reaches the target slope speed corresponding to the downhill curve section, a corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no more than the target slope speed corresponding to the downhill curve section;

[0108] If the target vehicle enters an uphill curve section from the downhill curve section, the initial value of the cruise planning acceleration is set to 0, and the target slope speed corresponding to the uphill curve section is set based on the target cruising speed and a preset second coefficient;

[0109] When the target vehicle is traveling on the uphill curve section, if the current speed of the target vehicle is less than the target slope speed corresponding to the uphill curve section, the corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to not less than the target slope speed corresponding to the uphill curve section.

[0110] Furthermore, obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps:

[0111] When the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is less than the slope distance of the minimum slope information, it is determined that the target vehicle is in an uphill-then-downhill operating condition;

[0112] Based on the target cruising speed and a preset first coefficient, setting a corresponding target slope speed;

[0113] If the target vehicle is traveling on the uphill curve section, a corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no less than the target slope speed;

[0114] If the target vehicle enters a downhill curve section from the uphill curve section, the cruise planning acceleration is set to 0;

[0115] When the target vehicle is coasting on the downhill curve section, the corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no more than the target slope speed.

[0116] Preferably, the preset first coefficient is greater than 1.

[0117] Preferably, the preset second coefficient is a decimal.

[0118] Based on the technical solution of the embodiment of the present application, its principle framework is as shown in the accompanying drawings of the specification. Figure 2 As shown, during specific implementation, the situation is as follows:

[0119] Step 1: The target information module is used in the high-speed cruise assisted driving algorithm to plan the longitudinal target acceleration according to the target obstacles in the own lane and the leading lane. The acceleration is planned according to the acceleration of the preceding vehicle cutting in, cutting out, accelerating, or decelerating. The acceleration output by this module is recorded as a obj , that is, the planned acceleration set for the target vehicle.

[0120] Step 2: Driver Management Module: This module is mainly used to set the target cruise speed by the driver through the steering wheel buttons or the car computer. Generally, the driver sets the target cruise speed by the up and down buttons, or according to the navigation information, the car computer sets the target cruise speed with one button. Here, the target cruise speed is recorded as V TargetCruise .

[0121] Step 3: Lane information module: Obtain the curvature and curvature change rate of the lane line through front visual information and high-precision map;

[0122] The maximum cruising speed in the curve within a certain distance is calculated by the lane line information and recorded as V Maxcurve .

[0123] Step 4: Speed limit information module: Match the speed limit information of the road through visual recognition with the speed limit information in the high-precision map, and output the maximum cruising speed V of the current driving section MaxCruise .

[0124] Step 5: Map slope information module, which is used to obtain the slope information sequence of the vehicle's first 2 km through the high-precision map module. The input information is the slope and the distance ahead two-dimensional array denoted as [xn ,i n 】.

[0125] Step 6: Economical cruise speed calculation module, according to the input V TargetCruise , V Maxcurve , V MaxCruise ,

x n ,i n

[0126] Step 7: Obtain the cruise planning acceleration a through the economical cruise speed calculation module EcoCruise , and the planned acceleration a of the target vehicle set in step 1 obj , which is processed by the arbitration module and finally output to the wire control brake Out , i.e. the brake-by-wire acceleration, this information is output to the drive-by-wire braking system to achieve vehicle control.

[0127] It should be noted that for the input slope [x n ,i n 】Preprocessing, find the maximum slope

x max ,i max

x min ,i min

[0128] 1) Under the first working condition, i max ,i min All are greater than 0:

[0129] The current slope is in climbing condition, V eco =V TargetCruise , according to the vehicle speed and V eco , perform PID algorithm to obtain the longitudinal planning acceleration, that is, the cruise planning acceleration a EcoCruise .

[0130] 2) Under the second working condition, i max ,i min All are less than 0:

[0131] Currently, the main working condition is downhill, V eco =1.1*V TargetCruise , and satisfy V eco ≤C Maxcurve , V eco ≤V maxCruise ;

[0132] On a downhill section, when the vehicle speed does not reach V eco When a EcoCruise The maximum value is less than 0;

[0133] When the vehicle speed reaches V eco , get a through PID algorithm EcoCruise To maintain the current V eco speed, so as to make full use of the power provided by the downhill section and prepare for the subsequent uphill section.

[0134] 3) Under the third working condition, i max Greater than 0, i min is less than 0, and x max Greater than x min , the current working condition is downhill first and then uphill:

[0135] In the downhill curve section, the target acceleration a is limited. EcoCruise The minimum value is greater than 0, and the vehicle coasts on the downhill section according to the current speed. If the vehicle speed reaches V TargetCruise *1.1, set the maximum speed limit, then solve a EcoCruise Minimum limit, longitudinal speed calculation output a EcoCrusise ;

[0136] When the vehicle enters the area where the slope changes from negative to positive, the target acceleration a EcoCruise The maximum value is 0. When the vehicle is climbing from downhill to uphill, the vehicle will use its inertia to climb. crusie *0.9, the target acceleration limit is released, and the longitudinal speed calculation output is a EcoCruise .

[0137] 4) Under the fourth working condition, i max Greater than 0, i min is less than 0, and x max Less than x min , the current working condition is first uphill and then downhill:

[0138] On uphill sections, the target cruise speed V TargetCruise *1.1, output target acceleration a EcoCruise , when the distance x max When the point is about 80m, output a EcoCruise When it is 0, the slope is rushed by accelerating inertia;

[0139] During the downhill phase, if the vehicle speed reaches 1.1*V TargetCruise , calculate the longitudinal speed and output a EcoCruise .

[0140] In summary, the technical solution of the embodiment of the present application uses the high-precision map information of the intelligent driving system and, based on the original cruise module, constructs a longitudinal planning algorithm for different scenarios of slope information;

[0141] Make full use of slope information. On downhill sections, use the vehicle's inertia to drive downhill, and on uphill sections, use the downhill potential energy to rush uphill.

[0142] If the vehicle is a new energy vehicle, this algorithm can fully recover energy, thereby improving the economy of the entire driving section and increasing the cruising range;

[0143] This algorithm is suitable for activating the NOA (high-speed intelligent driving assistance function) function of the vehicle, so that the longitudinal regulation module can obtain the slope information of the high-precision map and output the economical cruising acceleration.

[0144] Second, see Figure 7 As shown, based on the same inventive concept as the method embodiment, the embodiment of the present application provides an intelligent driving device for improving vehicle economy, the device comprising:

[0145] A road section information acquisition module, which is used to obtain the corresponding maximum cruising speed of the target vehicle on the current road section and the maximum cruising speed in the curve corresponding to the front curve in the current road section;

[0146] A slope acquisition module, which is used to obtain the slope information in front of the target vehicle;

[0147] a cruise planning module, configured to obtain a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and a target cruise speed of the target vehicle;

[0148] The wire control adjustment module is used to obtain the wire control brake acceleration based on the cruise planning acceleration and the planning acceleration set for the target vehicle in combination with the driving condition of the target vehicle.

[0149] In an embodiment of the present application, based on the vehicle driving data of the target vehicle and the relevant information of the current road section, the vehicle speed and longitudinal acceleration are reasonably planned to achieve reasonable use of road information by the entire vehicle, improve the economy of the entire vehicle, and thus increase the cruising range.

[0150] It should be noted that the technical solution of the embodiment of the present application is aimed at cars equipped with high-precision maps and perception systems. Under the premise of activating the high-speed navigation function, the target speed set by the current driver, the current lane line information, the road speed limit information, and the slope information of the road ahead are obtained. Through the longitudinal planning of economical cruise, the planned acceleration is calculated, and finally the final acceleration is arbitrated with the longitudinal acceleration planned for the target obstacle to be output to the wire control.

[0151] Furthermore, the road section information acquisition module is further configured to obtain the maximum cruising speed based on the road speed limit information of the current road section.

[0152] Furthermore, the road section information acquisition module is further configured to obtain a maximum cruising speed in the curve based on the curvature and curvature change rate of the curve ahead in the current road section.

[0153] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in a climbing condition when the slope gradients in the maximum slope information and the minimum slope information are both greater than 0, and set the corresponding target slope speed to be equal to the target cruising speed;

[0154] The cruise planning module is further configured to calculate a cruise planning acceleration based on the target ramp speed and the current speed of the target vehicle.

[0155] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in a downhill condition when the slope gradients in the maximum slope information and the minimum slope information of the slope information are both less than 0, and to set a corresponding target slope speed based on the target cruising speed and a preset first coefficient;

[0156] The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the current speed of the target vehicle is equal to the target ramp speed;

[0157] The cruise planning module is further configured to plan the cruise acceleration so that the current speed of the target vehicle is kept equal to the target ramp speed; wherein,

[0158] The target slope speed is not greater than the maximum cruising speed and the maximum cruising speed in the curve.

[0159] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in a downhill-first-then-uphill operating condition when the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is greater than the slope distance of the minimum slope information;

[0160] The cruise planning module is further configured to limit the cruise planning acceleration to be greater than 0 in a corresponding downhill curve segment, and to set a target slope speed corresponding to the downhill curve segment based on the target cruise speed and a preset first coefficient;

[0161] The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the current speed of the target vehicle reaches a target slope speed corresponding to the downhill curve section when the target vehicle is coasting in the downhill curve section, so as to limit the current speed of the target vehicle to no more than the target slope speed corresponding to the downhill curve section;

[0162] The cruise planning module is further configured to set an initial value of the cruise planning acceleration to 0 when the target vehicle enters an uphill curve section from the downhill curve section, and to set a target slope speed corresponding to the uphill curve section based on the target cruise speed and a preset second coefficient;

[0163] The cruise planning module is also used to calculate the corresponding cruise planning acceleration when the target vehicle is traveling on the uphill curve section, if the current speed of the target vehicle is less than the target slope speed corresponding to the uphill curve section, to limit the current speed of the target vehicle to not less than the target slope speed corresponding to the uphill curve section.

[0164] Furthermore, the cruise planning module is further configured to determine that the target vehicle is in an uphill-first-downhill condition when the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is less than the slope distance of the minimum slope information;

[0165] The cruise planning module is further configured to set a corresponding target slope speed based on the target cruising speed and a preset first coefficient;

[0166] The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the target vehicle is traveling on the uphill curve section, so as to limit the current speed of the target vehicle to be no less than the target slope speed;

[0167] The cruise planning module is further configured to set the cruise planning acceleration to 0 if the target vehicle enters a downhill curve section from the uphill curve section;

[0168] The cruise planning module is further configured to calculate the corresponding cruise planning acceleration when the target vehicle is coasting in the downhill curve section, so as to limit the current speed of the target vehicle to no more than the target slope speed.

[0169] Preferably, the preset first coefficient is greater than 1.

[0170] Preferably, the preset second coefficient is a decimal.

[0171] It should be noted that the intelligent driving device for improving vehicle economy provided in the embodiment of the present application, and its corresponding technical problems, technical means and technical effects are similar in principle to the principles of the intelligent driving method for improving vehicle economy.

[0172] It should be noted that, in this application, relational terms such as "compared to" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0173] The above are merely specific embodiments of the present application to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be 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 the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather is intended to conform to the widest scope consistent with the principles and novel features of the present application.

Claims

1. An intelligent driving method for improving vehicle economy, characterized in that: The method comprises the following steps: Based on the target vehicle on the current road section, obtaining the corresponding maximum cruising speed and the maximum cruising speed in the curve corresponding to the front curve in the current road section; Obtaining slope information in front of the target vehicle; Obtaining a planned cruise acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle; Obtaining a brake-by-wire acceleration based on the planned cruise acceleration and the planned acceleration set for the target vehicle in combination with the driving condition of the target vehicle; The method further comprises the following steps: Obtaining the maximum cruising speed based on the road speed limit information of the current road section; obtaining a maximum cruising speed within the curve based on the curvature and curvature change rate of the curve ahead in the current road section; Obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps: When the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is greater than the slope distance of the minimum slope information, it is determined that the target vehicle is in a downhill-first-then-uphill operating condition; In the corresponding downhill curve section, limiting the cruise planning acceleration to be greater than 0, and setting a target slope speed corresponding to the downhill curve section based on the target cruising speed and a preset first coefficient; If the target vehicle is coasting on the downhill curve section and the current speed of the target vehicle reaches the target slope speed corresponding to the downhill curve section, a corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no more than the target slope speed corresponding to the downhill curve section; If the target vehicle enters an uphill curve section from the downhill curve section, the initial value of the cruise planning acceleration is set to 0, and the target slope speed corresponding to the uphill curve section is set based on the target cruising speed and a preset second coefficient; When the target vehicle is traveling on the uphill curve section, if the current speed of the target vehicle is less than the target slope speed corresponding to the uphill curve section, the corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to not less than the target slope speed corresponding to the uphill curve section; Obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps: When the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is less than the slope distance of the minimum slope information, it is determined that the target vehicle is in an uphill-then-downhill operating condition; Based on the target cruising speed and a preset first coefficient, setting a corresponding target slope speed; If the target vehicle is traveling on the uphill curve section, a corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no less than the target slope speed; If the target vehicle enters a downhill curve section from the uphill curve section, the cruise planning acceleration is set to 0; When the target vehicle is coasting on the downhill curve section, the corresponding cruise planning acceleration is calculated to limit the current speed of the target vehicle to no more than the target slope speed; The preset first coefficient is greater than 1; the preset second coefficient is a decimal.

2. The intelligent driving method for improving vehicle economy according to claim 1, characterized in that: Obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps: When the slope gradients in the maximum slope information and the minimum slope information of the slope information are both greater than 0, it is determined that the target vehicle is in a climbing condition, and the corresponding target slope speed is set equal to the value of the target cruising speed; A cruise planning acceleration is calculated based on the target ramp speed and the current speed of the target vehicle.

3. The intelligent driving method for improving vehicle economy according to claim 1, characterized in that: Obtaining a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and the target cruise speed of the target vehicle includes the following steps: When the slope gradients in the maximum slope information and the minimum slope information of the slope information are both less than 0, determining that the target vehicle is in a downhill condition, and setting a corresponding target slope speed based on the target cruising speed and a preset first coefficient; When the current speed of the target vehicle is equal to the target ramp speed, a corresponding cruise planning acceleration is calculated; The cruise planning acceleration is to keep the current speed of the target vehicle equal to the value of the target slope speed; wherein, The target slope speed is not greater than the maximum cruising speed and the maximum cruising speed in the curve.

4. An intelligent driving device for improving vehicle economy, characterized in that: The device comprises: A road section information acquisition module is used to obtain the corresponding maximum cruising speed of the target vehicle on the current road section and the maximum cruising speed in the curve corresponding to the front curve in the current road section; A slope acquisition module, which is used to obtain the slope information in front of the target vehicle; a cruise planning module, configured to obtain a cruise planning acceleration based on the maximum cruise speed, the maximum cruise speed in the curve, the slope information, and a target cruise speed of the target vehicle; a brake-by-wire adjustment module, configured to obtain a brake-by-wire acceleration based on the planned cruise acceleration and the planned acceleration set for the target vehicle, in combination with a driving condition of the target vehicle; The road section information acquisition module is further configured to obtain the maximum cruising speed based on the road speed limit information of the current road section; The road section information acquisition module is further configured to obtain a maximum cruising speed in the curve based on the curvature and curvature change rate of the curve ahead in the current road section; The cruise planning module is further configured to determine that the target vehicle is in a downhill-first-uphill condition when the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is greater than the slope distance of the minimum slope information; The cruise planning module is further configured to limit the cruise planning acceleration to be greater than 0 in a corresponding downhill curve segment, and to set a target slope speed corresponding to the downhill curve segment based on the target cruise speed and a preset first coefficient; The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the current speed of the target vehicle reaches a target slope speed corresponding to the downhill curve section when the target vehicle is coasting on the downhill curve section, so as to limit the current speed of the target vehicle to no more than the target slope speed corresponding to the downhill curve section; The cruise planning module is further configured to set an initial value of the cruise planning acceleration to 0 when the target vehicle enters an uphill curve section from the downhill curve section, and to set a target slope speed corresponding to the uphill curve section based on the target cruise speed and a preset second coefficient; The cruise planning module is further configured to calculate the corresponding cruise planning acceleration when the target vehicle is traveling on the uphill curve section and if the current speed of the target vehicle is less than the target slope speed corresponding to the uphill curve section, so as to limit the current speed of the target vehicle to no less than the target slope speed corresponding to the uphill curve section; The cruise planning module is further configured to determine that the target vehicle is in an uphill-then-downhill operating condition when the slope gradient of the maximum slope information of the slope information is greater than 0, the slope gradient of the minimum slope information of the slope information is less than 0, and the slope distance of the maximum slope information is less than the slope distance of the minimum slope information; The cruise planning module is further configured to set a corresponding target slope speed based on the target cruising speed and a preset first coefficient; The cruise planning module is further configured to calculate a corresponding cruise planning acceleration when the target vehicle is traveling on the uphill curve section, so as to limit the current speed of the target vehicle to no less than the target slope speed; The cruise planning module is further configured to set the cruise planning acceleration to 0 if the target vehicle enters a downhill curve section from the uphill curve section; The cruise planning module is further configured to calculate the corresponding cruise planning acceleration when the target vehicle is coasting on the downhill curve section, so as to limit the current speed of the target vehicle to no more than the target slope speed; The preset first coefficient is greater than 1; the preset second coefficient is a decimal.

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