Cruise control method, device and vehicle

Abstract

The application provides a cruise control method, device and vehicle. The method comprises: acquiring running parameter information of each wheel of the vehicle, steering information of the vehicle and six-degree-of-freedom dynamic information of the vehicle body of the vehicle when the vehicle is in a cruise mode; processing the running parameter information of each wheel, the steering information of the vehicle and the six-degree-of-freedom dynamic information of the vehicle body of the vehicle to obtain state information and a target speed of the vehicle; in response to the state information indicating that the vehicle is in a preset scene, obtaining torque information of the vehicle according to the target speed of the vehicle; and distributing the torque information to a target wheel corresponding driving motor to drive the target wheel based on the torque information distributed to the target wheel, wherein the target wheel is a wheel other than a wheel without adhesion. Using the method of the application, when the vehicle is in a cruise mode, the vehicle can quickly escape from a difficult situation without manual intervention of the user, and the operation is simple.

Description

Technical Field

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

[0002] With the development of vehicle cruise control, how to improve the stability of cruise control has become a hot research topic.

[0003] Currently, when a vehicle is using cruise control and gets into trouble, the driver needs to manually intervene with the accelerator or brake to get out of trouble. This makes the vehicle's response time slow and the operation cumbersome. Summary of the Invention

[0004] In view of the above problems, this application provides a cruise control method, device and vehicle, so that when the vehicle is in cruise mode and is in a difficult situation, it can quickly get out of trouble without manual intervention by the user and the operation is simple.

[0005] In a first aspect, embodiments of this application provide a cruise control method, the method comprising:

[0006] When the vehicle is in cruise mode, acquire the operating parameter information of each wheel of the vehicle, the vehicle's steering information, and the vehicle's six degrees of freedom dynamic information.

[0007] The operating parameters of each wheel, the vehicle's steering information, and the vehicle's six-degree-of-freedom dynamic information are processed to obtain the vehicle's state information and target speed.

[0008] In response to the status information indicating that the vehicle is in a preset scenario, the vehicle's torque information is obtained based on the vehicle's target speed.

[0009] The torque information is allocated to the drive motor corresponding to the target wheel, so that the drive motor drives the target wheel based on the torque information allocated to the target wheel; wherein, the target wheel is a wheel with traction.

[0010] The technical solution of this application embodiment, when the vehicle is in cruise mode, processes the acquired operating parameter information of each wheel of the vehicle, the vehicle's steering information, and the vehicle's six-degree-of-freedom dynamic information to obtain the vehicle's state information and target speed. In response to the state information indicating that the vehicle is in a preset scenario, the vehicle's torque information can be obtained according to the vehicle's target speed. The torque information is then distributed to the drive motors corresponding to the target wheels (excluding wheels without traction), so that the drive motors drive the target wheels based on the torque information distributed to the target wheels. Thus, when the vehicle is in cruise mode and in a preset scenario, the obtained torque information can be automatically distributed to the drive motors corresponding to the wheels with traction according to the vehicle's target speed, so as to drive the wheels with traction to cooperate in leaving the preset scenario. This improves the vehicle's response speed and does not require automatic driver intervention, making the operation simple.

[0011] In one possible implementation, after obtaining the vehicle's torque information based on the target vehicle speed, the method further includes:

[0012] Based on the target vehicle speed and the operating parameter information of each wheel, the slip ratio of each wheel is calculated.

[0013] Determine the target wheel based on the slip ratio of each vehicle;

[0014] Distributing torque information to the drive motor corresponding to the target wheel includes:

[0015] Based on the slip ratio of the target wheel and the correspondence between slip ratio and torque information, the target torque information required for the target wheel is obtained;

[0016] Based on the torque information required by the target wheel, the torque information is allocated to the drive motor corresponding to the target wheel.

[0017] The technical solution of this implementation method can calculate the slip ratio of each wheel by using the target vehicle speed and the operating parameter information of each wheel. Then, based on the slip ratio of each vehicle, the target wheel with adhesion can be determined. Based on the slip ratio of the target vehicle and the correspondence between slip ratio and torque information, the target torque information required by the target wheel can be obtained. Then, based on the torque information required by the target wheel, the torque information is allocated to the drive motor corresponding to the target wheel, so that the drive motor corresponding to the target wheel can drive the target wheel, thereby causing the vehicle to leave the preset scene.

[0018] In one possible implementation, after obtaining the vehicle's state information and the target speed, the method further includes:

[0019] In response to the user's operation of the accelerator and brake pedals, the vehicle is controlled to travel at the target speed.

[0020] With this technical solution, after determining the target speed, the user can operate the accelerator and brake pedals to control the vehicle to travel at that target speed. In this way, the user can operate the vehicle according to the automatically determined target speed when the vehicle is about to leave the preset scene, avoiding damage to the vehicle if the target speed is incorrect when driving directly at the target speed automatically determined by the system.

[0021] In one possible implementation, the method also includes:

[0022] Obtain the suspension height information of the target wheel of the vehicle;

[0023] Based on the suspension height information of the target wheel and the slip ratio of the target wheel, the frequency and duration of the drive motor driving the target wheel are determined.

[0024] By using the technical solution of this implementation method, the suspension height information of the target wheel of the vehicle and the slip ratio of the target wheel can be obtained to determine the frequency and duration of the drive motor driving the target wheel. The frequency and duration of the drive motor driving the target wheel can then be used as a basis for judging the current road bump conditions and driving comfort. The target vehicle speed can be appropriately reduced, thereby evaluating the stability, comfort and safety of vehicle driving and improving the stability, comfort and safety of vehicle driving.

[0025] In one possible implementation, after obtaining the torque information corresponding to each wheel, the method further includes:

[0026] Based on steering information and target vehicle speed, calculate the vehicle's predicted yaw rate;

[0027] The actual yaw rate of the vehicle is obtained by weighting the measured yaw rate collected by the vehicle's yaw rate sensor and the dynamic information of the vehicle body's six degrees of freedom.

[0028] Based on the actual yaw rate and the predicted yaw rate, the target driving force information for driving the left and right wheels is obtained, and the vehicle is steered based on the target driving force information.

[0029] The technical solution of this implementation method calculates the predicted yaw rate of the vehicle based on steering information and target vehicle speed. It then performs a weighted calculation on the measured yaw rate collected by the vehicle's yaw rate sensor and the six-degree-of-freedom dynamic information of the vehicle body to obtain the actual yaw rate of the vehicle. Based on the actual yaw rate and the predicted yaw rate, it obtains the target driving force information for driving the left and right wheels. This target driving force information is used to assist in steering the vehicle and reduce the radius of the cruise steering.

[0030] In one possible implementation, based on the actual yaw rate and the predicted yaw rate, the target driving force information for driving the left and right wheels is obtained, including:

[0031] Calculate the gain coefficient for the target vehicle speed based on the target vehicle speed;

[0032] The target yaw rate is obtained based on the gain coefficient and the actual yaw rate.

[0033] Calculate the difference between the target yaw rate and the predicted yaw rate;

[0034] Based on the difference, the target driving force information for driving the left and right wheels is obtained.

[0035] The technical solution of this implementation method obtains the gain coefficient of the target vehicle speed based on the target vehicle speed, and then obtains the target yaw rate based on the gain coefficient and the actual yaw rate. Using the target yaw rate as the control target, the difference between the target yaw rate and the predicted yaw rate is calculated, and the required left and right wheels and left and right drive motors are driven by the difference. This realizes the use of differential drive to assist steering and reduces the radius of cruise steering.

[0036] In one possible implementation, after allocating torque information to the drive motor corresponding to the target wheel, the method further includes:

[0037] Send a display command to the display module so that the display module can display torque information, target vehicle speed, and torque information corresponding to the target wheel.

[0038] This technical solution involves sending display commands to the display module, which then displays torque information, target vehicle speed, and torque information corresponding to the target wheel. This allows users to view the information they need in a timely manner, thus improving the user experience.

[0039] Secondly, embodiments of this application provide a cruise control device, characterized in that the device comprises:

[0040] The first acquisition module is used to acquire the operating parameter information of each wheel of the vehicle, the steering information of the vehicle, and the six-degree-of-freedom dynamic information of the vehicle body when the vehicle is in cruise mode.

[0041] The first determining module is used to process the operating parameter information of each wheel, the steering information of the vehicle, and the six degrees of freedom dynamic information of the vehicle body to obtain the vehicle's state information and target speed.

[0042] The second determining module is used to obtain the vehicle's torque information based on the vehicle's target speed when the vehicle is in distress, according to the state information.

[0043] The distribution module is used to distribute torque information to the drive motor corresponding to the target wheel, so that the drive motor drives the target wheel based on the torque information distributed to the target wheel; wherein, the target wheel is a wheel with traction.

[0044] Thirdly, embodiments of this application provide a vehicle, the vehicle comprising:

[0045] A central processing unit (CPU) for implementing the cruise control method described in the first aspect above;

[0046] A sensor is installed at the target location on the vehicle to acquire parameter information at that location.

[0047] In the above technical solution, when the vehicle is in cruise mode, the operating parameter information of each wheel of the vehicle, the vehicle's steering information, and the vehicle's six degrees of freedom dynamic information are processed to obtain the vehicle's state information and target speed. In response to the state information indicating that the vehicle is in a preset scenario, the vehicle's torque information can be obtained according to the target speed. The torque information is then distributed to the drive motors corresponding to the target wheels (excluding wheels without traction), so that the drive motors drive the target wheels based on the torque information distributed to the target wheels. Thus, when the vehicle is in cruise mode and in a preset scenario, the obtained torque information can be automatically distributed to the drive motors corresponding to the wheels with traction according to the target speed, so as to drive the wheels with traction to cooperate in leaving the preset scenario. This improves the vehicle's response speed and does not require automatic driver intervention, making the operation simple. Attached Figure Description

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0049] Figure 1 This is one of the structural schematic diagrams of a vehicle provided in an embodiment of this application;

[0050] Figure 2 This is one of the flowcharts illustrating a cruise control method provided in an embodiment of this application;

[0051] Figure 3 This is a second schematic flowchart of a cruise control method provided in an embodiment of this application;

[0052] Figure 4 This is a third schematic flowchart of a cruise control method provided in an embodiment of this application;

[0053] Figure 5 This is the fourth schematic flowchart of a cruise control method provided in an embodiment of this application;

[0054] Figure 6 This is the fifth schematic flowchart of a cruise control method provided in an embodiment of this application;

[0055] Figure 7 This is a sixth schematic flowchart of a cruise control method provided in an embodiment of this application;

[0056] Figure 8 This is the seventh schematic flowchart of a cruise control method provided in an embodiment of this application;

[0057] Figure 9 This is a schematic diagram of the operation of the central processing unit in a vehicle according to an embodiment of this application;

[0058] Figure 10 This is a schematic diagram of the structure of a cruise control device provided in one embodiment of this application;

[0059] Figure 11 This is a second schematic diagram of the structure of a vehicle provided in one embodiment of this application. Detailed Implementation

[0060] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0061] It should be noted that, unless otherwise stated, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by those skilled in the art to which the embodiments of this application pertain.

[0062] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0063] Furthermore, technical terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise explicitly defined.

[0064] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0065] In the description of the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0066] Currently, when a vehicle is using cruise control and gets into trouble, the driver needs to manually intervene with the accelerator or brake to get out of trouble. This makes the vehicle's response time slow and the operation cumbersome.

[0067] Based on the aforementioned problems discovered by the inventors, the inventors provide a cruise control method, device, and vehicle. When the vehicle is in cruise mode, the inventors process the acquired operating parameters of each wheel, the vehicle's steering information, and the vehicle's six-degree-of-freedom dynamic information to obtain the vehicle's state information and target speed. In response to the state information indicating that the vehicle is in a preset scenario, the inventors obtain the vehicle's torque information based on the target speed and distribute this torque information to the drive motors corresponding to the target wheels (excluding wheels without traction). This allows the drive motors to drive the target wheels based on the allocated torque information. Thus, when the vehicle is in cruise mode and in a preset scenario, the inventors automatically distribute the obtained torque information to the drive motors corresponding to the wheels with traction based on the target speed, driving the wheels with traction to cooperate in escaping the preset scenario. This improves the vehicle's response speed and eliminates the need for driver intervention, making operation simple.

[0068] Before introducing a cruise control method provided in the embodiments of this application, let's first introduce the improved vehicle in the embodiments of this application.

[0069] like Figure 1 This is a structural diagram of the vehicle, including four wheels 1, 2, 3, and 4. Sensors can be installed on each of the four wheels to acquire operating parameter information for each wheel. Each vehicle can also have a corresponding drive motor 5, 6, 7, and 8, each with its own sensor. These sensors can acquire the driving force and speed of the corresponding drive motor. The central processing unit 9 is the execution entity of the cruise control method in this application. The central processing unit 9 can be equipped with a 6-DOF inertial sensor to collect the vehicle's six-DOF dynamic information. A suspension controller 10 and suspension sensors are installed at the suspension height of each of the four wheels. The suspension sensors can acquire suspension height information for each wheel. The suspension controller 10 receives the suspension height information for each wheel from the suspension sensors and sends it to the central processing unit. A human-machine interface device 11 is included, featuring a display screen. The cruise control function can be turned on or off via voice, buttons, or gestures. The driver can operate the device on the screen, which can also display information to the driver. The steering controller 12 and steering wheel 13 are included. The driver can operate the steering wheel 13, and the steering controller 12 receives the driver's input to the steering wheel 13 and generates steering information. Drive shafts 14 and 15 are devices for connecting the drive motor and the wheels. It should be noted that other devices for connecting the drive motor and the wheels can also be used for the drive shafts.

[0070] In this embodiment of the application, corresponding sensors are installed at various locations on the vehicle to acquire information from multiple sensors. Based on this information, the vehicle's driving condition can be comprehensively evaluated, enabling multi-functional, multi-scenario, and automated cruise assistance. This simplifies driver operation, improves off-road capability, and enhances driver comfort and safety.

[0071] Figure 2 A flowchart illustrating a cruise control method provided in an embodiment of this application is shown, as follows: Figure 2 As shown, the cruise control method may include the following steps 210-240.

[0072] Step 210: When the vehicle is in cruise mode, acquire the operating parameter information of each wheel of the vehicle, the steering information of the vehicle, and the dynamic information of the six degrees of freedom of the vehicle body.

[0073] Among them, the operating parameter information can be the wheel speed information of each vehicle.

[0074] Vehicle steering information can be the vehicle's steering angle information.

[0075] The six-degree-of-freedom dynamic information of a vehicle body can be the total longitudinal forces acting on the vehicle.

[0076] Step 220: Process the operating parameter information of each wheel, the vehicle steering information, and the vehicle body six-degree-of-freedom dynamic information to obtain the vehicle state information and target speed.

[0077] The vehicle status information can be the vehicle's current state. For example, it could be road condition information, such as the vehicle being stuck in mud.

[0078] The target speed can be the speed at which the vehicle needs to operate in the current state.

[0079] Step 230: In response to the status information indicating that the vehicle is in a preset scenario, obtain the vehicle's torque information based on the vehicle's target speed.

[0080] The preset scenario can be a pre-set scenario, such as a scenario where a vehicle is in a predicament.

[0081] Torque information can be the torque of the drive motor that drives the vehicle.

[0082] Step 240: Distribute the torque information to the drive motor corresponding to the target wheel, so that the drive motor drives the target wheel based on the torque information distributed to the target wheel.

[0083] The target wheel can be a wheel with traction that is used to drive the vehicle out of trouble.

[0084] In some embodiments of this application, after a vehicle gets into trouble, some of the vehicle's wheels are without traction. In order to get the vehicle out of trouble, it is necessary to give the vehicle with traction a driving force so that the vehicle can get out of trouble.

[0085] Specifically, step 220 may include:

[0086] According to the following formula (1), the running parameter information of each wheel, the steering information of the vehicle and the six degrees of freedom dynamic information of the vehicle body are processed to obtain the target speed of the vehicle.

[0087] v ref =f(v fl ,v fr ,v rl ,v rr ,δ,f x (1)

[0088] Among them, v ref For the target vehicle speed, v fl vfr v rl v rr These are the operating parameter information for the left front, right front, left rear, and right rear wheels, respectively. δ represents the steering information of the front wheels, and f... x This provides dynamic information on the six degrees of freedom of the vehicle's body.

[0089] It should be noted that the six degrees of freedom dynamic information of the vehicle body can specifically include the longitudinal force information, lateral force information, vertical force information, yaw angle information, pitch angle information, and roll angle information of the vehicle.

[0090] In the embodiments of this application, the running parameter information of each wheel, the steering information of the vehicle and the six degrees of freedom dynamic information of the vehicle body are accurately calculated according to formula (1) to obtain the accurate target vehicle speed, and then the accurate torque information, so that the vehicle can accurately leave the preset scene.

[0091] Figure 3 A flowchart illustrating another cruise control method provided in an embodiment of this application is shown, as follows: Figure 3 As shown, in addition to steps 110-130 described above, the cruise control method may also include:

[0092] Step 350: Calculate the slip ratio of each wheel based on the target vehicle speed and the operating parameter information of each wheel.

[0093] Step 360: Determine the target wheel based on the slip ratio of each vehicle.

[0094] Specifically, for step 350, the slip ratio of each wheel can be calculated using the following formula (2) based on the target vehicle speed and the operating parameter information of each wheel.

[0095] β=(vv ref ) / v ref (2)

[0096] Where β is the slip ratio of a certain wheel; v is the operating parameter information of that wheel; v ref The target speed.

[0097] In some embodiments of this application, the presence or absence of adhesion of each wheel of the vehicle can be determined based on the slip ratio, and the wheel with adhesion is selected as the target wheel.

[0098] Specifically, step 140 may include:

[0099] Step 1401: Based on the slip ratio of the target wheel and the correspondence between slip ratio and torque information, obtain the target torque information required for the target wheel;

[0100] Step 1402: Based on the torque information required by the target wheel, distribute the torque information to the drive motor corresponding to the target wheel.

[0101] The target torque information can be the torque required for the target wheel to remove the vehicle from the preset scene.

[0102] In the embodiments of this application, the slip ratio of each wheel can be calculated using the target vehicle speed and the operating parameter information of each wheel. Then, the target wheel with adhesion can be determined based on the slip ratio of each vehicle. Based on the slip ratio of the target vehicle and the correspondence between the slip ratio and torque information, the target torque information required by the target wheel can be obtained. Then, based on the torque information required by the target wheel, the torque information is allocated to the drive motor corresponding to the target wheel so that the drive motor corresponding to the target wheel can drive the target wheel, thereby causing the vehicle to leave the preset scene.

[0103] Figure 4 A flowchart illustrating another cruise control method provided in an embodiment of this application is shown, as follows: Figure 4 As shown, in addition to steps 110-140 described above, the cruise control method may also include:

[0104] Step 410: In response to the user's operation of the accelerator and brake pedals of the vehicle, control the vehicle to travel at the target speed.

[0105] In the embodiments of this application, after the target speed is determined, the user can operate the accelerator pedal and brake pedal of the vehicle to control the vehicle to drive at the target speed. In this way, the user can operate the vehicle according to the target speed automatically determined when the vehicle is about to leave the preset scene, avoiding damage to the vehicle if the target speed is incorrect when driving directly at the target speed automatically determined by the system.

[0106] It should be noted that step 410 is executed synchronously with step 140.

[0107] Figure 5 A flowchart illustrating another cruise control method provided in an embodiment of this application is shown, as follows: Figure 5 As shown, in addition to steps 110-140 described above, the cruise control method may also include:

[0108] Step 510: Obtain the suspension height information of the target wheel of the vehicle.

[0109] Step 520: Based on the suspension height information of the target wheel and the slip ratio of the target wheel, determine the frequency and duration of the drive motor driving the target wheel.

[0110] Among them, suspension height information can be the position and speed information of the target wheel's vertical movement.

[0111] It should be noted that when obtaining the suspension height information of the target wheel, it is also possible to obtain the dynamic information of the suspension height of the target wheel, that is, the degree of change of the suspension height information over a period of time.

[0112] In the embodiments of this application, by obtaining the suspension height information of the target wheel of the vehicle and the slip ratio of the target wheel, the frequency and duration of the drive motor driving the target wheel can be determined. In turn, the frequency and duration of the drive motor driving the target wheel can be used as the basis for judging the current road bump conditions and driving comfort. The target vehicle speed can be appropriately reduced, thereby evaluating the stability, comfort and safety of vehicle driving and improving the stability, comfort and safety of vehicle driving.

[0113] It should be noted that the target speed can be appropriately reduced within a certain time period. Specifically, the target speed can be appropriately reduced by the user pressing the accelerator pedal or the brake pedal.

[0114] Figure 6 A flowchart illustrating another cruise control method provided in an embodiment of this application is shown, as follows: Figure 6 As shown, in addition to steps 110-140 described above, the cruise control method may also include:

[0115] Step 610: Calculate the predicted yaw rate of the vehicle based on the steering information and the target vehicle speed.

[0116] The predicted yaw rate can be the predicted yaw rate of the vehicle.

[0117] In some embodiments of this application, the predicted yaw rate of the vehicle can be calculated based on the steering information and the target vehicle speed. The specific method for calculating the predicted yaw rate of the vehicle based on the steering information and the target vehicle speed is prior art and will not be described in detail here.

[0118] Step 620: Perform a weighted calculation on the measured yaw rate collected by the vehicle's yaw rate sensor and the dynamic information of the vehicle's six degrees of freedom to obtain the actual yaw rate of the vehicle.

[0119] Among these, the yaw rate can be measured using a vehicle yaw rate sensor (specifically, it can be...). Figure 1 The vehicle's yaw rate is collected by a 6-DOF inertial sensor located in the central processing unit 9.

[0120] The actual yaw rate can be the calculated actual yaw rate of the vehicle.

[0121] In some embodiments of this application, how to perform weighted calculations on the measured yaw rate collected by the vehicle's yaw rate sensor and the six-degree-of-freedom dynamic information of the vehicle body to obtain the actual yaw rate of the vehicle is prior art and will not be described in detail here.

[0122] Step 630: Based on the actual yaw rate and the predicted yaw rate, obtain the target driving force information for driving the left and right wheels, and drive the vehicle to steer based on the target driving force information.

[0123] The target driving force information can be the driving force information for driving the left and right wheels.

[0124] In the embodiments of this application, based on steering information and target vehicle speed, the predicted yaw rate of the vehicle is calculated. The measured yaw rate collected by the vehicle's yaw rate sensor and the six-degree-of-freedom dynamic information of the vehicle body are weighted and calculated to obtain the actual yaw rate of the vehicle. Based on the actual yaw rate and the predicted yaw rate, the target driving force information for driving the left and right wheels is obtained. The vehicle is then steered based on this target driving force information to reduce the radius of the cruise steering.

[0125] Figure 7 A flowchart illustrating another cruise control method provided in an embodiment of this application is shown, as follows: Figure 7 As shown, step 630 may specifically include:

[0126] Step 6301: Calculate the gain coefficient of the target vehicle speed based on the target vehicle speed.

[0127] In some embodiments of this application, the gain coefficient corresponding to the target vehicle speed may be calculated based on the target vehicle speed and the correspondence between the target vehicle speed and the gain coefficient.

[0128] Step 6302: Based on the gain coefficient and the actual yaw rate, obtain the target yaw rate.

[0129] The target yaw rate can be the final determined yaw rate of the vehicle.

[0130] In some embodiments of this application, the target yaw rate can be obtained by multiplying the gain coefficient by the actual yaw rate.

[0131] Step 6303: Calculate the difference between the target yaw rate and the predicted yaw rate.

[0132] Step 6304: Based on the difference, obtain the target driving force information for driving the left and right wheels.

[0133] In the embodiments of this application, a gain coefficient for the target vehicle speed is obtained based on the target vehicle speed. Then, based on the gain coefficient and the actual yaw rate, the target yaw rate is obtained. Using the target yaw rate as the control target, the difference between the target yaw rate and the predicted yaw rate is calculated. The required left and right wheels and left and right drive motors are driven by the difference, thereby realizing differential drive-assisted steering and reducing the radius of cruise steering.

[0134] Figure 8 A flowchart illustrating another cruise control method provided in an embodiment of this application is shown, as follows: Figure 8 As shown, in addition to steps 110-140 described above, the cruise control method may also include:

[0135] Step 810: Send a display command to the display module so that the display module displays torque information, target vehicle speed, and torque information corresponding to the target wheel.

[0136] In some embodiments of this application, torque information, target vehicle speed, and torque information corresponding to the target wheel may be displayed. Figure 1 The human-machine interface device 11 displays the information for the driver to view.

[0137] In some embodiments of this application, other information obtained in this application may also be displayed. Figure 1 The display screen of the human-computer interaction device 11.

[0138] In the embodiments of this application, by sending a display command to the display module, the display module can display torque information, target vehicle speed, and torque information corresponding to the target wheel, so that the user can view the required information in a timely manner, thus improving the user experience.

[0139] In some embodiments of this application, in order to more clearly understand the technical solutions of this application, the following describes the technical solutions of this application. Figure 1 Here is a brief introduction to the working process of the central processing unit 9 in the computer:

[0140] refer to Figure 1 and Figure 9 When the vehicle is stationary or in motion, the driver can activate the cruise control function via the human-machine interface 11. When the driver releases the accelerator and brake pedals, the system will automatically accelerate or decelerate to the default cruise speed or maintain the current speed at a constant speed.

[0141] The central processing unit 9 collects the vehicle's operating parameters from sensors mounted on the four wheels 1, 2, 3, and 4; the driving force and electric braking force signals of the four wheels from sensors mounted on the four drive motors 5, 6, 7, and 8; the suspension height signal from the suspension controller 10; and the vehicle's steering angle signal from the steering controller 12. It calculates appropriate vehicle state information 20 that characterizes the vehicle's actual movement and stability. Combined with the driver's information 16 from the human-machine interface and the operation of the accelerator and brake pedals, it outputs reasonable control torques (21, 22, 23, 24), i.e., the vehicle's torque information. This information is executed by the four drive motors 5, 6, 7, and 8, and the relevant status is displayed to the driver through the human-machine interface 11.

[0142] The central processing unit 9 uses the speeds (25, 26, 27, 28) of the four wheels (1, 2, 3, and 4) sensed by sensors installed on the four wheels and the target speed calculated based on the information from all the aforementioned sensors (18, 19). Based on the real-time four-wheel slip ratio calculation, it determines one or more wheels that have lost traction and distributes the driving force to the remaining normally traction wheels to prevent the driving and electric braking from slipping, thereby achieving high passability and automatic extrication.

[0143] Based on the aforementioned sensor information, the central processing unit 9 estimates the road conditions and vehicle status while the vehicle is in motion. In addition to the target vehicle speed and slip ratio, it also assesses the vehicle's driving stability, comfort, and safety. The assessment principles include, but are not limited to, considering the information from the four suspension height sensors and the frequency and duration of slip ratio control intervention, as a basis for judging the current road surface roughness and driving comfort. The control speed is appropriately reduced, and the current status is displayed to the driver through the human-machine interface device 11. After the road conditions stabilize, a suitable recovery cruising speed is calculated and displayed to the driver through the human-machine interface device 11. After the driver confirms the system's recommended target speed by lightly pressing the accelerator or brake, the vehicle returns to the target speed.

[0144] When the cruise control function is activated, when the driver operates the steering wheel, the system comprehensively judges the current vehicle speed based on the steering angle and steering angular velocity 19 input by the driver on the human-machine interface device 11, and differentially drives the drive motors 5 and 8 or the drive motors 6 and 7 to assist the driver in steering, reduce the turning radius, and improve the ease of operation.

[0145] The technical solution of this application improves the vehicle's passability during off-road cruising and enhances its response speed in situations such as vehicle instability and getting stuck. During off-road driving, it promptly identifies road surface types and vehicle entrapment conditions, appropriately adjusts wheel-end drive and braking torque, and automatically performs extrication operations, simplifying driver operation. For steering operations during low-speed off-road driving, it utilizes differential drive for assistance, improving the convenience of off-road steering and optimizing the vehicle's steering trajectory. It eliminates reliance on the hydraulic braking system, reducing noise caused by the automatic operation of the hydraulic braking system during function activation; and it utilizes electric braking to improve the overall vehicle energy utilization efficiency.

[0146] The cruise control method provided in this application can be executed by a cruise control device. This application uses the example of a cruise control device executing the cruise control method to illustrate the cruise control device provided in this application.

[0147] Figure 10 This is a schematic diagram of the structure of a cruise control device according to an exemplary embodiment.

[0148] like Figure 10 As shown, the cruise control device 1000 may include:

[0149] The first acquisition module 1010 is used to acquire the operating parameter information of each wheel of the vehicle, the steering information of the vehicle, and the six-degree-of-freedom dynamic information of the vehicle body when the vehicle is in cruise mode.

[0150] The first determining module 1020 is used to process the operating parameter information of each wheel, the steering information of the vehicle, and the six degrees of freedom dynamic information of the vehicle body to obtain the vehicle's state information and target speed.

[0151] The second determining module 1030 is used to obtain the vehicle's torque information based on the target speed of the vehicle when the vehicle is in distress according to the state information.

[0152] The allocation module 1040 is used to allocate the torque information to the drive motor corresponding to the target wheel, so that the drive motor drives the target wheel based on the torque information allocated to the target wheel; wherein, the target wheel is a wheel with adhesion.

[0153] In the embodiments of this application, when the vehicle is in cruise mode, the first determining module processes the operating parameter information of each wheel of the vehicle, the vehicle's steering information, and the vehicle's six-degree-of-freedom dynamic information obtained by the first acquiring module to obtain the vehicle's state information and target speed. Based on the second determining module's response to the state information indicating that the vehicle is in a preset scenario, the second determining module can obtain the vehicle's torque information according to the target speed. Then, the allocation module distributes the torque information to the drive motors corresponding to the target wheels (excluding wheels without traction), so that the drive motors drive the target wheels based on the torque information allocated to them. Thus, when the vehicle is in cruise mode and in a preset scenario, the obtained torque information can be automatically distributed to the drive motors corresponding to the wheels with traction according to the target speed, driving the wheels with traction to cooperate in escaping the preset scenario. This improves the vehicle's response speed and eliminates the need for driver intervention, making operation simple.

[0154] In some embodiments of this application, the cruise control device described above may further include:

[0155] The first calculation module is used to calculate the slip ratio of each wheel based on the target vehicle speed and the operating parameter information of each wheel;

[0156] The third determination module is used to determine the target wheel based on the slip ratio of each vehicle;

[0157] The allocation module 1040 can be specifically used to: obtain the target torque information required by the target wheel based on the slip ratio of the target wheel and the correspondence between the slip ratio and torque information; and allocate the torque information to the drive motor corresponding to the target wheel according to the torque information required by the target wheel.

[0158] In some embodiments of this application, the cruise control device described above may further include:

[0159] The control module is used to control the vehicle to travel at the target speed in response to the user's operation of the accelerator pedal and brake pedal of the vehicle.

[0160] In some embodiments of this application, the cruise control device described above may further include:

[0161] The second acquisition module is used to acquire the suspension height information of the target wheel of the vehicle;

[0162] The fourth determining module is used to determine the frequency and duration of the drive motor driving the target wheel based on the suspension height information of the target wheel and the slip ratio of the target wheel.

[0163] In some embodiments of this application, the cruise control device described above may further include:

[0164] The second calculation module is used to calculate the predicted yaw rate of the vehicle based on the steering information and the target vehicle speed.

[0165] The fifth determining module is used to perform weighted calculations on the measured yaw rate collected by the vehicle's yaw rate sensor and the six-degree-of-freedom dynamic information of the vehicle body to obtain the actual yaw rate of the vehicle.

[0166] The sixth determining module is used to obtain target driving force information for driving the left and right wheels based on the actual yaw rate and the predicted yaw rate, so as to drive the vehicle to steer based on the target driving force information.

[0167] In some embodiments of this application, the sixth determining module is specifically used for:

[0168] Calculate the gain coefficient of the target vehicle speed based on the target vehicle speed;

[0169] Based on the gain coefficient and the actual yaw rate, the target yaw rate is obtained;

[0170] Calculate the difference between the target yaw rate and the predicted yaw rate;

[0171] Based on the difference, the target driving force information for driving the left and right wheels is obtained.

[0172] In some embodiments of this application, the cruise control device described above may further include:

[0173] The sending module is used to send a display command to the display module so that the display module displays the torque information, the target vehicle speed, and the torque information corresponding to the target wheel.

[0174] Based on the same inventive concept as the above-described cruise control method, this application also provides a vehicle 1100, such as... Figure 11 As shown, the vehicle includes:

[0175] Central processing unit 1110 is used to implement the cruise control method in the above embodiments;

[0176] The sensor 1120, which is set at the target location of the vehicle, is used to acquire parameter information at the target location.

[0177] The target location can be any desired location for the vehicle. For example, it could be... Figure 1 The positions of the wheels, drive motor, and suspension beams, etc.

[0178] In some embodiments of this application, the central processing unit 1110 mentioned above is the one described above. Figure 1 The central processing unit 9 in it.

[0179] In the embodiments of this application, a vehicle is provided, which may include a central processing unit and sensors. The central processing unit can implement the cruise control method in the above embodiments. When the vehicle is in cruise mode, if the vehicle is in a preset scenario, the obtained torque information can be automatically distributed to the drive motor corresponding to the wheel with traction according to the vehicle's target speed, so as to drive the wheel with traction to cooperate in leaving the preset scenario, thereby improving the vehicle's response speed and eliminating the need for driver intervention, making the operation simple.

[0180] In some embodiments of this application, the vehicle 1100 may further include:

[0181] The display module is used to display the torque information and target vehicle speed of the target wheels driven by the drive motor.

[0182] In some embodiments of this application, the display module may be Figure 1 The display screen in the human-computer interaction device 11.

[0183] In the embodiments of this application, the display module can display the torque information of the target wheel of the vehicle driven by the drive motor and the target vehicle speed, so that the driver can see the information required and improve driving safety.

[0184] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A cruise control method, characterized in that, The method includes: When the vehicle is in cruise mode, acquire the operating parameter information of each wheel of the vehicle, the vehicle's steering information, and the vehicle's six degrees of freedom dynamic information. The operating parameters of each wheel, the vehicle's steering information, and the vehicle's six-degree-of-freedom dynamic information are processed to obtain the vehicle's state information and target speed. In response to the status information indicating that the vehicle is in a preset scenario, the vehicle's torque information is obtained based on the vehicle's target speed. Based on the target vehicle speed and the operating parameter information of each wheel, the slip ratio of each wheel is calculated; and the target wheel is determined according to the slip ratio of each vehicle. Obtain the suspension height information of the target wheel of the vehicle; based on the suspension height information of the target wheel and the slip ratio of the target wheel, determine the frequency and duration of the drive motor driving the target wheel; The torque information is allocated to the drive motor corresponding to the target wheel, so that the drive motor drives the target wheel based on the torque information allocated to the target wheel; wherein, the target wheel is a wheel with traction.

2. The method according to claim 1, characterized in that, The step of allocating the torque information to the drive motor corresponding to the target wheel includes: Based on the slip ratio of the target wheel and the correspondence between slip ratio and torque information, the target torque information required for the target wheel is obtained; Based on the torque information required by the target wheel, the torque information is allocated to the drive motor corresponding to the target wheel.

3. The method according to claim 2, characterized in that, After obtaining the vehicle's state information and the target vehicle speed, the method further includes: In response to the user's operation of the accelerator and brake pedals of the vehicle, the vehicle is controlled to travel at the target speed.

4. The method according to claim 2, characterized in that, After obtaining the torque information corresponding to each wheel, the method further includes: Based on the steering information and the target vehicle speed, calculate the predicted yaw rate of the vehicle; The actual yaw rate of the vehicle is obtained by weighting the measured yaw rate collected by the vehicle's yaw rate sensor and the dynamic information of the vehicle body's six degrees of freedom. Based on the actual yaw rate and the predicted yaw rate, target driving force information for driving the left and right wheels is obtained, so as to drive the vehicle to steer based on the target driving force information.

5. The method according to claim 4, characterized in that, The process of obtaining the target driving force information for the left and right wheels based on the actual yaw rate and the predicted yaw rate includes: Calculate the gain coefficient of the target vehicle speed based on the target vehicle speed; Based on the gain coefficient and the actual yaw rate, the target yaw rate is obtained; Calculate the difference between the target yaw rate and the predicted yaw rate; Based on the difference, the target driving force information for driving the left and right wheels is obtained.

6. The method according to claim 1, characterized in that, After allocating the torque information to the drive motor corresponding to the target wheel, the method further includes: A display command is sent to the display module to display the torque information, the target vehicle speed, and the torque information corresponding to the target wheel.

7. A cruise control device, characterized in that, The device includes: The first acquisition module is used to acquire the operating parameter information of each wheel of the vehicle, the steering information of the vehicle, and the six-degree-of-freedom dynamic information of the vehicle body when the vehicle is in cruise mode. The first determining module is used to process the operating parameter information of each wheel, the steering information of the vehicle, and the six degrees of freedom dynamic information of the vehicle body to obtain the vehicle's state information and target speed. The second determining module is used to determine the torque information of the vehicle based on the target vehicle speed when the vehicle is in distress according to the state information; calculate the slip ratio of each wheel based on the target vehicle speed and the operating parameter information of each wheel; determine the target wheel based on the slip ratio of each wheel; obtain the suspension height information of the target wheel of the vehicle; and determine the frequency and duration of the drive motor driving the target wheel based on the suspension height information of the target wheel and the slip ratio of the target wheel. The allocation module is used to allocate the torque information to the drive motor corresponding to the target wheel, so that the drive motor drives the target wheel based on the torque information allocated to the target wheel; wherein, the target wheel is a wheel with adhesion.

8. A vehicle, characterized in that, The vehicles include: A central processing unit, wherein the central processing unit is used to implement the cruise control method according to any one of claims 1-6; A sensor is installed at the target location of the vehicle, and the sensor is used to acquire parameter information at the target location.

9. The vehicle according to claim 8, characterized in that, The vehicle also includes: The display module is used to display the torque information and target vehicle speed of the target wheels driven by the drive motor.

Images