An adaptive coasting control method and device in cruise mode

Abstract

This invention relates to an adaptive coasting control method and apparatus in cruise mode, belonging to the field of assisted driving technology. The adaptive coasting control method in cruise mode includes: acquiring multiple downhill sections within a map data coverage area that meet preset conditions; determining the target downhill section the vehicle is about to reach based on the vehicle's current position; and determining the starting point position for coasting in neutral mode based on the starting point position of the target downhill section, the vehicle's current speed, the target cruise speed, the lower limit of cruise speed fluctuation, and the vehicle's running resistance. This invention reduces the complexity and cost of coasting in neutral mode during cruise through simplified control steps and is applicable to complex roads with multiple downhill sections, improving the flexibility of the coasting control strategy.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, and in particular to an adaptive coasting control method and device in cruise mode. Background Technology

[0002] Existing coasting strategies under cruise control or predictive cruise control employ two approaches. One approach involves acquiring cruise-related parameters, map road data, and load data from the vehicle's Controller Area Network (CAN) bus to determine whether to activate the predictive coasting module's predictive capability. This module continuously calculates the kinetic energy consumed during coasting and the work done by the driving resistance when coasting to the crest of a hill. When the consumed kinetic energy exceeds the work done by the latter, the predictive coasting module sends a neutral command to enter neutral coasting. The other approach involves automatically entering neutral coasting when the conditions for neutral coasting are met and safety is ensured during cruise control, and automatically disengaging from neutral and entering a gear suitable for the current vehicle status when the conditions are not met.

[0003] Existing coasting strategies under cruise control or predictive cruise control either require real-time calculation of energy loss during coasting, which is complex, or are only applicable to coasting in neutral under normal cruise control, with a limited range of vehicle speed and gradient, and are not suitable for coasting downhill sections. Summary of the Invention

[0004] In view of this, it is necessary to provide an adaptive neutral coasting control method and device in cruise mode to solve the problems that the existing neutral coasting strategy calculation process is relatively complex and the scope of application is limited.

[0005] To address the above problems, this invention provides an adaptive neutral coasting control method during cruise, comprising:

[0006] Acquire multiple downhill road sections within the map data coverage area that meet preset conditions;

[0007] Based on the vehicle's current location, the target downhill section that the vehicle is about to reach is determined among the multiple downhill sections;

[0008] Based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance, the starting point for the vehicle to coast in neutral is determined.

[0009] In one possible implementation, determining the starting point for coasting in neutral based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance includes:

[0010] The starting point for coasting in neutral is determined using the following formula:

[0011]

[0012] in, This indicates the starting point for the vehicle to coast in neutral. Indicates the starting point of the target downhill section. This indicates the distance traveled to the starting point of the target downhill section. Indicates vehicle mass. Indicates the current vehicle speed. Indicates the target cruising speed. This indicates the lower limit of cruise speed fluctuation. Indicates rolling resistance, Indicates air resistance, This indicates lane resistance.

[0013] In one possible implementation, the multiple downhill road sections within the map data coverage area that meet preset conditions include:

[0014] Within the map data coverage area, there are multiple downhill road segments whose length is greater than or equal to the first distance threshold and whose length is less than the second distance threshold, and whose length is greater than the second distance threshold.

[0015] In one possible implementation, determining the target downhill section that the vehicle is about to reach among the plurality of downhill sections based on the vehicle's current location includes:

[0016] If the distance between the vehicle's current position and the starting point of any of the multiple downhill sections is less than a third distance threshold, then that downhill section is identified as the target downhill section that the vehicle is about to reach.

[0017] In one possible implementation, the method further includes:

[0018] Based on the end point of the target downhill section, determine the end point of the vehicle's coasting in neutral.

[0019] In one possible implementation, determining the end point of the vehicle's coasting in neutral based on the end point of the target downhill section includes:

[0020] Based on the average gradient of the road segment at a preset distance after the end point of the target downhill section, determine the end point of the vehicle's coasting in neutral.

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

[0022] If the distance between the vehicle's current position and the starting point of coasting in neutral is less than or equal to a preset distance, a reminder to shift into neutral will be displayed or broadcast on the in-vehicle display device.

[0023] If the distance between the vehicle's current position and the end point of coasting in neutral is less than or equal to a preset distance, a reminder to engage forward gear will be displayed or broadcast on the in-vehicle display device.

[0024] The present invention also provides an adaptive coasting control device in neutral mode during cruise, comprising:

[0025] The acquisition module is used to acquire multiple downhill road sections that meet preset conditions within the map data coverage area;

[0026] The first determining module is used to determine the target downhill section that the vehicle is about to reach among the multiple downhill sections based on the vehicle's current position;

[0027] The second determining module is used to determine the starting point of the vehicle coasting in neutral gear based on the starting point of the target downhill section, the vehicle's current speed, the target cruise speed, the lower limit of cruise speed fluctuation, and the vehicle's running resistance.

[0028] The present invention also provides an electronic device, including a memory and a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the adaptive neutral coasting control method in cruise mode as described above.

[0029] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the adaptive neutral coasting control method in cruise mode as described above.

[0030] The beneficial effects of this invention are as follows: The adaptive neutral coasting control method and device provided by this invention in cruise mode first acquires multiple downhill road sections within the map data coverage area that meet preset conditions, providing basic data for subsequent neutral coasting control. Then, based on the vehicle's current position, it determines the target downhill road section that the vehicle is about to reach from among the multiple downhill road sections, thereby obtaining the road conditions ahead of the vehicle. Finally, based on the road conditions ahead, vehicle cruise parameters, and vehicle operating parameters, it determines the starting point position for the vehicle to coast in neutral, thereby realizing vehicle neutral coasting control. The simplified control steps reduce the complexity and cost of neutral coasting control during vehicle cruise, and it can be applied to complex roads with multiple downhill road sections, improving the flexibility of the neutral coasting control strategy. Attached Figure Description

[0031] Figure 1A flowchart illustrating an embodiment of the adaptive neutral coasting control method in cruise mode provided by the present invention;

[0032] Figure 2 This is a flowchart illustrating an embodiment of the process for obtaining downhill road sections provided by the present invention.

[0033] Figure 3 A schematic diagram of an embodiment of the adaptive neutral coasting control device for cruise mode provided by the present invention;

[0034] Figure 4 A schematic diagram of the structure of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0035] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0036] In the description of this invention, the terms "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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In the description of this invention, reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the described embodiments can be combined with other embodiments.

[0038] Existing coasting strategies under cruise control or predictive cruise control employ two approaches: one involves acquiring cruise-related parameters, map road data, and load data from the CAN bus to determine whether to activate the predictive coasting module's predictive capabilities. This involves continuously calculating the kinetic energy consumed during coasting and the work done by the driving resistance when coasting to the crest of a hill. When the consumed kinetic energy exceeds the work done by the latter, the predictive coasting module sends a neutral command to enter neutral coasting. The other approach involves automatically entering neutral coasting when the conditions for neutral coasting are met and safety is ensured during cruise control, and automatically disengaging from neutral and entering a gear suitable for the current vehicle status when the conditions are not met.

[0039] Existing coasting strategies under cruise control or predictive cruise control either require real-time calculation of energy loss during coasting, which is complex, or are only applicable to coasting in neutral under normal cruise control, with a limited range of vehicle speed and gradient, and are not suitable for coasting downhill sections.

[0040] To address the aforementioned issues, this invention discloses a map data processing method based on a high-precision map for the vehicle controller during constant speed or predictive cruise control. This method identifies downhill sections within the effective distance and their corresponding starting and ending points. Combined with the driver-set speed range and the future speed sequence optimized by predictive cruise control, the method dynamically adjusts the target speed. The transmission system receives this dynamically adjusted target speed, expands the speed range supporting coasting in neutral, and further increases the proportion of coasting in neutral during cruise control.

[0041] The specific embodiments are described in detail below:

[0042] A specific embodiment of the present invention discloses an adaptive neutral coasting control method in cruise mode, combined with Figure 1 Let's take a look. Figure 1 A flowchart illustrating an embodiment of the adaptive neutral coasting control method in cruise mode provided by the present invention includes steps S101 to S103, wherein:

[0043] In step S101, multiple downhill road sections that meet preset conditions within the map data coverage area are obtained;

[0044] In step S102, the target downhill section that the vehicle is about to reach is determined among the multiple downhill sections based on the vehicle's current position;

[0045] In step S103, the starting point of the vehicle coasting in neutral is determined based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance.

[0046] During implementation, multiple downhill sections that meet preset conditions within the map data coverage area can be obtained from the original map data. At the same time, the starting point, ending point, and average slope of multiple downhill sections can also be obtained, thus providing basic data for subsequent coasting control.

[0047] After identifying multiple downhill sections that meet the preset conditions, the target downhill section that the vehicle is about to reach can be determined from among the multiple downhill sections based on the vehicle's current position, thereby obtaining the road conditions ahead of the vehicle.

[0048] Finally, based on the starting point of the target downhill section, the vehicle's current speed, the target cruise speed, the lower limit of cruise speed fluctuation, and the vehicle's running resistance, the starting point for coasting in neutral can be determined. This ensures that when the vehicle reaches the starting point of the target downhill section, its speed is exactly the speed at which the target cruise speed reaches its lower limit of fluctuation (i.e.,...). , Indicates vehicle speed. Indicates the target cruising speed. (This indicates the lower limit of cruise speed fluctuation).

[0049] The adaptive neutral coasting control method in cruise mode provided by the present invention can be applied to vehicles using automatic transmissions or vehicles using manual transmissions, and the present invention does not specifically limit it.

[0050] Compared with existing technologies, the adaptive coasting control method in cruise mode provided in this embodiment first acquires multiple downhill sections within the map data coverage area that meet preset conditions, providing basic data for subsequent coasting control. Then, based on the vehicle's current position, it determines the target downhill section that the vehicle is about to reach from among the multiple downhill sections, thereby obtaining the road conditions ahead of the vehicle. Finally, based on the road conditions ahead, vehicle cruise parameters, and vehicle operating parameters, it determines the starting point position for the vehicle to coast in neutral, thereby realizing vehicle coasting control. The simplified control steps reduce the complexity and cost of coasting control during cruise and are applicable to complex roads with multiple downhill sections, improving the flexibility of the coasting control strategy.

[0051] For example, determining the starting point for coasting in neutral based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance includes:

[0052] The starting point for coasting in neutral is determined using the following formula:

[0053]

[0054] in, This indicates the starting point for the vehicle to coast in neutral. Indicates the starting point of the target downhill section. This indicates the distance traveled to the starting point of the target downhill section. Indicates vehicle mass. Indicates the current vehicle speed. Indicates the target cruising speed. This indicates the lower limit of cruise speed fluctuation. Indicates rolling resistance, Indicates air resistance, This indicates lane resistance.

[0055] Specifically, the starting position of the vehicle coasting in neutral can be calculated using the above formula, where rolling resistance, air resistance, and lane resistance can be calculated using the following discrete equations:

[0056]

[0057]

[0058]

[0059] in, This represents the discrete amount of rolling resistance. Air resistance dispersion This represents the discrete amount of lane resistance. Indicates vehicle mass. Represents gravitational acceleration. Indicates the rolling resistance coefficient. Represents a slope sequence. Indicates the air drag coefficient. Indicates the windward area. Indicates air density, Indicates the current vehicle speed.

[0060] For example, the multiple downhill road sections that meet preset conditions within the coverage area of ​​the acquired map data include:

[0061] Within the map data coverage area, there are multiple downhill road segments whose length is greater than or equal to the first distance threshold and whose length is less than the second distance threshold, and whose length is greater than the second distance threshold.

[0062] Specifically, when acquiring multiple downhill road sections that meet preset conditions within the map data coverage area, the following steps can be followed:

[0063] Determine at least continuous in map data The slope of meters (i.e., the first distance threshold) is less than 1 meter. For road sections that meet the first slope threshold (i.e., the first slope threshold), the first section to satisfy the slope threshold of less than 100° is considered a road section. The data point location was determined as the starting point of the downhill section. Meanwhile, in this section of road, if there are at least continuous The slope of meters (i.e., the second distance threshold) is greater than If a section of road reaches the second slope threshold, the downhill section is considered to have ended, and the first section of road to meet the slope threshold is considered to have ended. The data point location was determined as the end point of the downhill section. Then it can also calculate the starting point position of the downhill section. End of downhill section average slope Repeat the above steps until all downhill sections meeting the preset conditions are obtained within the map data coverage area. By obtaining multiple downhill sections within the map data coverage area in advance, the complexity of the coasting control strategy can be further reduced.

[0064] For example, determining the target downhill section that the vehicle is about to reach among the plurality of downhill sections based on the vehicle's current location includes:

[0065] If the distance between the vehicle's current position and the starting point of any of the multiple downhill sections is less than a third distance threshold, then that downhill section is identified as the target downhill section that the vehicle is about to reach.

[0066] Specifically, when determining the target downhill section that the vehicle is about to reach, the difference between the starting point of any downhill section and the vehicle's current position can be calculated. ( This indicates the starting point of any downhill section. Indicates the vehicle's current location. When the third distance threshold is reached, the downhill section can be identified as the target downhill section that the vehicle is about to reach.

[0067] Exemplarily, the method further includes:

[0068] Based on the end point of the target downhill section, determine the end point of the vehicle's coasting in neutral.

[0069] Specifically, after determining the starting point of the vehicle coasting in neutral, the working conditions of the subsequent road sections can be determined based on the ending point of the target downhill section, thereby determining the ending point of the vehicle coasting in neutral.

[0070] For example, determining the end point of the vehicle's coasting in neutral based on the end point of the target downhill section includes:

[0071] Based on the average gradient of the road segment at a preset distance after the end point of the target downhill section, determine the end point of the vehicle's coasting in neutral.

[0072] Specifically, when determining the end point of the vehicle's coasting in neutral based on the end point of the target downhill section, the end point can be determined by the average gradient of a pre-set distance (e.g., 200m) following the end point of the target downhill section. After reaching the end point of coasting in neutral, the vehicle can then shift into forward gear.

[0073] For example, if the average gradient of the 200m section after the end of the target downhill section is relatively small, it can be judged that the subsequent road section is relatively stable, and the end point of the vehicle coasting in neutral can be determined within a short distance before the end point of the target downhill section. If the average gradient of the 200m section after the end of the target downhill section is relatively large, it can be judged that the subsequent road section is unstable, and in order to avoid operations such as heavy acceleration, the end point of the vehicle coasting in neutral can be determined within a longer distance before the end point of the target downhill section.

[0074] Exemplarily, the method further includes:

[0075] If the distance between the vehicle's current position and the starting point of coasting in neutral is less than or equal to a preset distance, a reminder to shift into neutral will be displayed or broadcast on the in-vehicle display device.

[0076] If the distance between the vehicle's current position and the end point of coasting in neutral is less than or equal to a preset distance, a reminder to engage forward gear will be displayed or broadcast on the in-vehicle display device.

[0077] Specifically, the system provides gear engagement reminders via display or sound at the start or end points of coasting in neutral, enabling vehicles with manual transmissions to also complete the coasting in neutral control process, thereby further improving the flexibility of the coasting in neutral control strategy.

[0078] The following specific application scenario will better illustrate the technical solution of the present invention:

[0079] In the technical solution of this invention, the vehicle controller uses a high-precision map data processing method to identify downhill sections within the effective distance and their corresponding starting and ending points. It then dynamically adjusts the target speed based on the driver-set speed range and the future speed sequence optimized by predictive cruise control. The transmission system receives this dynamically adjusted target speed, expands the speed range supporting neutral coasting, and further increases the proportion of neutral coasting during cruise control. The specific steps for neutral coasting control are as follows:

[0080] 1. The vehicle controller receives the maximum cruise speed fluctuation limit set by the driver from the bus. Lower limit of fluctuation .

[0081] 2. The vehicle controller receives the raw map data and extracts downhill feature sections. Combined with... Figure 2 Let's take a look. Figure 2 This is a flowchart illustrating an embodiment of the process for obtaining downhill road sections provided by the present invention. Based on the displacement and slope corresponding to each data point, if at least continuous... meters and the slope is less than When the condition is met, a valid downhill section is recorded, and the displacement of the data point that first meets the condition is recorded as the displacement of the starting point of that section. If at least consecutive The slope of meters is greater than When the downhill section ends, the displacement of the data point that first meets the exit condition is recorded as the end displacement of that section. Calculate the average gradient from the starting point to the end point of the road segment. Repeat step 2 to extract all downhill sections that meet the criteria within the map data coverage area.

[0082] 3. Store the road segment features (including start point, end point, and average slope) extracted in step 2 into three arrays of length N. Ensure that the start point, end point, and average slope of a road segment are in the same position in the array. After the array is full, start over from the first value and store again to ensure that all valid road segment features extracted within the map data range in front of the vehicle are stored in the array.

[0083] Starting point array: [ ].

[0084] Endpoint array: [ ].

[0085] Average slope: [ ].

[0086] 4. Real-time comparison of the vehicle's current displacement Compared with the displacement of the starting point in step 3, when Then the displacement of the starting point of the slope that is about to be reached is determined to be... That is, determining the downhill features ahead and sorting them in the array as follows. This allows us to obtain the displacement endpoint and average slope of the road segment we are about to reach.

[0087] 5. The predictive cruise module receives the starting point displacement from step 4. The lower limit of cruise speed fluctuation set by the driver and cruise target speed By constructing a longitudinal dynamics model of the vehicle, the starting point S of the vehicle's coasting is determined, so that the vehicle speed is exactly equal to the displacement at the starting point when the vehicle coasts to that displacement. To avoid energy waste, the constructed longitudinal dynamic equation is as follows:

[0088]

[0089] in, For the overall vehicle quality, Current vehicle speed Set the speed for the driver. Set a lower limit for fluctuations for drivers. This is the sliding distance from the start of the downhill slope. For rolling resistance, For air resistance, This refers to the slope resistance.

[0090] Rolling resistance discrete equation:

[0091] Discrete equations for air resistance:

[0092] Discrete equations for ramp resistance:

[0093] It is gravitational acceleration. It is the rolling resistance coefficient. It is a slope sequence. It is the air drag coefficient. It is the windward area. It is air density. This is the vehicle's current speed.

[0094] 6. Calculate the displacement distance between the vehicle's current position and the starting point of the downhill slope in step 4. Average slope Step 5 optimization process target vehicle speed deviation The information is sent to the transmission system as a condition for determining whether the transmission system can coast in neutral. This enables dynamic adjustment of the target vehicle speed during cruise control, eliminating the need for the transmission system to develop its own coasting strategy based on predictive cruise.

[0095] 7. Extract the current downhill endpoint. And calculate the average slope within a 200-meter radius from that point, denoted as . .according to Determine the displacement of the vehicle when it exits neutral and coasts. After the vehicle has shifted out of neutral and coasted, it will shift into drive.

[0096] The technical solution of the present invention will be further illustrated below through specific application scenarios.

[0097] 1. Long downhill slope with a steep gradient.

[0098] The driver sets the current cruise speed to 80 km / h and the cruise fluctuation limit. =10km / h, lower limit of cruise fluctuation = -8km / h, there is a long downhill slope of 250m in length with an average gradient of -2% 200m ahead of the current vehicle position. The transmission neutral coasting strategy requires the vehicle speed to be within the cruise control set speed range. 2km / h.

[0099] Control performance: The vehicle begins to coast and shifts into neutral at a speed of 80 km / h about 150 m before the start of the downhill. The speed is about 72.5 km / h when coasting to the start of the downhill, and about 88 km / h when coasting to the end of the downhill. The vehicle then shifts into gear at a speed of about 79 km / h about 159 m after the end of the downhill.

[0100] 2. Long downhill slope with a gentle gradient.

[0101] The driver sets the current cruise speed to 80 km / h and the cruise fluctuation limit. =10km / h, lower limit of cruise fluctuation = -8km / h, there is a long downhill slope of 300m in length with an average gradient of -1.3% 200m ahead of the current vehicle position. The transmission neutral coasting strategy requires the vehicle speed to be within the cruise control set speed range. 2km / h.

[0102] Control performance: The vehicle begins to coast and shifts into neutral at a speed of 80 km / h about 100 m before the start of the downhill. The speed is about 72.5 km / h when the vehicle reaches the start of the downhill. The coasting ends when the speed is about 73 km / h 70 m before the end of the downhill, and the vehicle shifts into drive.

[0103] This invention sends dynamically adjusted target vehicle speed and gradient data before descending a slope to the transmission controller. The transmission system only needs the same neutral coasting strategy to be compatible with both cruise control and predictive cruise control in neutral coasting mode. Furthermore, it significantly increases the proportion of neutral coasting in predictive cruise control, saving fuel consumption. When paired with a manual transmission, the system can remind the driver to shift to neutral in advance via text or sound on the instrument panel when neutral coasting is desired, further saving fuel.

[0104] This invention also provides an adaptive neutral coasting control device in cruise mode, combined with Figure 3 Let's take a look. Figure 3 This is a schematic diagram of an embodiment of the adaptive neutral coasting control device 300 in cruise mode provided by the present invention. The adaptive neutral coasting control device 300 in cruise mode includes:

[0105] The acquisition module 301 is used to acquire multiple downhill road sections that meet preset conditions within the map data coverage area;

[0106] The first determining module 302 is used to determine the target downhill section that the vehicle is about to reach among the multiple downhill sections based on the vehicle's current position;

[0107] The second determining module 303 is used to determine the starting point of the vehicle coasting in neutral gear based on the starting point of the target downhill section, the vehicle's current speed, the target cruise speed, the lower limit of cruise speed fluctuation, and the vehicle's running resistance.

[0108] The specific implementation methods of each module of the adaptive neutral coasting control device in cruise mode can be found in the description of the adaptive neutral coasting control method in cruise mode, which has similar beneficial effects and will not be repeated here.

[0109] It should be noted that the adaptive neutral coasting control device in cruise mode can be installed in the vehicle's overall controller or independently in the vehicle; this invention does not impose any specific limitations on this.

[0110] This invention also provides an electronic device, combined with Figure 4 Let's take a look. Figure 4 This is a schematic diagram of an embodiment of the electronic device provided by the present invention. The electronic device 400 includes a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the processor 401 executes the program, it implements the adaptive neutral coasting control method in cruise mode as described above.

[0111] In a preferred embodiment, the electronic device 400 further includes a display 403 for displaying the adaptive neutral coasting control method performed by the processor 401 in the cruise state as described above.

[0112] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory 402 and executed by processor 401 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in electronic device 400. For example, the computer program can be divided into the acquisition module 301, the first determination module 302, and the second determination module 303 in the above embodiments. The specific functions of each module are as described above and will not be repeated here.

[0113] Electronic device 400 can be a desktop computer, laptop, PDA, or smartphone with an adjustable camera module.

[0114] The processor 401 may be an integrated circuit chip with signal processing capabilities. The processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0115] The memory 402 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 402 stores programs, and the processor 401 executes these programs upon receiving execution instructions. The process definition method disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 401, or implemented by the processor 401.

[0116] The display 403 can be an LCD screen or an LED screen. For example, a display screen on an in-vehicle device.

[0117] Understandable, Figure 4 The structure shown is only a schematic diagram of one possible structure of electronic device 400. Electronic device 400 may also include more than one of the following: Figure 4 Show more or fewer components. Figure 4 The components shown can be implemented using hardware, software, or a combination thereof.

[0118] The electronic device provided by the above embodiments of the present invention can be implemented with reference to the content specifically described in the present invention for implementing the adaptive neutral coasting control method in cruise state as described above, and has similar beneficial effects to the adaptive neutral coasting control method in cruise state as described above, which will not be repeated here.

[0119] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the adaptive neutral coasting control method in cruise mode as described above.

[0120] Generally, computer instructions for implementing the methods of the present invention can be carried on any combination of one or more computer-readable storage media. Non-transitory computer-readable storage media can include any computer-readable medium except for signals themselves that are temporarily propagating.

[0121] Computer-readable storage media can be, for example—but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0122] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as the "C" language or similar programming languages. In particular, Python, suitable for neural network computation, and platform frameworks such as TensorFlow and PyTorch can be used. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0124] This invention discloses an adaptive coasting control method and apparatus in cruise mode. First, it acquires multiple downhill sections within the map data coverage area that meet preset conditions, providing basic data for subsequent coasting control. Then, based on the vehicle's current position, it determines the target downhill section the vehicle is about to reach from among the multiple downhill sections, thereby obtaining the road conditions ahead of the vehicle. Finally, based on the road conditions ahead, vehicle cruise parameters, and vehicle operating parameters, it determines the starting point for coasting in neutral, thus realizing coasting control. This simplified control process reduces the complexity and cost of coasting control during cruise and is applicable to complex roads with multiple downhill sections, improving the flexibility of the coasting control strategy.

[0125] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive coasting control method in neutral gear during cruise, characterized in that, include: Acquire multiple downhill road sections within the map data coverage area that meet preset conditions; Based on the vehicle's current location, the target downhill section that the vehicle is about to reach is determined among the multiple downhill sections; Based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance, determine the starting point of the vehicle's coasting in neutral. The determination of the starting point for coasting in neutral, based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance, includes: The starting point for coasting in neutral is determined using the following formula: in, This indicates the starting point for the vehicle to coast in neutral. Indicates the starting point of the target downhill section. This indicates the distance traveled to the starting point of the target downhill section. Indicates vehicle mass. Indicates the current vehicle speed. Indicates the target cruising speed. This indicates the lower limit of cruise speed fluctuation. Indicates rolling resistance, Indicates air resistance, This indicates lane resistance.

2. The adaptive neutral coasting control method in cruise mode according to claim 1, characterized in that, The multiple downhill road sections within the map data coverage area that meet preset conditions include: Within the map data coverage area, there are multiple downhill road segments whose length is greater than or equal to the first distance threshold and whose length is less than the second distance threshold, and whose length is greater than the second distance threshold.

3. The adaptive neutral coasting control method in cruise mode according to claim 1, characterized in that, The process of determining the target downhill section that the vehicle is about to reach among the multiple downhill sections based on the vehicle's current location includes: If the distance between the vehicle's current position and the starting point of any of the multiple downhill sections is less than a third distance threshold, then that downhill section is identified as the target downhill section that the vehicle is about to reach.

4. The adaptive neutral coasting control method in cruise mode according to claim 1, characterized in that, The method further includes: Based on the end point of the target downhill section, determine the end point of the vehicle's coasting in neutral.

5. The adaptive neutral coasting control method in cruise mode according to claim 4, characterized in that, Determining the end point of the vehicle's coasting in neutral based on the end point of the target downhill section includes: Based on the average gradient of the road segment at a preset distance after the end point of the target downhill section, determine the end point of the vehicle's coasting in neutral.

6. The adaptive neutral coasting control method in cruise mode according to claim 5, characterized in that, The method further includes: If the distance between the vehicle's current position and the starting point of coasting in neutral is less than or equal to a preset distance, a reminder to shift into neutral will be displayed or broadcast on the in-vehicle display device. If the distance between the vehicle's current position and the end point of coasting in neutral is less than or equal to a preset distance, a reminder to engage forward gear will be displayed or broadcast on the in-vehicle display device.

7. An adaptive coasting control device in neutral gear during cruise, characterized in that, include: The acquisition module is used to acquire multiple downhill road sections that meet preset conditions within the map data coverage area; The first determining module is used to determine the target downhill section that the vehicle is about to reach among the multiple downhill sections based on the vehicle's current position; The second determining module is used to determine the starting point of the vehicle coasting in neutral gear based on the starting point of the target downhill section, the vehicle's current speed, the target cruise speed, the lower limit of cruise speed fluctuation, and the vehicle's running resistance. The determination of the starting point for coasting in neutral, based on the starting point of the target downhill section, the vehicle's current speed, the target cruising speed, the lower limit of cruising speed fluctuation, and the vehicle's running resistance, includes: The starting point for coasting in neutral is determined using the following formula: in, This indicates the starting point for the vehicle to coast in neutral. Indicates the starting point of the target downhill section. This indicates the distance traveled to the starting point of the target downhill section. Indicates vehicle mass. Indicates the current vehicle speed. Indicates the target cruising speed. This indicates the lower limit of cruise speed fluctuation. Indicates rolling resistance, Indicates air resistance, This indicates lane resistance.

8. An electronic device, characterized in that, It includes a memory and a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the adaptive neutral coasting control method in cruise state as described in any one of claims 1 to 6.

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

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