Vehicle cruise control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle cruise control method and device, electronic equipment and a storage medium. The method comprises the steps that under the condition that a cruise mode of the vehicle is started, the cruise speed of the vehicle is determined; acquiring the current speed and the current torque of the vehicle, and determining the coefficient of the preset state equation of the longitudinal movement of the vehicle; and a model prediction control algorithm is adopted, and the torque control quantity of the vehicle entering the cruise mode is determined based on the cruise speed, the current speed, the current torque and the coefficients of the preset state equation of the longitudinal movement of the vehicle. And cruise control is conducted on the vehicle based on the torque control amount. According to the technical scheme provided by the embodiment of the invention, the technical problem of poor precision and stability of cruise control in related technologies is solved, and the technical effects of improving the precision and stability of the cruise control and enhancing the adaptive capacity of the cruise control to complex working conditions are achieved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and in particular to a vehicle cruise control method, device, electronic device, and storage medium. Background Art

[0002] For vehicle cruise control, the PID control algorithm is generally used to calculate the error between the current state and the target state, and adjust the control amount based on the proportional, integral and differential terms of the error. This cruise control method often relies on accurate model parameters, but in a complex vehicle dynamic environment, vehicle parameters are often difficult to obtain accurately and are easily disturbed by external factors, resulting in poor robustness of the PID control algorithm. When the vehicle state or external environment changes, the PID control algorithm may not be able to adjust the control strategy in time, thus affecting the accuracy and stability of cruise control. Summary of the invention

[0003] The present invention provides a vehicle cruise control method, device, electronic equipment and storage medium, which improve the accuracy and stability of cruise control and enhance the adaptability of cruise control to complex working conditions.

[0004] According to one aspect of the present invention, a vehicle cruise control method is provided, the method comprising:

[0005] When the vehicle is in cruise mode, determining a cruising speed of the vehicle;

[0006] Obtaining the current speed and current torque of the vehicle, and determining coefficients of a state equation of the longitudinal motion of the preset vehicle;

[0007] A model predictive control algorithm is adopted to determine the torque control amount for the vehicle to enter the cruise mode based on the cruising speed, the current vehicle speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion, and cruise control is performed on the vehicle based on the torque control amount.

[0008] According to another aspect of the present invention, a vehicle cruise control device is provided. The device comprises:

[0009] A first parameter determination module, used for determining a cruising speed of the vehicle when the vehicle starts a cruising mode;

[0010] A second parameter determination module is used to obtain the current speed and current torque of the vehicle and determine the coefficients of the state equation of the longitudinal motion of the preset vehicle;

[0011] The vehicle cruise control module is used to adopt a model predictive control algorithm to determine the torque control amount for the vehicle to enter the cruise mode based on the cruising vehicle speed, the current vehicle speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion, and to cruise control the vehicle based on the torque control amount.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle cruise control method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle cruise control method described in any embodiment of the present invention when executed.

[0017] The technical solution of the embodiment of the present invention is to determine the cruising speed of the vehicle when the vehicle starts the cruise mode. Obtain the current speed and current torque of the vehicle, and determine the coefficients of the state equation of the preset vehicle longitudinal motion. Adopt a model predictive control algorithm, and determine the torque control amount for the vehicle to enter the cruise mode based on the cruising speed, the current speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion. Cruise control is performed on the vehicle based on the torque control amount. The technical solution of the embodiment of the present invention solves the technical problem of poor accuracy and stability of cruise control in the related technology, and achieves the technical effect of improving the accuracy and stability of cruise control and enhancing the adaptability of cruise control to complex working conditions.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic flow chart of a vehicle cruise control method provided by an embodiment of the present invention;

[0021] Figure 2 A schematic flow chart of an optional embodiment of a vehicle cruise control method provided by an embodiment of the present invention;

[0022] Figure 3 A schematic structural diagram of a vehicle cruise control device provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0027] Figure 1A flow chart of a vehicle cruise control method provided in an embodiment of the present invention. This embodiment is applicable to the situation of performing cruise control on a vehicle, and is particularly applicable to the scenario of performing cruise control on a new energy commercial pure electric vehicle. The method can be executed by a vehicle cruise control device, and the vehicle cruise control device can be implemented in the form of hardware and / or software, and the vehicle cruise control device can be configured in an electronic device such as a computer or a server.

[0028] like Figure 1 As shown, the method of this embodiment includes:

[0029] S110: When the vehicle starts the cruise mode, determine the cruising speed of the vehicle.

[0030] In an embodiment of the present invention, the vehicle starts the cruise mode when the vehicle is in a driving state. The cruising speed can be understood as a fixed driving speed that the vehicle needs to reach when cruising. It should be noted that in an embodiment of the present invention, the cruising speed can be set according to actual needs, and its value is not specifically limited here, for example, 40km / h, 60km / h or 80km / h, etc. In an embodiment of the present invention, before the vehicle starts the cruise mode, it can also include: in response to a cruise speed setting operation for the vehicle, obtaining the cruise speed of the vehicle. The cruise speed setting operation can be understood as an operation for setting the cruise speed of the vehicle.

[0031] Specifically, when the vehicle starts the cruise mode, a fixed driving speed set for the vehicle cruise is obtained, that is, the cruising speed of the vehicle is obtained. In an embodiment of the present invention, the vehicle starts the cruise mode in a manner that specifically responds to a cruise driving mode setting operation set by a user for the vehicle, so that the vehicle starts the cruise mode.

[0032] S120, obtaining the current speed and current torque of the vehicle, and determining coefficients of a state equation for preset longitudinal motion of the vehicle.

[0033] Among them, the current vehicle speed can be understood as the driving speed of the vehicle when the cruise mode is started. In an embodiment of the present invention, there are multiple ways to obtain the current speed of the vehicle. For example, the current speed of the vehicle can be obtained by measuring the internal system of the vehicle (for example, a mechanical speedometer, an electronic control system); or, the current speed of the vehicle can be measured with the help of an external device; wherein the external device can be a radar speed meter, a laser speed meter, etc. The current torque can be understood as the vehicle torque of the vehicle when the cruise mode is started. In an embodiment of the invention, there are multiple ways to obtain the current torque of the vehicle. For example, the torque amount of the vehicle when the cruise mode is started can be measured by a torque sensor or a torque tester.

[0034] In the embodiment of the present invention, the coefficients of the state equation of the preset vehicle longitudinal motion may be the coefficients of the state equation of the preset vehicle longitudinal motion. The preset state equation of the vehicle longitudinal motion is established based on the vehicle dynamics equation. Optionally, the state equation of the vehicle longitudinal motion may be a continuous state equation of the vehicle longitudinal motion; or, may be a discrete state equation of the vehicle longitudinal motion.

[0035] In the embodiment of the present invention, the vehicle dynamics equation may be established based on the vehicle driving equation and a preset relationship between the current torque and the controller's expected output torque.

[0036] Among them, the vehicle driving equation can be:

[0037]

[0038] Among them, F t Can be expressed as driving force; F f Can be expressed as rolling resistance; F w Can be expressed as air resistance; F i Can be expressed as slope resistance; F j Can be expressed as acceleration resistance; T real It can be expressed as driving torque; i 0 It can be expressed as the main reducer speed ratio; r ω It can be expressed as the tire rolling radius in meters; m can be expressed as the fully loaded mass of the vehicle in kg; g can be expressed as acceleration; ρ can be expressed as air density in kg / m 3 ;f s Can be expressed as the tire rolling resistance coefficient; C D It can be expressed as the air resistance coefficient; A can be expressed as the frontal area of ​​the vehicle, in m 2 ;v x It can be expressed as the longitudinal driving speed of the vehicle in m / s; α can be expressed as the longitudinal slope of the vehicle in degrees; δ can be expressed as the vehicle rotational mass conversion coefficient; a can be expressed as acceleration.

[0039] The preset relationship between the current torque and the controller's expected output torque can be expressed by the following formula:

[0040]

[0041] Thus we can get Among them, τ c It can be expressed as the torque control time constant, T real It can be expressed as the current torque of the vehicle, and T can be expressed as the output torque expected by the controller.

[0042] In the embodiment of the present invention, the reason for establishing a preset relationship between the current torque and the desired output torque of the controller is that since the braking system, the motor system and the collection and processing of sensor signals all have time lags, there will be a certain delay in the vehicle tracking the desired torque. Therefore, in the embodiment of the present invention, the tracking of the vehicle torque is regarded as a first-order system lag link, and the relationship between the current torque and the desired output torque of the controller is established.

[0043] Based on this, the vehicle dynamics equation in the embodiment of the present invention can be:

[0044]

[0045] Among them, F t Can be expressed as driving force; F f Can be expressed as rolling resistance; F w Can be expressed as air resistance; F i Can be expressed as slope resistance; F j Can be expressed as acceleration resistance; T real It can be expressed as driving torque; i 0 It can be expressed as the main reducer speed ratio; r ω It can be expressed as the tire rolling radius in meters; m can be expressed as the fully loaded mass of the vehicle in kg; g can be expressed as acceleration; ρ can be expressed as air density in kg / m 3 ;f s Can be expressed as the tire rolling resistance coefficient; C D It can be expressed as the air resistance coefficient; A can be expressed as the frontal area of ​​the vehicle, in m 2 ;v x It can be expressed as the longitudinal driving speed of the vehicle in m / s; α can be expressed as the longitudinal slope of the vehicle in degrees; δ can be expressed as the vehicle rotation mass conversion coefficient; a can be expressed as acceleration; T real Can be expressed as the current torque; τ c It can be expressed as the torque control time constant.

[0046] The state equation of the continuous vehicle longitudinal motion established based on the vehicle dynamics equation can be:

[0047]

[0048] y=Cx+Du

[0049] in, C=[0 1];D=0;x can be expressed as the system state vector, x=[T real v x ] T , where Treal It can be expressed as the current torque, v x It can be expressed as the current vehicle speed; where u can be expressed as the torque control amount for the vehicle to enter the cruise mode, u = T des , where T des It can be expressed as the torque control amount for the vehicle to enter cruise mode.

[0050] In an embodiment of the present invention, when the state equation of the longitudinal motion of the vehicle is a continuous state equation of the longitudinal motion of the vehicle, the coefficients of the preset state equation of the longitudinal motion of the vehicle may be the coefficients of the continuous state equation of the longitudinal motion of the vehicle, namely A, B, C and D.

[0051] In the embodiment of the present invention, in order to enable the model predictive control algorithm to be applied to the actual vehicle controller, the coefficients of the state equation of the longitudinal motion of the vehicle can be preset to be the coefficients of the state equation of the longitudinal motion of the vehicle in a discrete form. In the embodiment of the present invention, the method of obtaining the coefficients of the state equation of the longitudinal motion of the vehicle in a discrete form can be specifically to discretize the state equation of the longitudinal motion of the vehicle in a continuous form to obtain the state equation of the longitudinal motion of the vehicle in a discrete form. Thus, the coefficients of the state equation of the longitudinal motion of the vehicle in a discrete form can be obtained. The benefit of such processing is to reduce the excessive occupation of the algorithm on the computing space.

[0052] Optionally, the state equation of the longitudinal motion of the vehicle can be discretized by using the Euler forward method with a time step of ΔT, so as to obtain a discrete state equation of the longitudinal motion of the vehicle. The discrete state equation of the longitudinal motion of the vehicle can be expressed as:

[0053] x(k+1)=A(ΔT)x(k)+B(ΔT)u(k)

[0054] y(k+1)=Cx(k+1)

[0055] in, x=[T real v x ] T ;

[0056] u=T des ; I can be expressed as the unit matrix; ΔT can be expressed as the sampling interval time.

[0057] In an embodiment of the invention, when the state equation of the longitudinal motion of the vehicle is a discrete state equation of the longitudinal motion of the vehicle, the coefficients of the preset state equation of the longitudinal motion of the vehicle can be the coefficients of the discrete state equation of the longitudinal motion of the vehicle, namely A(ΔT), B(ΔT), and C.

[0058] S130, using a model predictive control algorithm to determine the torque control amount for the vehicle to enter a cruise mode based on the cruising vehicle speed, the current vehicle speed, the current torque, and the coefficients of the state equation of the preset vehicle longitudinal motion.

[0059] In an embodiment of the present invention, the model predictive control algorithm may be a model predictive control algorithm in Simulink, so as to more quickly calculate the torque control amount for the vehicle to enter the cruise mode.

[0060] Specifically, the cruising speed, the current speed, the current torque, and the coefficients of the state equation of the preset vehicle longitudinal motion can be brought into the model predictive control algorithm, so as to obtain the output result of the predictive control algorithm, that is, the torque control amount of the vehicle entering the cruise mode.

[0061] In an embodiment of the present invention, the model predictive control algorithm may include a preset cost function, wherein the preset cost function may be established based on the system output, the torque control quantity, the system output weight matrix and the torque control quantity weight matrix, wherein the system output is calculated based on the state equation of the longitudinal motion of the vehicle.

[0062] Optionally, the preset cost function can be expressed as:

[0063]

[0064] Among them, y can be expressed as the system output, where y re f It can be expressed as the expected output of the system, y real can be expressed as the actual output of the system; u can be expressed as the torque control amount; N p Can be expressed as the prediction step length; N c can be expressed as the control step length; Q can be expressed as the system output weight matrix; R can be expressed as the control weight matrix; v ref Can be expressed as cruising speed; v real It can be expressed as the current vehicle speed.

[0065] In an embodiment of the present invention, the model predictive control algorithm may be provided with a first constraint and / or a second constraint; wherein, the first constraint may include an upper limit of the torque control amount and a lower limit of the torque control amount, and the second constraint may include an upper limit of the change of the torque control amount and a lower limit of the change of the torque control amount.

[0066] Optionally, the first constraint condition may be expressed by the following formula:

[0067] u min ≤u≤umax

[0068] Among them, u can be expressed as the torque control quantity, u max It can be expressed as the upper limit of the torque control amount, u min It can be expressed as the lower limit of the torque control amount.

[0069] Optionally, the second constraint condition may be expressed by the following formula:

[0070] Δu min ≤Δu≤Δu max

[0071] Among them, Δu can be expressed as the change of torque control amount per unit time; Δu max It can be expressed as the upper limit of the change in torque control amount per unit time; Δu min It can be expressed as the lower limit of the change in the torque control amount per unit time.

[0072] In the embodiment of the present invention, the benefit of setting the first constraint condition is that it can ensure safe driving, and the benefit of setting the second constraint condition is that it can avoid excessive changes in the torque control amount per unit time, which may cause a sudden change in vehicle speed, and can make the speed change smoother, thereby improving ride comfort.

[0073] S140: Perform cruise control on the vehicle based on the torque control amount.

[0074] Specifically, the torque control amount is used to control the vehicle to cruise in the cruise mode with the cruising speed as the target vehicle speed.

[0075] The technical solution of the embodiment of the present invention is to determine the cruising speed of the vehicle when the vehicle starts the cruise mode. Obtain the current speed and current torque of the vehicle, and determine the coefficients of the state equation of the preset vehicle longitudinal motion. Adopt a model predictive control algorithm, and determine the torque control amount for the vehicle to enter the cruise mode based on the cruising speed, the current speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion. Cruise control is performed on the vehicle based on the torque control amount. The technical solution of the embodiment of the present invention solves the technical problem of poor accuracy and stability of cruise control in the related technology, and achieves the technical effect of improving the accuracy and stability of cruise control and enhancing the adaptability of cruise control to complex working conditions.

[0076] As an optional implementation of the embodiment of the present invention, see Figure 2, after receiving the cruise driving request, target speed (cruise speed), and cruise driving strategy based on energy saving and speed requirements set by the driver, the target speed can be brought into the longitudinal control module of the new energy commercial vehicle based on the MPC (model predictive control) algorithm. Among them, the longitudinal control module of the new energy commercial vehicle based on MPC is provided with a discrete state equation of the longitudinal motion of the vehicle and is configured with an MPC algorithm. Among them, the state equation of the longitudinal motion of the discrete vehicle is obtained based on the state equation of the longitudinal motion of the continuous vehicle, and the state equation of the longitudinal motion of the continuous vehicle is established based on the vehicle dynamics model.

[0077] Therefore, the coefficients of the state equation of discrete vehicle longitudinal motion can be determined through the state equation of discrete vehicle longitudinal motion, which can be used as the coefficients of the state equation of preset vehicle longitudinal motion of the vehicle; then, the current vehicle speed, current torque, cruising speed and the coefficients of the state equation of preset vehicle longitudinal motion of the vehicle can be brought into the MPC algorithm to calculate the torque control amount for the vehicle to enter the cruise mode through the MPC algorithm.

[0078] Among them, the MPC algorithm includes an objective function (preset cost function), a first constraint condition obtained based on the upper limit of the torque control amount and the lower limit of the torque control amount, and a second constraint condition obtained based on the upper limit of the change of the torque control amount and the lower limit of the change of the torque control amount.

[0079] Among them, the cost function can be expressed as:

[0080]

[0081] Among them, y can be expressed as the system output, where y ref It can be expressed as the expected output of the system, y real can be expressed as the actual output of the system; u can be expressed as the torque control amount; N p Can be expressed as the prediction step length; N c can be expressed as the control step length; Q can be expressed as the system output weight matrix; R can be expressed as the control weight matrix; v ref Can be expressed as cruising speed; v real It can be expressed as the current vehicle speed.

[0082] The first constraint can be expressed as:

[0083] u min ≤u≤u max

[0084] Among them, u can be expressed as the torque control quantity, u max It can be expressed as the upper limit of the torque control amount, umi n can be expressed as the lower limit of the torque control amount.

[0085] The second constraint can be expressed as:

[0086] Δu min ≤Δu≤Δu max

[0087] Among them, Δu can be expressed as the change of torque control amount per unit time; Δu max It can be expressed as the upper limit of the change in torque control amount per unit time; Δu min It can be expressed as the lower limit of the change in the torque control amount per unit time.

[0088] After the vehicle is cruise controlled based on the torque control amount, the method may further include: obtaining the driving speed of the vehicle in the cruise mode, comparing the driving speed with the cruise speed, and adjusting the torque control amount based on the comparison result. The advantage of this process is that the torque control amount of the vehicle can be adjusted in real time, so that the vehicle cruises with the cruise speed as the target speed, so as to be suitable for complex and changeable working conditions.

[0089] On the basis of the above embodiment, it can also include: encapsulating the functions of the vehicle cruise control method to obtain a vehicle cruise control module. After obtaining the vehicle cruise control module, the vehicle cruise control module can be subjected to a model in the loop (MIL) test and / or a hardware in the loop (HIL) test. Specifically, when the vehicle cruise control module is subjected to a MIL test, the torque control amount can be given to a vehicle dynamics simulation application for a closed-loop test. When the vehicle cruise control module is subjected to a HIL test, the vehicle cruise control module can be integrated into a vehicle controller (VCU) for a hardware in the loop test.

[0090] The technical solution of the embodiment of the present invention solves the technical problem of poor accuracy and stability of cruise control in the related art, and achieves the technical effect of improving the accuracy and stability of cruise control and enhancing the adaptability of cruise control to complex working conditions.

[0091] Figure 3 This is a schematic diagram of the structure of a vehicle cruise control device provided by Embodiment 2 of the present invention. Figure 3 As shown, the device includes: a first parameter determination module 310 , a second parameter determination module 320 and a vehicle cruise control module 330 .

[0092] Among them, the first parameter determination module 310 is used to determine the cruising speed of the vehicle when the vehicle starts the cruise mode; the second parameter determination module 320 is used to obtain the current speed and current torque of the vehicle, and determine the coefficients of the state equation of the preset vehicle longitudinal motion; the vehicle cruise control module 330 is used to adopt a model predictive control algorithm, based on the cruising speed, the current speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion, determine the torque control amount for the vehicle to enter the cruise mode, and cruise control the vehicle based on the torque control amount.

[0093] The technical solution of the embodiment of the present invention is to determine the cruising speed of the vehicle when the vehicle starts the cruise mode through the first parameter determination module; obtain the current speed and current torque of the vehicle through the second parameter determination module to determine the coefficients of the state equation of the preset vehicle longitudinal motion; and use the model predictive control algorithm through the vehicle cruise control module to determine the torque control amount for the vehicle to enter the cruise mode based on the cruising speed, the current speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion, and perform cruise control on the vehicle based on the torque control amount. The technical solution of the embodiment of the present invention solves the technical problem of poor accuracy and stability of cruise control in the related art, and achieves the technical effect of improving the accuracy and stability of cruise control and enhancing the adaptability of cruise control to complex working conditions.

[0094] Optionally, the device further comprises a cruising speed setting module; wherein the cruising speed setting module is used to obtain the cruising speed of the vehicle in response to a cruising speed setting operation for the vehicle.

[0095] Optionally, the preset state equation of the longitudinal motion of the vehicle is established based on a vehicle dynamics equation.

[0096] Optionally, the model predictive control algorithm is a model predictive control algorithm in Simulink.

[0097] Optionally, the model predictive control algorithm includes a preset cost function, wherein the preset cost function is established based on the system output, the torque control quantity, the system output weight matrix and the torque control quantity weight matrix, wherein the system output is calculated based on the state equation of the longitudinal motion of the vehicle.

[0098] Optionally, the model predictive control algorithm is provided with a first constraint and / or a second constraint; wherein, the first constraint includes an upper limit of the torque control amount and a lower limit of the torque control amount, and the second constraint includes an upper limit of the change of the torque control amount and a lower limit of the change of the torque control amount.

[0099] Optionally, the device also includes a torque control amount adjustment module; wherein the torque control amount adjustment module is used to obtain the driving speed of the vehicle in the cruise mode after the vehicle is cruise controlled based on the torque control amount, compare the driving speed with the cruising speed, and adjust the torque control amount based on the comparison result.

[0100] The vehicle cruise control device provided in the embodiment of the present invention can execute the vehicle cruise control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0101] It is worth noting that the various units and modules included in the above-mentioned vehicle cruise control device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0102] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0103] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0104] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0105] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle cruise control method.

[0106] In some embodiments, the vehicle cruise control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle cruise control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle cruise control method in any other appropriate manner (e.g., by means of firmware).

[0107] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0109] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0110] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0111] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0112] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0113] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0114] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle cruise control method, characterized in that: The method comprises: When the vehicle is in cruise mode, determining a cruising speed of the vehicle; Obtaining the current speed and current torque of the vehicle, and determining coefficients of a state equation of the longitudinal motion of the preset vehicle; A model predictive control algorithm is adopted to determine the torque control amount for the vehicle to enter the cruise mode based on the cruising speed, the current vehicle speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion, and cruise control is performed on the vehicle based on the torque control amount.

2. The method according to claim 1, characterized in that Before the vehicle starts the cruise mode, the method further includes: In response to a cruising speed setting operation for the vehicle, a cruising speed of the vehicle is obtained.

3. The method according to claim 1, characterized in that The state equation of the preset vehicle longitudinal motion is established based on the vehicle dynamics equation.

4. The method according to claim 1, characterized in that The model predictive control algorithm is a model predictive control algorithm in Simulink.

5. The method according to claim 1, characterized in that The model predictive control algorithm includes a preset cost function, wherein the preset cost function is established based on the system output, the torque control amount, the system output weight matrix and the torque control amount weight matrix, wherein the system output is calculated based on the state equation of the longitudinal motion of the vehicle.

6. The method according to claim 4, characterized in that The model predictive control algorithm is provided with a first constraint and / or a second constraint; wherein, the first constraint includes an upper limit of the torque control amount and a lower limit of the torque control amount, and the second constraint includes an upper limit of the change of the torque control amount and a lower limit of the change of the torque control amount.

7. The method according to claim 1, characterized in that After performing cruise control on the vehicle based on the torque control amount, the method further includes: The driving speed of the vehicle in the cruise mode is obtained, the driving speed is compared with the cruise speed, and the torque control amount is adjusted based on the comparison result.

8. A vehicle cruise control device, characterized in that: The device comprises: A first parameter determination module, used for determining a cruising speed of the vehicle when the vehicle starts a cruising mode; A second parameter determination module, used for obtaining the current speed and current torque of the vehicle, and determining the coefficients of the state equation of the longitudinal motion of the preset vehicle; The vehicle cruise control module is used to adopt a model predictive control algorithm to determine the torque control amount for the vehicle to enter the cruise mode based on the cruising vehicle speed, the current vehicle speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion, and to cruise control the vehicle based on the torque control amount.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the vehicle cruise control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle cruise control method according to any one of claims 1 to 7 when executed.

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