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

Abstract

Embodiments of the present application disclose a vehicle cruise control method and device, electronic equipment and a storage medium. The method comprises: determining a cruise speed of a vehicle when the vehicle starts a cruise mode; obtaining a current speed and a current torque of the vehicle, and determining a coefficient of a preset state equation of vehicle longitudinal motion; determining a torque control amount for the vehicle entering the cruise mode based on the cruise speed, the current speed, the current torque and the coefficient of the preset state equation of vehicle longitudinal motion by using a model predictive control algorithm; and performing cruise control on the vehicle based on the torque control amount. The technical scheme of the embodiments of the present application solves the technical problem of poor precision and stability of cruise control in the related art, and achieves the technical effect of improving the precision and stability of cruise control and enhancing the adaptability of cruise control to complex working conditions.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, and in particular to a vehicle cruise control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] For vehicle cruise control, a PID control algorithm is generally used to adjust the control amount by calculating the error between the current state and the target state and 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 accurately obtain 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, thereby affecting the accuracy and stability of the cruise control. SUMMARY

[0003] The present application provides a vehicle cruise control method and device, an electronic device, and a storage medium, which improves the accuracy and stability of cruise control and enhances the adaptability of cruise control to complex working conditions.

[0004] According to an aspect of the present application, a vehicle cruise control method is provided, which comprises:

[0005] In the case where the vehicle starts a cruise mode, the cruise speed of the vehicle is determined;

[0006] The current speed and current torque of the vehicle are obtained, and the coefficients of a preset state equation of vehicle longitudinal motion are determined;

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

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

[0009] A first parameter determination module is configured to determine the cruise speed of the vehicle in the case where the vehicle starts a cruise mode;

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

[0011] The vehicle cruise control module is configured to determine a torque control amount for the vehicle entering the cruise mode based on the cruise speed, the current speed, the current torque and coefficients of a state equation of the preset vehicle longitudinal motion by using a model predictive control algorithm, and perform cruise control on the vehicle based on the torque control amount.

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

[0013] at least one processor; and

[0014] a memory connected with 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 to enable the at least one processor to perform the vehicle cruise control method according to any one of the embodiments of the present application.

[0016] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to perform the vehicle cruise control method according to any one of the embodiments of the present application when executed by the processor.

[0017] The technical solution of the embodiments of the present application determines the cruise speed of the vehicle when the vehicle starts the cruise mode. The current speed and the current torque of the vehicle are obtained, and the coefficients of a state equation of the preset vehicle longitudinal motion are determined. A model predictive control algorithm is used to determine a torque control amount for the vehicle entering the cruise mode based on the cruise speed, the current speed, the current torque and the coefficients of the state equation of the preset vehicle longitudinal motion. The vehicle is controlled based on the torque control amount. The technical solution of the embodiments of the present application solves the technical problem of poor precision and stability of cruise control in the related art, and achieves the technical effect of improving the precision and stability of cruise control and enhancing the adaptability of cruise control to complex working conditions.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0020] Figure 1 A flowchart of a vehicle cruise control method provided by an embodiment of the present application is shown in FIG. 1.

[0021] Figure 2 A flowchart of an optional embodiment of a vehicle cruise control method provided by an embodiment of the present application is shown in FIG. 2.

[0022] Figure 3 A structure diagram of a vehicle cruise control device provided by an embodiment of the present application is shown in FIG. 3.

[0023] Figure 4 A structure diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 4. DETAILED DESCRIPTION

[0024] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the art without creative labor should belong to the scope of protection of the present application.

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

[0026] It can be understood that the data involved in the present technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of the corresponding laws and regulations and relevant provisions.

[0027] Figure 1This is a flowchart illustrating a vehicle cruise control method provided in an embodiment of the present invention. This embodiment is applicable to situations where vehicles are cruise controlled, especially to scenarios where new energy commercial pure electric vehicles are cruise controlled. The method can be executed by a vehicle cruise control device, which can be implemented in hardware and / or software and can be configured in electronic devices such as computers or servers.

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

[0029] S110. When the vehicle is in cruise mode, determine the vehicle's cruise speed.

[0030] In this embodiment of the invention, the vehicle cruise mode can be activated while the vehicle is in a driving state. The cruise speed can be understood as the fixed driving speed that the vehicle needs to reach during cruise. It should be noted that in this embodiment, the cruise 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 this embodiment, before the vehicle activates the cruise mode, the method may further include: obtaining the vehicle's cruise speed in response to a cruise speed setting operation. The cruise speed setting operation can be understood as an operation used to set the vehicle's cruise speed.

[0031] Specifically, when the vehicle is in cruise control mode, the fixed driving speed set for the vehicle's cruise control is obtained, i.e., the vehicle's cruise speed is obtained. In this embodiment of the invention, the method of activating the vehicle's cruise control mode can be as follows: responding to the user's cruise driving mode setting operation for the vehicle, the vehicle activates the cruise control mode.

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

[0033] The current vehicle speed can be understood as the vehicle's speed when cruise control is activated. In this embodiment of the invention, there are several ways to obtain the vehicle's current speed. For example, the current speed can be measured by the vehicle's internal system (e.g., a mechanical speedometer, electronic control system); or, the current speed can be measured using an external device, such as a radar speedometer, laser speedometer, etc. The current torque can be understood as the vehicle's torque when cruise control is activated. In this embodiment of the invention, there are several ways to obtain the vehicle's current torque. For example, the torque of the vehicle when cruise control is activated can be measured using a torque sensor or a torque meter.

[0034] In this embodiment of the invention, the coefficients of the preset state equation for the longitudinal motion of the vehicle can be the coefficients of a pre-established state equation for the longitudinal motion of the vehicle. The preset state equation for the longitudinal motion of the vehicle is established based on the vehicle dynamics equation. Optionally, the state equation for the longitudinal motion of the vehicle can be a continuous state equation for the longitudinal motion of the vehicle; or, it can be a discrete state equation for the longitudinal motion of the vehicle.

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

[0036] The vehicle's driving equation can be:

[0037]

[0038] Among them, F t It can be represented as driving force; F f This can be expressed as rolling resistance; F w This can be expressed as air resistance; F i This can be expressed as slope resistance; F j This can be expressed as acceleration resistance; T real It can be expressed as driving torque; i0 can represent the speed ratio of the main reducer; r ω The value of g can be expressed as the tire rolling radius, in meters (m); m can be expressed as the vehicle's full load mass, in kilograms (kg); g can be expressed as acceleration; and ρ can be expressed as air density, in kilograms per cubic meter (kg / m³). 3 ;f s This can be expressed as the tire rolling resistance coefficient; C D It can be expressed as the air drag coefficient; A can be expressed as the vehicle's frontal area, in meters (m²). 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 conversion factor for the vehicle's rotational mass; a can be expressed as acceleration.

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

[0040]

[0041] Thus we can obtain Where, τ c This can be expressed as the torque control time constant, T real It can be expressed as the vehicle's current torque, and T can be expressed as the controller's desired output torque.

[0042] In the embodiment of the present application, the reason for establishing the preset relationship between the current torque and the controller desired output torque is that: due to the time lag of the braking system, the motor system and the acquisition and processing of the sensor signal, the vehicle will have a certain delay when tracking the desired torque, therefore, in the embodiment of the present application, the tracking of the vehicle torque is regarded as a first-order system lag link, and the relationship between the current torque and the controller desired output torque is established.

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

[0044]

[0045] Wherein, F t may be represented as driving force; F f may be represented as rolling resistance; F w may be represented as air resistance; F i may be represented as slope resistance; F j may be represented as acceleration resistance; T real may be represented as driving torque; i0may be represented as main reducer speed ratio; r ω may be represented as tire rolling radius, unit m; m may be represented as full load mass of the vehicle, unit kg; g may be represented as acceleration; ρ may be represented as air density, unit kg / m 3 ; f s may be represented as tire rolling resistance coefficient; C D may be represented as air resistance coefficient; A may be represented as vehicle wind area, unit m 2 ; v x may be represented as longitudinal driving speed of the vehicle, unit m / s; α may be represented as vehicle longitudinal slope, unit degree; δ may be represented as automobile rotation mass conversion coefficient; a may be represented as acceleration; T real may be represented as current torque; τ c may be represented as torque control time constant.

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

[0047]

[0048] y=Cx+Du

[0049] Wherein, C=[0 1]; D=0; x may be represented as system state vector, x=[T real v x ] T , wherein, T real may be represented as current torque, vx This can be expressed as the current vehicle speed; where u can represent the torque control amount when the vehicle enters cruise mode, u = T des , among which, T des This can be expressed as the torque control amount when the vehicle enters cruise mode.

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

[0051] In this embodiment of the invention, to enable the model predictive control algorithm to be applied to the vehicle controller, the coefficients of the state equation for the longitudinal motion of the vehicle are preset to be those of a discrete state equation for the longitudinal motion of the vehicle. Specifically, in this embodiment, the coefficients of the discrete state equation for the longitudinal motion of the vehicle can be obtained by discretizing the continuous state equation for the longitudinal motion of the vehicle. This allows for the acquisition of the coefficients of the discrete state equation for the longitudinal motion of the vehicle. This approach reduces the excessive computational space required by the algorithm.

[0052] Optionally, the state equation for the vehicle's longitudinal motion can be discretized using the Euler forward method with a time step of ΔT, thus obtaining a discrete state equation for the vehicle's longitudinal motion. The discrete state equation for the vehicle's longitudinal motion 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 represented as the identity matrix; ΔT can be represented as the sampling interval time.

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

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

[0059] In this embodiment of the invention, the model predictive control algorithm can be the model predictive control algorithm in Simulink, so as to calculate the torque control amount when the vehicle enters cruise mode relatively quickly.

[0060] Specifically, the cruise speed, the current speed, the current torque, and the coefficients of the preset state equation for the vehicle's longitudinal motion can be substituted into the model predictive control algorithm. This yields the output of the predictive control algorithm, which is the torque control amount for the vehicle to enter cruise mode.

[0061] In this embodiment of the 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, torque control quantity, system output weight matrix and torque control weight matrix, wherein the system output is calculated based on the state equation of the vehicle's longitudinal motion.

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

[0063]

[0064] Where y can be represented as the system output quantity, where y re f This can be expressed as the system's expected output, y real It can be expressed as the actual output of the system; u can be expressed as the torque control quantity; N p This can be represented as the prediction step size; N c It can be represented as the control step size; Q can be represented as the system output weight matrix; R can be represented as the control quantity weight matrix; v ref This can be expressed as cruising speed; v real It can be represented as the current vehicle speed.

[0065] In this embodiment of the 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 and a lower limit of the torque control amount, and the second constraint may include an upper limit and a lower limit of the change in the torque control amount.

[0066] Alternatively, the first constraint can be expressed by the following formula:

[0067] u min ≤u≤umax

[0068] Where u can be represented as the torque control quantity, u max This can be expressed as the upper limit of the torque control quantity, u min This can be represented as the lower limit of the torque control quantity.

[0069] Alternatively, the second constraint can be expressed by the following formula:

[0070] Δu min ≤Δu≤Δu max

[0071] Where Δu can be represented as the change in torque control quantity per unit time; Δu max It can be expressed as the upper limit of the change in torque control quantity per unit time; Δu min It can be expressed as the lower limit of the change in the torque control quantity per unit time.

[0072] In this embodiment of the invention, the advantage of setting the first constraint condition is that it can ensure safe driving, and the advantage of setting the second constraint condition is that it can avoid the situation where the change in torque control amount is too large per unit time, which would lead to sudden changes 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 quantity controls the vehicle to cruise at the target speed in cruise mode.

[0075] The technical solution of this invention determines the vehicle's cruising speed when the vehicle is in cruise mode. It acquires the vehicle's current speed and current torque, and determines the coefficients of a preset state equation for the vehicle's longitudinal motion. Using a model predictive control algorithm, based on the cruising speed, the current speed, the current torque, and the coefficients of the preset state equation for the vehicle's longitudinal motion, it determines the torque control amount for the vehicle to enter cruise mode. Cruise control is then performed on the vehicle based on the torque control amount. This technical solution solves the technical problem of poor accuracy and stability in cruise control in related technologies, achieving the technical effect of improving the accuracy and stability of cruise control and enhancing its adaptability to complex operating conditions.

[0076] As an optional implementation of this invention, see [link to relevant documentation]. Figure 2The system can receive cruise driving requests, target speeds (cruising speeds), and cruise driving strategies based on energy conservation and speed requirements set by the driver. It then feeds the target speed into the longitudinal control module of the new energy commercial vehicle, which is based on the MPC (Model Predictive Control) algorithm. This MPC-based longitudinal control module has discrete state equations for the vehicle's longitudinal motion and is configured with the MPC algorithm. The discrete state equations for the vehicle's longitudinal motion are derived from continuous state equations for the vehicle's longitudinal motion, which are established based on a vehicle dynamics model.

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

[0078] The MPC algorithm includes an objective function (preset cost function), a first constraint based on the upper limit and lower limit of the torque control quantity, and a second constraint based on the upper limit and lower limit of the change in the torque control quantity.

[0079] The cost function can be expressed as:

[0080]

[0081] Where y can be represented as the system output quantity, where y ref This can be expressed as the system's expected output, y real It can be expressed as the actual output of the system; u can be expressed as the torque control quantity; N p This can be represented as the prediction step size; N c It can be represented as the control step size; Q can be represented as the system output weight matrix; R can be represented as the control quantity weight matrix; v ref This can be expressed as cruising speed; v real It can be represented as the current vehicle speed.

[0082] The first constraint can be expressed as:

[0083] u min ≤u≤u max

[0084] Where u can be represented as the torque control quantity, u max This can be expressed as the upper limit of the torque control quantity, umi n can be represented as the lower limit of the torque control quantity.

[0085] The second constraint can be expressed as:

[0086] Δu min ≤Δu≤Δu max

[0087] Where Δu can be represented as the change in torque control quantity per unit time; Δu max It can be expressed as the upper limit of the change in torque control quantity per unit time; Δu min It can be expressed as the lower limit of the change in the torque control quantity per unit time.

[0088] After performing cruise control on the vehicle based on the torque control amount, the method may further include: obtaining the vehicle's driving speed in the cruise mode, comparing the driving speed with the cruise speed, and adjusting the torque control amount based on the comparison result. This approach allows for real-time adjustment of the vehicle's torque control amount, enabling the vehicle to cruise at the cruise speed as the target speed, thus adapting to complex and changing operating conditions.

[0089] Based on the above embodiments, the method may further include encapsulating the functionality of the vehicle cruise control method to obtain a vehicle cruise control module. After obtaining the vehicle cruise control module, it can be subjected to Model-in-the-Loop (MIL) testing and / or Hardware-in-the-Loop (HIL) testing. Specifically, when performing MIL testing on the vehicle cruise control module, the torque control quantity can be fed to a vehicle dynamics simulation application for closed-loop testing. When performing HIL testing on the vehicle cruise control module, it can be integrated into the vehicle control unit (VCU) for hardware-in-the-loop testing.

[0090] The technical solution of this invention solves the technical problem of poor accuracy and stability of cruise control in related technologies, 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 a vehicle cruise control device provided in 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] The first parameter determination module 310 is used to determine the vehicle's cruise speed when the vehicle starts cruise mode; the second parameter determination module 320 is used to obtain the vehicle's current speed and current torque, and determine the coefficients of the preset vehicle longitudinal motion state equation; the vehicle cruise control module 330 is used to use a model predictive control algorithm to determine the torque control amount for the vehicle to enter cruise mode based on the cruise speed, the current speed, the current torque, and the coefficients of the preset vehicle longitudinal motion state equation, and to perform cruise control on the vehicle based on the torque control amount.

[0093] The technical solution of this invention involves a first parameter determination module determining the vehicle's cruising speed when the vehicle is in cruise mode; a second parameter determination module acquiring the vehicle's current speed and current torque to determine the coefficients of a preset state equation for the vehicle's longitudinal motion; and a vehicle cruise control module employing a model predictive control algorithm to determine the torque control amount for entering cruise mode based on the cruising speed, the current speed, the current torque, and the coefficients of the preset state equation for the vehicle's longitudinal motion, and then performing cruise control on the vehicle based on this torque control amount. This technical solution solves the technical problem of poor accuracy and stability in cruise control in related technologies, achieving the technical effect of improving the accuracy and stability of cruise control and enhancing its adaptability to complex operating conditions.

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

[0095] Optionally, the state equation for the preset longitudinal motion of the vehicle is established based on the 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, torque control quantity, system output weight matrix, and torque control weight matrix, wherein the system output is calculated based on the state equation of the vehicle's longitudinal motion.

[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 and a lower limit of the torque control amount, and the second constraint includes an upper limit and a lower limit of the change in the torque control amount.

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

[0100] The vehicle cruise control device provided in the embodiments 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 executing the 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 division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0102] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0107] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0109] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on 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 fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

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

[0111] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0112] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0113] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0114] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle cruise control method characterized by, The method comprises: In the case that the vehicle starts the cruise mode, determining the cruise speed of the vehicle; Obtaining the current speed and the current torque of the vehicle, and determining the coefficients of the preset state equation of the vehicle longitudinal motion; Using a model predictive control algorithm, determining the torque control amount of the vehicle entering the cruise mode based on the cruise speed, the current speed, the current torque and the coefficients of the preset state equation of the vehicle longitudinal motion, and performing cruise control on the vehicle based on the torque control amount; The model predictive control algorithm comprises a preset cost function, wherein the preset cost function is established based on system output, torque control amount, system output weight matrix and torque control amount weight matrix, wherein the system output is calculated based on the state equation of the vehicle longitudinal motion; The preset cost function is expressed as: ； wherein, denotes the system output quantity, wherein, denotes the system desired output quantity, denotes the system actual output quantity; denotes the torque control quantity; denotes the prediction step; denotes the control step; denotes the system output quantity weight matrix; denotes the control quantity weight matrix; denotes the cruise speed; denotes the current speed.

2. The method of claim 1, wherein, Before the vehicle starts the cruise mode, the method further comprises: In response to a cruise speed setting operation for the vehicle, obtaining the cruise speed of the vehicle.

3. The method of claim 1, wherein, The preset state equation of the vehicle longitudinal motion is established based on a vehicle dynamics equation.

4. The method of claim 1, wherein, The model predictive control algorithm is a model predictive control algorithm in Simulink.

5. The method of claim 4, wherein, The model predictive control algorithm is provided with a first constraint condition and / or a second constraint condition; wherein the first constraint condition comprises an upper limit of the torque control amount and a lower limit of the torque control amount, and the second constraint condition comprises an upper limit of the change amount of the torque control amount and a lower limit of the change amount of the torque control amount.

6. The method of claim 1, wherein, After the cruise control on the vehicle based on the torque control amount, the method further comprises: 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.

7. A vehicle cruise control device characterized by comprising: The device comprises: A first parameter determination module for determining the cruise speed of the vehicle in the case that the vehicle starts the cruise mode; A second parameter determination module for obtaining the current speed and the current torque of the vehicle, and determining the coefficients of the preset state equation of the vehicle longitudinal motion; A vehicle cruise control module for using a model predictive control algorithm to determine the torque control amount of the vehicle entering the cruise mode based on the cruise speed, the current speed, the current torque and the coefficients of the preset state equation of the vehicle longitudinal motion, and performing cruise control on the vehicle based on the torque control amount; The model predictive control algorithm comprises a preset cost function, wherein the preset cost function is established based on system output, torque control amount, system output weight matrix and torque control amount weight matrix, wherein the system output is calculated based on the state equation of the vehicle longitudinal motion; The preset cost function is expressed as: ； wherein, represents the system output quantity, wherein, represents the system desired output quantity, represents the system actual output quantity; represents the torque control quantity; represents the prediction step; represents the control step; represents the system output quantity weight matrix; represents the control quantity weight matrix; represents the cruise speed; represents the current speed.

8. An electronic device, comprising: The electronic device comprises: At least one processor; and A memory connected in communication with 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 to enable the at least one processor to execute the vehicle cruise control method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a processor to implement the vehicle cruise control method of any one of claims 1-6 when executed.

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