Vehicle speed control method, device, equipment, medium and product

Abstract

The invention discloses a vehicle speed control method, device and equipment, a medium and a product. The method comprises the following steps: determining each current candidate planning state of a current planning position point in a slope road section based on a current cruise control speed; the candidate planning state comprises a candidate planning speed and a candidate planning gear; determining a current target planning state for the current planning position point based on the target planning speed of the previous planning position point, the gradient of the gradient road section, the current candidate planning state, the current battery state and a preset distance step length; and based on the current target planning state, the current motor demand torque is determined for the current planning position point, and the current motor demand torque is used for controlling the speed of the vehicle. According to the technical scheme, the speed of the vehicle running on the slope road section in the cruise control state is re-planned and controlled, and the energy consumption of the vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving technology, and in particular to a vehicle speed control method, device, equipment, medium and product. Background Art

[0002] Cruise control technology is an advanced automobile assisted driving technology. The basic function of this technology is to control the vehicle to drive at a "constant speed". After starting cruise control, the driver does not need to step on the brakes or accelerator, but only needs to control the direction, and the vehicle will automatically drive at the set speed, thus freeing the driver's feet and reducing fatigue from long-distance driving.

[0003] In the prior art, when a vehicle is in a cruise control state, the speed of the vehicle is usually controlled to always follow a set fixed cruise control speed. If it is necessary to travel on a slope section, high energy consumption occurs. Summary of the invention

[0004] The present invention provides a vehicle speed control method, device, equipment, medium and product to achieve re-planning and control of the speed of a vehicle traveling on a sloped road section in a cruise control state, thereby reducing the energy consumption of the vehicle.

[0005] According to one aspect of the present invention, a method for controlling the speed of a vehicle is provided, the method comprising:

[0006] Based on the current cruise control speed, determine each current candidate planning state of the current planning position point in the slope section; the candidate planning state includes a candidate planning speed and a candidate planning gear;

[0007] Determine a current target planning state for a current planning location point based on a target planning speed, a slope section slope, a current candidate planning state, a current battery state, and a preset distance step size for a previous planning location point;

[0008] Based on the current target planning state, the current motor demand torque is determined for the current planned position point, and the current motor demand torque is used to control the speed of the vehicle.

[0009] According to another aspect of the present invention, there is provided a vehicle speed control device, the device comprising:

[0010] A candidate planning state determination module is used to determine each current candidate planning state of the current planning position point in the slope section based on the current cruise speed; the candidate planning state includes a candidate planning speed and a candidate planning gear position;

[0011] A target planning state determination module is used to determine the current target planning state for the current planning location point based on the target planning speed of the previous planning location point, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step size;

[0012] The vehicle speed control module is used to determine the current motor demand torque for the current planned position point based on the current target planning state, and the current motor demand torque is used to control the speed of the vehicle.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] 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 speed control method described in any embodiment of the present invention.

[0017] 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 speed control method described in any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the vehicle speed control method according to any embodiment of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention determines the candidate planning states of the current planning position point in the slope section according to the current cruise control speed of the vehicle, and then determines the current target planning state for the current planning position point based on the target planning speed of the previous planning position point of the current planning position point, the slope value of the slope section, the candidate planning speed corresponding to the current candidate planning state and the candidate planning gear, the current battery state and the preset distance step, so that the current motor required torque corresponding to the current planning position point can be further determined based on the determined current target planning state to control the vehicle speed, and when the vehicle is driving on the slope section after the cruise control state is turned on, the speed and gear corresponding to each planning position point on the slope section can be re-planned based on the current cruise control speed, thereby helping to avoid the situation where cruise control is always performed at the fixed current cruise control speed in the slope section, and further helping to further reduce the energy consumption of the vehicle.

[0020] 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

[0021] 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.

[0022] Figure 1 The flowchart of a method for controlling vehicle speed provided according to the first embodiment of the present invention is a flowchart of a method.

[0023] Figure 2A is a flow chart of another vehicle speed control method provided according to the second embodiment of the present invention.

[0024] Figure 2B A schematic diagram of the structure of a vehicle predictive cruise control system provided in Embodiment 2 of the present invention.

[0025] Figure 3 4 is a schematic diagram of the structure of a vehicle predictive cruise control device provided according to Embodiment 3 of the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the vehicle predictive cruise control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] Figure 1 This is a flow chart of a vehicle speed control method provided in the first embodiment of the present invention. This embodiment can be applied to the situation where the speed and gear are re-planned for the slope section to be traveled in the vehicle cruise state, and the speed is controlled based on the planned speed and gear. The method can be executed by a vehicle speed control device, which can be implemented in the form of hardware and / or software. The device can be configured in an electronic device, which can be a predictive cruise controller. Figure 1 Said method comprises:

[0030] S110. Determine each current candidate planning state of the current planning position point in the slope section based on the current cruise speed; the candidate planning state includes a candidate planning speed and a candidate planning gear.

[0031] Among them, the predictive cruise controller can be used to re-plan the preset speed and gear of the vehicle on the slope section when the vehicle is in the cruise control state, and control the vehicle speed based on the planned speed and gear. The corresponding vehicle can be a pure electric vehicle or a hybrid vehicle, etc. The predictive cruise controller can be independent of the vehicle controller of the vehicle. The slope section can be a non-horizontal section with a slope, for example, it can include an uphill section and a downhill section. The uphill section can be a slope section with a slope greater than a set threshold, and the downhill section can be a slope section with a slope less than a set threshold. The preset speed can be a cruise control speed. The current cruise control speed can be the cruise control speed corresponding to the cruise control state that the vehicle is currently in, and the cruise control speed can be set by the user as needed when turning on the cruise control function of the vehicle. The planned position point may be a position point in a slope section where the speed and gear of the vehicle need to be pre-planned. The planned position point may be determined sequentially on the corresponding slope section based on a preset distance step. The preset distance step may be a ratio of the length of the slope section and the number of preset planned position points. A slope section may include at least one planned position point. Different candidate planning states correspond to different combinations of candidate planning speeds and candidate planning gears. Each planned position point may correspond to at least one candidate planning state. The candidate planning states corresponding to different planned position points may be the same.

[0032] Specifically, a mapping relationship database between different cruise speeds and candidate planning states corresponding to different planning positions can be established in advance. Accordingly, when determining the current cruise speed and the current planning position, the mapping relationship database can be traversed to match at least one corresponding candidate planning state, and the matched candidate planning states can be used as the current candidate planning states of the current planning position.

[0033] S120, determining a current target planning state for a current planning position point based on a target planning speed of a previous planning position point, a slope of a slope section, a current candidate planning state, a current battery state, and a preset distance step.

[0034] Among them, the distance between the last planned position point and the current planned position point can be a preset distance step, and the target planning state corresponding to the planned position point can include a target planning speed and a target planning gear. The target planning speed can be the speed that the pre-planned vehicle needs to reach when traveling at the corresponding planned position point, and the target planning gear can be the gear that the pre-planned vehicle needs to set when traveling at the corresponding planned position point. The slope of the slope section can be the slope value of the slope section. The slope of the slope section can be obtained from the map data information of the road to be traveled in front of the vehicle that is obtained in advance, and the map data information can be obtained through the in-vehicle communication device (Telematics BOX, TBOX), and the map data information can be transmitted to the predictive cruise controller via the CAN bus. The current battery state can be used to reflect the current state of the power battery in the vehicle, and the current battery state can at least include at least one of the state information such as the current battery voltage, the current battery remaining power and the current battery temperature. The current target planning state can be one of the current candidate planning states.

[0035] Specifically, a mapping relationship database between different target planning speeds, different slopes of road sections, different candidate planning states, different battery states, different preset distance steps and corresponding target planning states can be established in advance. Accordingly, after determining the target planning speed, slope of road sections, current candidate planning states, current battery states and preset distance step length corresponding to the previous planning position point of the current planning position point, the target planning state corresponding to the current planning position point can be matched by traversing the mapping relationship database, and the matched target planning state can be used as the current target planning state of the current planning position point.

[0036] S130 . Based on the current target planning state, determine the current motor required torque for the current planned position point, where the current motor required torque is used to control the speed of the vehicle.

[0037] The current motor demand torque may be the torque required by the motor of the current vehicle to adjust the actual vehicle speed at the current planned position point to the current target planned speed in the current target planned state.

[0038] Specifically, a database of mapping relationships between different target planning states, different actual vehicle speeds and corresponding motor demand torques can be pre-established. Accordingly, when determining the target planning state of the current planning position point and the actual vehicle speed of the vehicle at the current planning position point, the corresponding motor demand torque can be matched by traversing the mapping relationship database, and the matched motor demand torque can be used as the current motor demand torque of the current planning position point. Optionally, the current target planning gear position in the current target planning state and the current motor demand torque can be sent to the vehicle controller, so that the vehicle controller can control the corresponding motor to operate based on the motor demand torque and the current target planning gear position, so that the speed of the vehicle is adjusted to the current target planning speed.

[0039] The technical solution of the embodiment of the present invention determines the candidate planning states of the current planning position point in the slope section according to the current cruise control speed of the vehicle, and then determines the current target planning state for the current planning position point based on the target planning speed of the previous planning position point of the current planning position point, the slope value of the slope section, the candidate planning speed corresponding to the current candidate planning state and the candidate planning gear, the current battery state and the preset distance step, so that the current motor required torque corresponding to the current planning position point can be further determined based on the determined current target planning state to control the vehicle speed, and when the vehicle is driving on the slope section after the cruise control state is turned on, the speed and gear corresponding to each planning position point on the slope section can be re-planned based on the current cruise control speed, thereby helping to avoid the situation where cruise control is always performed at the fixed current cruise control speed in the slope section, and further helping to further reduce the energy consumption of the vehicle.

[0040] Figure 2A This is a flow chart of a vehicle speed control method provided by Embodiment 2 of the present invention. This embodiment is further optimized based on the above embodiments. It should be noted that for the parts not described in detail in this embodiment, please refer to the relevant descriptions in other embodiments.

[0041] Further, "determine the current target planning state for the current planning position point based on the target planning speed of the previous planning position point, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step" is refined into "determine the comprehensive resistance under the current candidate planning state based on the target planning speed of the previous planning position point, the slope of the slope section and the candidate planning speed corresponding to the current candidate planning state; determine the motor speed under the current candidate planning state based on the target planning speed of the previous planning position point and the current candidate planning state; determine the energy consumption value corresponding to the current candidate planning state based on the comprehensive resistance, motor speed, the target planning speed of the previous planning position point, the current candidate planning state, the current battery state and the preset distance step; determine the current target planning state for the current planning position point from each current candidate planning state based on the energy consumption value corresponding to each current candidate planning state" to improve the mechanism for determining the current target planning state.

[0042] refer to Figure 2A , the method specifically comprises the following steps:

[0043] S210: Determine each current candidate planning state of the current planning position point in the slope section based on the current cruise control speed; the candidate planning state includes a candidate planning speed and a candidate planning gear.

[0044] Exemplarily, the speed planning interval and gear planning interval corresponding to the cruise speed can be determined based on the cruise speed, the preset speed planning range and the preset gear planning range, and then the candidate planning speeds and candidate planning gears can be determined according to the speed planning interval and the gear planning interval; the candidate planning speeds and candidate planning gears can be combined respectively, and the formed combinations can be used as candidate planning states of the planning position points; wherein the gears included in the gear planning interval and the gear planning range can be the same. The candidate planning speed can be a speed value within the speed planning interval, and the candidate planning speed can be selected as needed.

[0045] Specifically, a mapping relationship database between different cruise speeds, corresponding speed planning ranges and corresponding gear planning ranges can be pre-established. Accordingly, when determining the current cruise speed, the corresponding speed planning range and gear planning range can be matched by traversing the mapping relationship database, and the matched speed planning range and gear planning range can be used as the target planning range and gear planning range corresponding to the current cruise speed.

[0046] S220: Determine the comprehensive resistance in the current candidate planning state based on the target planning speed of the last planned position point, the slope of the slope road section, and the candidate planning speed corresponding to the current candidate planning state.

[0047] The comprehensive resistance may be the sum of resistance values ​​corresponding to at least one type of resistance encountered by the vehicle at the current planned position, and the resistance type may include at least one of air resistance, friction resistance, and rolling resistance.

[0048] Specifically, a mapping relationship database between different target planning speeds for the previous planning position point, different slope section slopes, candidate planning speeds corresponding to different candidate planning states, and corresponding comprehensive resistances can be established in advance. Accordingly, after determining the target planning speed for the previous planning position point, the slope section slope, and the candidate planning speed corresponding to the current candidate planning state, the corresponding comprehensive resistance can be matched by traversing the mapping relationship database, and the matched comprehensive resistance can be used as the comprehensive resistance under the current candidate planning state.

[0049] In an optional embodiment, the comprehensive resistance in the current candidate planning state may be calculated as follows:

[0050]

[0051] Among them, F r It can be the comprehensive resistance under the current candidate planning state, D Air It can represent the air density at the current planning location, C Air It can represent the air resistance coefficient, A can represent the frontal area of ​​the vehicle at the current planned position, V0 can represent the candidate planning speed corresponding to the current candidate planning state, V can represent the target planning speed of the previous planning position, m can represent the vehicle weight, g can represent the acceleration of gravity, f can represent the rolling resistance coefficient, and s can represent the slope of the slope section.

[0052] S230: Determine the motor speed under the current candidate planning state based on the target planning speed of the last planned position point and the current candidate planning state.

[0053] Specifically, a mapping relationship database between different target planning speeds of the previous planning position point, different candidate planning states and corresponding motor speeds can be established in advance. Accordingly, when determining the target planning speed of the previous planning position point and the current candidate planning state, the corresponding motor speed can be matched by traversing the mapping relationship database, and the matched motor speed can be used as the motor speed under the current candidate planning state.

[0054] In an optional embodiment, the motor speed in the current candidate planning state may be calculated as follows:

[0055]

[0056] Among them, n motori can be the motor speed in the current candidate planning state, i0 can be the gearbox transmission ratio corresponding to the current candidate planning gear in the current candidate planning state, and can be obtained by looking up the table based on the current candidate planning gear. g It can be the final reduction ratio, and R can be the tire radius of the vehicle.

[0057] S240, determining an energy consumption value corresponding to the current candidate planning state based on the comprehensive resistance, motor speed, target planning speed of the last planned position point, current candidate planning state, current battery state and preset distance step.

[0058] Specifically, a mapping relationship database between different comprehensive resistances, different motor speeds, different target planning speeds of the previous planned position points, different candidate planning states, different battery states, different preset distance steps and corresponding energy consumption values ​​can be established in advance. Accordingly, after determining the comprehensive resistance, motor speed, target planning speed of the previous planned position point, current battery state and preset distance step length corresponding to the current candidate planning state, the corresponding energy consumption value can be matched by traversing the mapping relationship database, and the matched energy consumption value can be used as the energy consumption value corresponding to the current candidate planning state.

[0059] S250. Based on the energy consumption values ​​corresponding to the current candidate planning states, determine the current target planning state for the current planning position point from the current candidate planning states.

[0060] Specifically, the energy consumption values ​​corresponding to the current candidate planning states can be compared, and the current candidate planning state with the smallest energy consumption value can be used as the current target planning state of the current planning location point.

[0061] S260: Based on the current target planning state, determine the current motor required torque for the current planned position point, where the current motor required torque is used to control the speed of the vehicle.

[0062] In an optional embodiment, the current motor demand torque can be obtained through a proportional-integral-derivative (PID) closed loop based on the actual vehicle speed at the current planned position and the current target planned speed in the current target planned state. The parameters of the PID controller corresponding to the PID closed loop can be set in advance based on experience or needs.

[0063] In an optional embodiment, the current battery state may include at least the current battery voltage; accordingly, based on the comprehensive resistance, the motor speed, the target planning speed of the last planned position point, the current candidate planning state, the current battery state and the preset distance step, determining the energy consumption value corresponding to the current candidate planning state may include:

[0064] If it is determined that the motor speed corresponding to the current candidate planning state is not within the preset speed range, the current candidate planning state is screened out, and the other current candidate planning states other than the current candidate planning state among the current candidate planning states are used as the current new candidate planning state; based on the comprehensive resistance, motor speed, target planning speed of the previous planning position point, the current new candidate planning state, the current battery voltage and the preset distance step, the energy consumption value corresponding to the current new candidate planning state is determined.

[0065] The preset speed range can be used to determine whether the current candidate planning state is suitable for a high-speed operating condition of the vehicle in a cruise control state. The preset speed range can be set according to needs or experience. The operating condition of the vehicle in a cruise control state can usually be a high-speed operating condition.

[0066] Specifically, if it is determined that the motor speed corresponding to the current candidate planning state is not within the preset speed range, it can be indicated that the current candidate planning state is not suitable for the current operating conditions of the vehicle. Accordingly, the current candidate planning state can be screened out from the current candidate planning states, and the remaining current candidate planning states can be used as current new candidate planning states.

[0067] It can be understood that by comparing the motor speed corresponding to each current candidate planning state with the preset speed range in the process of determining the current target planning state from each current candidate planning state, it is possible to determine whether the motor speed corresponding to each current candidate planning state is within the applicable range under its corresponding operating condition. Therefore, before calculating the energy consumption value for each current candidate planning state, the feasibility of each current candidate planning state can be screened, which helps to avoid the situation where a large amount of computing power is consumed due to directly calculating all the current candidate planning states, thereby saving computing resources.

[0068] In an optional embodiment, the current battery state may include at least the current battery temperature, the current remaining battery power and the current battery voltage; accordingly, based on the comprehensive resistance, the motor speed, the target planning speed of the last planned position point, the current candidate planning state, the current battery state and the preset distance step, determining the energy consumption value corresponding to the current candidate planning state may include:

[0069] Based on the motor speed, the current battery temperature and the current remaining battery power, the target motor torque limit interval of the current candidate planning state is determined, and based on the target motor torque limit interval and the current candidate planning gear, the wheel end force limit interval under the current candidate planning state is determined; based on the wheel end force interval, the comprehensive resistance, the target planning speed of the previous planning position point, the preset distance step and the current candidate planning state, the current candidate planning speed interval corresponding to the current planning position point is determined, and based on the current candidate planning speed interval and each current candidate planning state, each current new candidate planning state corresponding to the current planning position point is determined; based on the comprehensive resistance, the motor speed, the target planning speed of the previous planning position point, the current new candidate planning state, the current battery voltage and the preset distance step, the energy consumption value corresponding to the current new candidate planning state is determined.

[0070] Specifically, a database of mapping relationships between different motor speeds, different battery temperatures, different battery remaining capacities, and corresponding motor torque limit intervals can be pre-established. Accordingly, after determining the motor speed, current battery temperature, and current battery remaining capacity in the current candidate planning state, the corresponding motor torque limit interval can be matched by traversing the mapping relationship database, and the matched motor torque limit interval can be used as the target motor torque limit interval in the current candidate planning state. A database of mapping relationships between different motor torque limit intervals, different candidate planning gears, and corresponding wheel-end force limit intervals can also be pre-established. Accordingly, after determining the corresponding target motor torque limit interval, the corresponding wheel-end force limit interval can be matched by traversing the mapping relationship database, and the matched wheel-end force limit interval can be used as the wheel-end force limit interval in the current candidate planning state. It is also possible to pre-establish a mapping relationship database of different wheel-end force limit intervals, different comprehensive resistances, different target planning speeds at the previous position point, different preset distance steps, different candidate planning states and corresponding candidate planning speed intervals. Accordingly, after determining the above wheel-end force interval, comprehensive resistance, target planning speed at the previous planning position point, preset distance step and each current candidate planning state, the corresponding candidate planning speed interval can be matched by traversing the mapping relationship database, and the matched candidate planning speed interval can be used as the current candidate planning speed interval corresponding to the current planning position point. Accordingly, each current candidate planning state of the current candidate planning speed in the current candidate planning speed interval can be used as the current new candidate planning state.

[0071] It can be understood that by introducing the corresponding motor speed, current battery temperature and current battery remaining power in the process of determining the current target planning state from each current candidate planning state to first determine the corresponding wheel-end force limit interval, and then determining the corresponding current candidate planning speed interval based on the wheel-end force limit interval, the motor torque and wheel-end force limited by the corresponding motor speed, battery temperature and battery remaining power can be used as screening conditions to screen each current candidate planning state that does not meet its corresponding speed interval, which also helps to avoid the situation where a large amount of computing power is required to be consumed by directly calculating all the current candidate planning states, thereby saving computing resources.

[0072] In an optional embodiment, the current candidate planning state can be screened out, and other current candidate planning states other than the current candidate planning state among the current candidate planning states can be used as the current first candidate planning state. Based on the motor speed, the current battery temperature and the current remaining battery power, the target motor torque limit interval of the current first candidate planning state can be determined, and based on the target motor torque limit interval and the current first candidate planning gear, the wheel end force limit interval under the current first candidate planning state can be determined; based on the wheel end force interval, the comprehensive resistance, the target planning speed of the previous planning position point, the preset distance step and each current first candidate planning state, the current first new candidate planning speed interval corresponding to the current planning position point can be determined, and based on the current first candidate planning speed interval and each current first candidate planning state, each current second candidate planning state corresponding to the current planning position point can be determined; wherein, the current second candidate planning state can be the above-mentioned current new candidate planning state.

[0073] In an optional embodiment, the limit value of the wheel end force limit interval may be calculated as follows:

[0074]

[0075] Among them, F W It can represent the limit of wheel end force, T M The limit value of the target motor torque limit range can be indicated.

[0076] In an optional embodiment, the limit value of the current candidate planned speed interval may be calculated as follows:

[0077]

[0078] Among them, V k It can represent the limit of the current candidate planning speed interval. x can represent the preset distance step.

[0079] In an optional embodiment, determining the target motor torque limit interval of the current candidate planning state based on the motor speed, the current battery temperature, and the current battery remaining power may include:

[0080] Based on the motor speed, determine the first motor torque limit interval under the current candidate planning state; wherein the motor efficiency corresponding to the first motor torque limit interval is higher than the set motor efficiency threshold; determine the battery power limit range under the current candidate planning state according to the current battery temperature and the current battery remaining power, and determine the second motor torque limit interval under the current candidate planning state based on the battery power limit range and the corresponding motor speed; use the intersection of the first motor torque limit interval and the second motor torque limit interval as the target motor torque limit interval under the current candidate planning state.

[0081] Specifically, the first motor torque limit interval corresponding to the corresponding motor speed can be determined by looking up the table based on the pre-acquired speed-torque motor efficiency table. The maximum charging current and the maximum discharging current corresponding to the current battery temperature and the current remaining battery power can also be determined by looking up the table based on the pre-acquired charging power limit table and the discharging power limit table, and then the corresponding battery power limit range can be determined based on the maximum charging current, the maximum discharging current and the current battery voltage. A mapping relationship database between different battery power limit ranges, different motor speeds and corresponding motor torque limit intervals can also be established in advance. Accordingly, after determining the current battery power limit range and the motor speed corresponding to the current candidate planning state, the corresponding motor torque limit interval can be matched by traversing the mapping relationship database, and the matched motor torque limit interval can be used as the second motor torque limit interval under the current candidate planning state.

[0082] It can be understood that by screening the planned position points corresponding to each current candidate planning state based on the battery power limit and the motor high efficiency range, the controller computing power can be further saved, which helps to further improve the program running speed.

[0083] In an optional embodiment, the limit value of the second motor torque limit interval may be calculated as follows:

[0084]

[0085] Among them, T M2 It can represent the limit value of the second motor torque limit interval. B It can represent the available battery power, which can be the battery power corresponding to the maximum discharge current or the maximum charge current.

[0086] In an optional embodiment, determining the energy consumption value corresponding to the current new candidate planning state based on the comprehensive resistance, motor speed, target planning speed of the last planned position point, the current new candidate planning state, the current battery voltage and the preset distance step may include:

[0087] Based on the target planning speed of the previous planning position, the comprehensive resistance and the preset distance step in the current new candidate planning state, the wheel-end required torque in the current new candidate planning state is determined, and based on the wheel-end required torque, the motor required torque and the motor system efficiency in the current new candidate planning state are determined; based on the motor required torque, the motor system efficiency and the motor speed in the current new candidate planning state, the motor required power in the current new candidate planning state is determined, and based on the motor required power and the current battery voltage, the required current in the current new candidate planning state is determined; based on the candidate planning speed in the current new candidate planning state, the preset distance step and the target planning speed of the previous planning position, the required acceleration and required time in the current new candidate planning state are determined; based on the required current, required acceleration and required time, the energy consumption value corresponding to the current new candidate planning state is determined.

[0088] The motor system efficiency may be the efficiency of converting the motor torque into the wheel-end torque. The motor power requirement may be the motor drive power requirement or the energy recovery power requirement, etc. The motor drive power requirement may be the power corresponding to the motor outputting positive torque, the energy recovery power requirement may be the power corresponding to the motor outputting negative torque, the motor drive power requirement may correspond to the discharge state of the battery, and the energy recovery power requirement may correspond to the charge state of the battery.

[0089] Specifically, a mapping relationship database between different target planning speeds of the last planning position point, comprehensive resistances under different candidate planning states, different preset distance steps and corresponding wheel-end demand torques can be pre-established. Accordingly, after determining the target planning speed of the last planning position point, the comprehensive resistance and preset distance step under the current new candidate planning state, the corresponding wheel-end demand torque can be matched by traversing the mapping relationship database, and the matched wheel-end demand torque can be used as the wheel-end demand torque under the previous new candidate planning state. The motor speed under the current new candidate planning state can also be determined by the target planning speed of the last planning position point and the current new candidate planning state, and the motor system efficiency corresponding to the current new candidate planning state can be obtained by querying the preset motor system efficiency table based on the motor speed and the corresponding wheel-end demand torque. A mapping relationship database between different wheel-end demand torques and corresponding motor demand torques can also be pre-established. Accordingly, after determining the wheel-end demand torque under the current new candidate planning state, the corresponding motor demand torque can be matched by traversing the mapping relationship database, and the matched motor demand torque can be used as the motor demand torque under the current new candidate planning state. It is also possible to pre-establish a database of mapping relationships between different motor demand torques, different motor system efficiencies, different motor speeds, and corresponding motor demand powers. Accordingly, after determining the motor demand torque, motor system efficiency, and motor speed under the current new candidate planning state, the corresponding motor demand power can be matched by traversing the mapping relationship database, and the matched motor demand power can be used as the motor demand power under the current new candidate planning state. Accordingly, the ratio of the motor demand power to the current battery voltage can be used as the demand current under the current new candidate planning state.

[0090] Specifically, a mapping relationship database between different candidate planning speeds, different preset distance steps, different target planning speeds of the previous planning position points and the corresponding required acceleration and required time can be established in advance. Accordingly, after determining the candidate planning speed, the preset distance step and the target planning speed of the previous planning position point under the current new candidate planning state, the corresponding required acceleration and required time can be matched by traversing the mapping relationship database, and the matched required acceleration and required time can be used as the required acceleration and required time under the current new candidate planning state.

[0091] Specifically, a mapping relationship database between different demand currents, different demand accelerations, different demand times and corresponding energy consumption values ​​can be established in advance. Accordingly, after determining the demand current, demand acceleration and demand time under the current new candidate planning state, the corresponding energy consumption value can be matched by traversing the mapping relationship database, and the matched energy consumption value can be used as the energy consumption value corresponding to the current new candidate planning state.

[0092] It can be understood that by introducing comprehensive consideration of the demand current, demand time and demand acceleration corresponding to the corresponding candidate planning state in the process of determining the energy consumption value corresponding to each candidate planning state, and introducing consideration of the motor system efficiency in the process of determining the corresponding motor demand power to determine the corresponding demand current, the accuracy of the determined energy consumption value can be further improved, thereby helping to improve the reliability of the target planning state of the subsequently determined planning position point.

[0093] In an optional embodiment, the wheel end required torque may be calculated as follows:

[0094]

[0095] Among them, T Q It can represent the wheel end required torque.

[0096] In an optional embodiment, the motor required torque may be calculated as follows:

[0097]

[0098] Among them, T M3 It can represent the motor demand torque.

[0099] In an optional embodiment, the motor required power may be calculated as follows:

[0100]

[0101] Among them, P D It can represent the required electric power of the motor drive, P E It can represent the required electric power for energy recovery, and η can represent the motor system efficiency obtained by looking up the table.

[0102] In an optional embodiment, before determining the energy consumption value corresponding to the current new candidate planning state based on the demand current, the demand acceleration and the demand time, the following method may also be included:

[0103] Obtaining the current driving mode of the vehicle; wherein different driving modes correspond to different calibration parameters, and the calibration parameters include weight values ​​corresponding to the required current, required acceleration, and required time;

[0104] Accordingly, determining the energy consumption value corresponding to the current new candidate planning state based on the demand current, the demand acceleration, and the demand time may include:

[0105] The energy consumption value corresponding to the current new candidate planning state based on the demand current, demand acceleration, demand time and corresponding calibration parameters.

[0106] The current driving mode of the vehicle can be selected as needed. For example, the user can select the corresponding driving mode through a mode selection switch configured on the vehicle. The mode selection can be one of a button type, a knob type, and a touch type. The driving mode can include at least one of an economic mode, a standard mode, and a power mode.

[0107] Specifically, a mapping relationship database between different demand currents, different demand accelerations, different demand times, different calibration parameters and corresponding energy consumption values ​​can be established in advance. Accordingly, after determining the demand current, demand acceleration, demand time and corresponding calibration parameters, the corresponding energy consumption value can be matched by traversing the mapping relationship database, and the matched energy consumption value can be used as the energy consumption value corresponding to the current new candidate planning state.

[0108] It can be understood that by setting different calibration parameters for different driving modes and introducing the calibration parameters corresponding to the driving mode selected by the user when determining the corresponding energy consumption value, it helps to make the target planning state corresponding to each determined planning position point more in line with the driver's intention.

[0109] In an optional embodiment, the calculation formula of the corresponding energy consumption value may be:

[0110]

[0111] Among them, Cost can represent the energy consumption value corresponding to the current candidate planning state. It can represent the average value of the candidate planning speed corresponding to the current candidate planning state and the target planning speed of the previous planning position point, W T is the demand time weight, W E can be the demand current weight, W a is the demand acceleration weight.

[0112] In an optional embodiment, controlling the speed of the vehicle based on the motor required torque and the corresponding target planned gear position may include:

[0113] In response to the state information of the predictive cruise function sent by the predictive cruise controller, and when it is determined that the state information is in an activated state, determining whether the motor demand torque is an abnormal value; wherein the predictive cruise controller has the predictive cruise function, and the predictive cruise function is used to determine the motor demand torque corresponding to each planned position point in the slope section ahead of the current position of the vehicle when the vehicle is in a constant speed cruise state;

[0114] If so, the vehicle is controlled to perform speed control based on the cruise control speed.

[0115] Among them, the predictive cruise controller may have a predictive cruise function, and the state information may be an activated state or an inactivated state, etc. The predictive cruise function may be activated under the premise that the cruise control is turned on. The abnormal value may be a data value corresponding to a non-motor demand torque, or a motor demand torque that does not match the slope section where the vehicle is currently located, for example, a negative motor demand torque on an uphill section, etc. Determining the motor demand torque corresponding to each planned position point in the slope section ahead of the current position of the vehicle may be the above-mentioned steps S110 to S130.

[0116] Specifically, if the predictive cruise function of the vehicle is in an inactive state or the motor demand torque determined by the predictive cruise function when it is activated is an abnormal value, the cruise speed can be used as the target planned speed for the corresponding planned position point, and the vehicle can be controlled to follow the cruise speed at the planned position point; if the predictive cruise function of the vehicle is in an activated state and the corresponding motor demand torque is a normal value, the vehicle speed can be controlled based on the motor demand torque.

[0117] It can be understood that by controlling the vehicle to perform speed control based on the cruise control speed when it is determined that the predictive cruise function is activated and the determined motor demand torque is an abnormal value, it helps to avoid the situation where the motor demand torque relied on for speed control on a slope section in the cruise control state cannot adapt to the current actual operating conditions, thereby helping to ensure the smooth driving of the vehicle on the corresponding slope section and reduce safety hazards.

[0118] In an embodiment of the present invention, the energy consumption value of each current candidate planning state at the current planning position point is determined to further determine the corresponding current target planning state, which helps to make the determined target planning state have better performance in terms of energy consumption. Moreover, by introducing the comprehensive resistance associated with the slope of the slope section and the corresponding motor speed when determining the energy consumption value of each current candidate planning state, the energy consumption value of each current candidate planning state can be made more accurate, which also helps to increase the reliability of the subsequent determination of the current target planning state based on the energy consumption value.

[0119] For ease of understanding, refer to Figure 2B A specific example of the structural principle of the vehicle predictive cruise control system is provided. It should be noted that the data interaction processes and data transmission methods involved in the figure are only for exemplary description and should not be understood as specific limitations of the present invention.

[0120] Figure 2B This is a schematic diagram of the structure of a vehicle predictive cruise control system. Figure 2BAs shown in , the predictive cruise controller can establish a communication connection with the mode selection switch through a hard line, and the communication connection can be used to obtain the driving mode selected by the user. The predictive cruise controller can also establish a communication connection with the TBOX through the CAN bus, and the communication connection can be used to obtain map information, which can be map data information of the road to be driven in front of the vehicle. The vehicle controller can establish a communication connection with the cruise control switch through a hard line, and the communication connection can be used to obtain the activation state of the cruise control function. The vehicle controller can obtain data from the power battery controller through the CAN line, and the data information can be used to characterize the current battery state, and the power battery controller can be used to control and manage the power battery of the vehicle. The motor controller can be used to control and manage the operation of the motor, and the automatic transmission controller can be used to control and manage the speed change of the vehicle. The vehicle controller can also send data to the motor controller through the CAN line, and the motor controller can send data to the automatic transmission controller through the CAN line. For example, the vehicle controller can send the current motor demand torque and the current target planning gear to the motor controller, so that the motor controller can control the vehicle speed through the automatic transmission controller based on the current motor demand torque and the current target planning gear. The vehicle controller can also send information such as battery information, cruise status flag, and cruise set speed to the predictive cruise controller through the CAN line. Among them, the battery information can be the current battery status, the cruise status flag can be used to indicate whether the vehicle's cruise control function is turned on, and the cruise set speed can be the cruise speed of the vehicle in the current cruise control state. Correspondingly, the predictive cruise controller can send information such as target torque, target torque, and functional status to the vehicle controller. Among them, the target torque can be the current motor demand torque, the target gear can be the target planning gear in the current target planning state, and the functional status can be used to indicate whether the predictive cruise function is in an activated state.

[0121] Figure 3 This is a schematic diagram of the structure of a vehicle speed control device provided in the third embodiment of the present invention. This embodiment can be applied to the situation where the speed and gear are re-planned for the slope section to be traveled in the vehicle cruise state, and the speed is controlled based on the planned speed and gear. The device can be implemented in the form of hardware and / or software. The device can be configured in an electronic device, which can be a predictive cruise controller. Figure 3 , the device comprises:

[0122] The candidate planning state determination module 310 is used to determine each current candidate planning state of the current planning position point in the slope section based on the current cruise speed; the candidate planning state includes a candidate planning speed and a candidate planning gear.

[0123] The target planning state determination module 320 is used to determine the current target planning state for the current planning position point based on the target planning speed of the previous planning position point, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step.

[0124] The vehicle speed control module 330 is used to determine the current motor demand torque for the current planned position point based on the current target planning state, and the current motor demand torque is used to control the speed of the vehicle.

[0125] The technical solution of the embodiment of the present invention determines the candidate planning states of the current planning position point in the slope section according to the current cruise control speed of the vehicle, and then determines the current target planning state for the current planning position point based on the target planning speed of the previous planning position point of the current planning position point, the slope value of the slope section, the candidate planning speed corresponding to the current candidate planning state and the candidate planning gear, the current battery state and the preset distance step, so that the current motor required torque corresponding to the current planning position point can be further determined based on the determined current target planning state to control the vehicle speed, and when the vehicle is driving on the slope section after the cruise control state is turned on, the speed and gear corresponding to each planning position point on the slope section can be re-planned based on the current cruise control speed, thereby helping to avoid the situation where cruise control is always performed at the fixed current cruise control speed in the slope section, and further helping to further reduce the energy consumption of the vehicle.

[0126] Optionally, the target planning state determination module 320 may include:

[0127] A comprehensive resistance determination unit, used to determine the comprehensive resistance under the current candidate planning state based on the target planning speed of the last planning position point, the slope of the slope section and the candidate planning speed corresponding to the current candidate planning state;

[0128] A motor speed determination unit, used to determine the motor speed under the current candidate planning state based on the target planning speed of the last planning position point and the current candidate planning state;

[0129] An energy consumption value determination unit, used to determine the energy consumption value corresponding to the current candidate planning state based on the comprehensive resistance, the motor speed, the target planning speed of the last planned position point, the current candidate planning state, the current battery state and the preset distance step;

[0130] The target planning state determining unit is used to determine the current target planning state for the current planning position point from each current candidate planning state based on the energy consumption value corresponding to each current candidate planning state.

[0131] Optionally, the current battery state at least includes the current battery voltage; accordingly, the target planning state determination unit may include:

[0132] A first determination subunit for a new candidate planning state is used to screen out the current candidate planning state if it is determined that the motor speed corresponding to the current candidate planning state is not within a preset speed range, and to use other current candidate planning states among the current candidate planning states except the current candidate planning state as the current new candidate planning state;

[0133] The energy consumption value determination unit is used to determine the energy consumption value corresponding to the current new candidate planning state based on the comprehensive resistance, motor speed, target planning speed of the previous planning position point, current new candidate planning state, current battery voltage and preset distance step.

[0134] Optionally, the current battery state includes at least the current battery temperature, the current remaining battery power, and the current battery voltage; accordingly, the target planning state determination unit may include:

[0135] A wheel-end force limit interval determination subunit, for determining a target motor torque limit interval of a current candidate planning state based on the motor speed, the current battery temperature and the current remaining battery power, and determining a wheel-end force limit interval of the current candidate planning state based on the target motor torque limit interval and the current candidate planning gear;

[0136] The second determination subunit of the new candidate planning state is used to determine the current candidate planning speed interval corresponding to the current planning position point based on the wheel end force interval, the comprehensive resistance, the target planning speed of the previous planning position point, the preset distance step and the current candidate planning state, and determine each current new candidate planning state corresponding to the current planning position point based on the current candidate planning speed interval and each current candidate planning state;

[0137] The energy consumption value determination subunit is specifically used to determine the energy consumption value corresponding to the current new candidate planning state based on the comprehensive resistance, motor speed, target planning speed of the previous planned position point, current new candidate planning state, current battery voltage and preset distance step.

[0138] Optionally, the base wheel end force limit interval determination subunit may include:

[0139] A first motor torque limit interval determination subunit is used to determine a first motor torque limit interval under a current candidate planning state based on the motor speed; wherein the motor efficiency corresponding to the first motor torque limit interval is higher than a set motor efficiency threshold;

[0140] a second motor torque limit interval determination subunit, configured to determine a battery power limit range under a current candidate planning state according to a current battery temperature and a current battery remaining power, and determine a second motor torque limit interval under the current candidate planning state based on the battery power limit range and a corresponding motor speed;

[0141] The target motor torque limit interval determination subunit is used to use the intersection of the first motor torque limit interval and the second motor torque limit interval as the target motor torque limit interval in the current candidate planning state.

[0142] Optionally, the energy consumption value determination subunit may include:

[0143] The wheel-end required torque determination subunit is used to determine the wheel-end required torque under the current new candidate planning state based on the target planning speed of the last planning position point, the comprehensive resistance under the current new candidate planning state and the preset distance step, and based on the wheel-end required torque, determine the motor required torque and motor system efficiency under the current new candidate planning state;

[0144] A demand current determination subunit, used to determine the motor demand power under the current new candidate planning state based on the motor demand torque, the motor system efficiency and the motor speed under the current new candidate planning state, and determine the demand current under the current new candidate planning state based on the motor demand power and the current battery voltage;

[0145] The required acceleration and time determination subunit is used to determine the required acceleration and required time under the current new candidate planning state based on the candidate planning speed under the current new candidate planning state, the preset distance step and the target planning speed of the last planning location point;

[0146] The energy consumption value determination subunit is used to determine the energy consumption value corresponding to the current new candidate planning state based on the required current, required acceleration and required time.

[0147] Optionally, before determining the energy consumption value corresponding to the current new candidate planning state based on the demand current, the demand acceleration and the demand time, the device may further include:

[0148] A driving mode acquisition module is used to acquire the current driving mode of the vehicle; wherein different driving modes correspond to different calibration parameters, and the calibration parameters include weight values ​​corresponding to the required current, required acceleration and required time;

[0149] Accordingly, the energy consumption value determination subunit is specifically used for:

[0150] The energy consumption value corresponding to the current new candidate planning state based on the demand current, demand acceleration, demand time and corresponding calibration parameters.

[0151] Optionally, the vehicle speed control module 330 may include:

[0152] an abnormal value judgment unit, for responding to the state information of the predictive cruise function sent by the predictive cruise controller, and when determining that the state information is in an activated state, judging whether the motor demand torque is an abnormal value; wherein the predictive cruise controller has the predictive cruise function, and the predictive cruise function is used to determine the motor demand torque corresponding to each planned position point in the slope section ahead of the current position of the vehicle when the vehicle is in a constant speed cruise state;

[0153] The vehicle speed control unit is used to control the vehicle speed based on the cruise speed if the vehicle speed is too high.

[0154] The vehicle speed control device provided in the embodiment of the present invention can execute any vehicle speed control method provided in the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing each vehicle speed control method. For the contents not described in detail in the embodiment of the present invention, reference can be made to the description in the embodiment of any vehicle speed control method in the embodiment of the present invention.

[0155] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium and a computer program product.

[0156] 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.

[0157] like Figure 4As 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.

[0158] 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.

[0159] 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 speed control method for a vehicle.

[0160] In some embodiments, the speed control method of the vehicle 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 speed control method of the vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the speed control method of the vehicle in any other appropriate manner (e.g., by means of firmware).

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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).

[0165] 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.

[0166] 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.

[0167] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0168] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0169] 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 recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution provided by this disclosure can be achieved, and this document does not limit this.

[0170] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. 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 disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle speed control method, characterized in that: include: Based on the current cruise control speed, determine the current candidate planning states of the current planning position point in the slope section; The candidate planning status includes the candidate planning speed and the candidate planning gear; Determine a current target planning state for a current planning location point based on a target planning speed, a slope section slope, a current candidate planning state, a current battery state, and a preset distance step size for a previous planning location point; Based on the current target planning state, the current motor demand torque is determined for the current planned position point, and the current motor demand torque is used to control the speed of the vehicle.

2. The method according to claim 1, characterized in that Based on the target planning speed, slope of the slope section, current candidate planning state, current battery state and preset distance step of the previous planning location point, the current target planning state is determined for the current planning location point, including: Determine the comprehensive resistance under the current candidate planning state based on the target planning speed of the last planning location point, the slope of the slope section, and the candidate planning speed corresponding to the current candidate planning state; Determine the motor speed under the current candidate planning state based on the target planning speed of the last planned position point and the current candidate planning state; Determine the energy consumption value corresponding to the current candidate planning state based on the comprehensive resistance, motor speed, target planning speed of the last planning position point, current candidate planning state, current battery state and preset distance step size; Based on the energy consumption values ​​corresponding to the current candidate planning states, a current target planning state is determined for the current planning position point from the current candidate planning states.

3. The method according to claim 2, characterized in that The current battery state includes at least the current battery voltage; accordingly, based on the comprehensive resistance, the motor speed, the target planning speed of the last planning position point, the current candidate planning state, the current battery state and the preset distance step, determining the energy consumption value corresponding to the current candidate planning state includes: If it is determined that the motor speed corresponding to the current candidate planning state is not within the preset speed range, the current candidate planning state is screened out, and other current candidate planning states other than the current candidate planning state among the current candidate planning states are used as the current new candidate planning state; Based on the comprehensive resistance, motor speed, target planning speed of the last planned position point, current new candidate planning state, current battery voltage and preset distance step, the energy consumption value corresponding to the current new candidate planning state is determined.

4. The method according to claim 2, characterized in that: The current battery state includes at least the current battery temperature, the current remaining battery power and the current battery voltage; accordingly, based on the comprehensive resistance, the motor speed, the target planning speed of the last planned position point, the current candidate planning state, the current battery state and the preset distance step, the energy consumption value corresponding to the current candidate planning state is determined, including: Determine the target motor torque limit interval of the current candidate planning state based on the motor speed, the current battery temperature and the current remaining battery power, and determine the wheel end force limit interval of the current candidate planning state based on the target motor torque limit interval and the current candidate planning gear; Based on the wheel end force range, the comprehensive resistance, the target planning speed of the last planning position point, the preset distance step and the current candidate planning state, determine the current candidate planning speed range corresponding to the current planning position point, and based on the current candidate planning speed range and each current candidate planning state, determine each current new candidate planning state corresponding to the current planning position point; Based on the comprehensive resistance, motor speed, target planning speed of the last planned position point, current new candidate planning state, current battery voltage and preset distance step, the energy consumption value corresponding to the current new candidate planning state is determined.

5. The method according to claim 4, characterized in that Based on the motor speed, current battery temperature and current battery remaining power, the target motor torque limit interval of the current candidate planning state is determined, including: Based on the motor speed, determining a first motor torque limit interval under the current candidate planning state; wherein the motor efficiency corresponding to the first motor torque limit interval is higher than a set motor efficiency threshold; Determine a battery power limit range under a current candidate planning state according to a current battery temperature and a current remaining battery capacity, and determine a second motor torque limit interval under the current candidate planning state based on the battery power limit range and a corresponding motor speed; The intersection of the first motor torque limit interval and the second motor torque limit interval is used as the target motor torque limit interval in the current candidate planning state.

6. The method according to claim 3 or 4, characterized in that Based on the comprehensive resistance, motor speed, target planning speed of the last planning position point, current new candidate planning state, current battery voltage and preset distance step length, the energy consumption value corresponding to the current new candidate planning state is determined, including: Determine the wheel-end required torque under the current new candidate planning state based on the target planning speed of the last planning position point, the comprehensive resistance under the current new candidate planning state and the preset distance step, and determine the motor required torque and motor system efficiency under the current new candidate planning state based on the wheel-end required torque; Determine the motor power requirement under the current new candidate planning state based on the motor torque requirement, the motor system efficiency and the motor speed under the current new candidate planning state, and determine the required current under the current new candidate planning state based on the motor power requirement and the current battery voltage; Determine the required acceleration and required time under the current new candidate planning state based on the candidate planning speed under the current new candidate planning state, the preset distance step and the target planning speed of the last planning location point; Based on the demand current, demand acceleration and demand time, the energy consumption value corresponding to the current new candidate planning state is determined.

7. The method according to claim 6, characterized in that Before determining the energy consumption value corresponding to the current new candidate planning state based on the demand current, the demand acceleration and the demand time, the method further includes: Obtaining the current driving mode of the vehicle; wherein different driving modes correspond to different calibration parameters, and the calibration parameters include weight values ​​corresponding to the required current, required acceleration, and required time; Accordingly, based on the demand current, demand acceleration and demand time, the energy consumption value corresponding to the current new candidate planning state is determined, including: The energy consumption value corresponding to the current new candidate planning state based on the demand current, demand acceleration, demand time and corresponding calibration parameters.

8. The method according to claim 1, characterized in that Based on the motor's required torque and the corresponding target gear, the vehicle's speed is controlled, including: In response to the state information of the predictive cruise function sent by the predictive cruise controller, and when it is determined that the state information is in an activated state, determining whether the motor demand torque is an abnormal value; wherein the predictive cruise controller has the predictive cruise function, and the predictive cruise function is used to determine the motor demand torque corresponding to each planned position point in the slope section ahead of the current position of the vehicle when the vehicle is in a constant speed cruise state; If so, the vehicle is controlled to perform speed control based on the cruise control speed.

9. A vehicle speed control device, characterized in that: include: A candidate planning state determination module is used to determine each current candidate planning state of the current planning position point in the slope section based on the current cruise speed; The candidate planning status includes the candidate planning speed and the candidate planning gear; A target planning state determination module is used to determine the current target planning state for the current planning location point based on the target planning speed of the previous planning location point, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step size; The vehicle speed control module is used to determine the current motor demand torque for the current planned position point based on the current target planning state, and the current motor demand torque is used to control the speed of the vehicle.

10. 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 execute the vehicle speed control method according to any one of claims 1 to 8.

11. 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 speed control method according to any one of claims 1 to 8 when executed.

12. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the vehicle speed control method according to any one of claims 1-8.

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