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

Abstract

The invention discloses a vehicle cruise control method, device and equipment, a medium and a product. The method comprises the following steps: acquiring a target planning state of each planning position point in a slope road section, wherein the target planning state comprises a target planning speed and a target planning gear; determining a current planning request torque according to the target planning state of the current planning position point, the target planning speed of the next planning position point, the slope value of the next planning position point and a preset distance step length; performing intention recognition based on the current planning request torque and a preset torque interval to obtain a current intention, and performing cruise control on the vehicle according to the current intention; the current intention is driving or braking. According to the technical scheme, it is ensured that the actual control process of the vehicle speed conforms to the planning intention corresponding to each planning position point, and energy consumption in the actual driving process of the vehicle is reduced.

Description

Technical Field

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

[0002] With the extensive research on vehicle intelligent control technology in recent years, vehicles can obtain the slope information of the road ahead in real time during driving, and plan the speed and gear of the vehicle on the road ahead in advance based on the slope information, thereby further realizing intelligent control of the vehicle speed and significantly reducing driver fatigue.

[0003] In the prior art, the parameters used in speed and gear planning for the road ahead of the vehicle are usually different from the actual vehicle parameters during the actual driving process of the vehicle (such as transmission efficiency, motor battery efficiency conversion and other parameter types). As a result, the vehicle may deviate from the planned intention during the actual speed control process, which in turn leads to increased energy consumption of the vehicle. Summary of the invention

[0004] The present invention provides a vehicle cruise control method, device, equipment, medium and product to ensure that the actual control process of the vehicle speed is consistent with the planning intention corresponding to each planned position point, thereby reducing the energy consumption of the vehicle during actual driving.

[0005] According to one aspect of the present invention, a vehicle cruise control method is provided, the method comprising:

[0006] Obtain the target planning status of each planned position point in the slope section, the target planning status including the target planning speed and the target planning gear position;

[0007] Determine the current planned request torque according to the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step;

[0008] Intention recognition is performed based on the current planned requested torque and the preset torque range to obtain the current intention, and cruise control is performed on the vehicle according to the current intention; the current intention is driving or braking.

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

[0010] A target planning state acquisition module is used to obtain the target planning state of each planned position point in the slope section, and the target planning state includes a target planning speed and a target planning gear position;

[0011] A current planning request torque determination module, used to determine the current planning request torque according to the target planning state of the current planning position point, the target planning speed of the next planning position point, the slope value of the next planning position point and the preset distance step;

[0012] The intention recognition and cruise control module is used to recognize the intention based on the current planned requested torque and the preset torque range, obtain the current intention, and cruise control the vehicle according to the current intention; the current intention is driving or braking.

[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 cruise 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 cruise 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 cruise 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 current planned request torque according to the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step after obtaining the target planning state of each planned position point in the slope section, and then performs intention recognition based on the correlation between the current planned request torque and the preset torque interval to obtain the planning intention of speed control for the corresponding slope section, and cruise control the vehicle based on the planning intention, so as to ensure that the actual control of the vehicle speed in the corresponding cruise control process is consistent with the planning intention, avoid the occurrence of downhill refueling and uphill braking that may be caused by the discrepancy between the actual control and the planning intention, and then help to ensure that the actual vehicle speed control is as close as possible to the changing trend of the target planning speed corresponding to each planned position point, thereby reducing energy consumption during the actual driving 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 figure is a flow chart of a vehicle cruise control method provided according to the first embodiment of the present invention.

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

[0024] Figure 2B A schematic diagram of vehicle speed change when vehicle speed control is performed on a long downhill road condition provided in the second embodiment of the present invention.

[0025] Figure 2C A schematic diagram of vehicle speed change when vehicle speed control is performed on a road condition of going uphill followed by downhill, provided in the second embodiment of the present invention.

[0026] Figure 3 is a flow chart of another vehicle cruise control method provided according to Embodiment 3 of the present invention.

[0027] Figure 4 1 is a schematic diagram of the structure of a vehicle cruise control device provided according to a fourth embodiment of the present invention.

[0028] Figure 5 It is a structural schematic diagram of an electronic device for implementing the vehicle cruise control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] Figure 1 This is a flow chart of a vehicle cruise control method provided by an embodiment of the present invention. This embodiment is applicable to the case where the vehicle is in a cruise control state and there is a slope section on the road ahead. The method can be executed by a vehicle cruise control device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 Said method comprises:

[0032] S110, obtaining a target planning state of each planned position point in the slope section, where the target planning state includes a target planning speed and a target planning gear.

[0033] Among them, 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 planned position point can be a position point in the slope section where the speed and gear of the vehicle need to be pre-planned. The planned position point can be determined in sequence on the corresponding slope section based on a preset distance step, and the preset distance step can be a ratio of the length of the slope section and the number of preset planned position points of the planned position point. A slope section can include at least one planned position point. The target planned speed can be the pre-planned speed that the vehicle needs to reach when traveling at the corresponding planned position point, and the target planned gear can be the pre-planned gear that the vehicle needs to set when traveling at the corresponding planned position point.

[0034] S120 , determining the currently planned requested torque according to the target planned state of the currently planned position point, the target planned speed of the next planned position point, the slope value of the next planned position point, and the preset distance step.

[0035] The distance between the next planned position point and the current planned position point may be a preset distance step, and the distance between the previous planned position point and the current planned position point may also be a preset distance step. The current planned request torque may be the required torque when the target planned speed of the current planned position point is changed to the target planned speed of the next position point, and the current planned request torque may be the motor torque.

[0036] Specifically, a mapping relationship database between different target planning states of the current planned position point, different target planning speeds of the next planned position point, different slope values ​​of the next planned position point, different preset distance steps and corresponding planned request torques can be established in advance. Accordingly, after determining the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step, the corresponding planned request torque can be matched by traversing the mapping relationship database, and the matched planned request torque can be used as the current planned request torque.

[0037] S130, performing intention recognition based on the current planned requested torque and the preset torque range to obtain the current intention, and performing cruise control on the vehicle according to the current intention; the current intention is driving or braking.

[0038] The preset torque interval may be a set of planned request torques corresponding to when the motor actually has zero torque demand. The current intention may be a planned way for the vehicle to control the speed at the current planned position. Driving may represent that the current motor has a positive torque demand, and braking may represent that the current motor has a negative torque demand. The corresponding vehicle may be a pure electric vehicle or a hybrid vehicle, etc.

[0039] Specifically, a database of mapping relationships between different planned request torques, preset torque intervals and corresponding intentions can be pre-established. Correspondingly, after determining the current planned request torque and the preset torque interval, the mapping database can be traversed to match the corresponding intention, and the matched intention can be used as the current intention. It is also possible to control the output of the motor to be positive torque when the current intention is driving, and to control the input of the motor to be negative torque when the current intention is braking.

[0040] The technical solution of the embodiment of the present invention determines the current planned request torque according to the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step after obtaining the target planning state of each planned position point in the slope section, and then performs intention recognition based on the correlation between the current planned request torque and the preset torque interval to obtain the planning intention of speed control for the corresponding slope section, and cruise control the vehicle based on the planning intention, so as to ensure that the actual control of the vehicle speed in the corresponding cruise control process is consistent with the planning intention, avoid the occurrence of downhill refueling and uphill braking that may be caused by the discrepancy between the actual control and the planning intention, and then help to ensure that the actual vehicle speed control is as close as possible to the changing trend of the target planning speed corresponding to each planned position point, thereby reducing energy consumption during the actual driving of the vehicle.

[0041] Figure 2A This is a flow chart of a vehicle cruise 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.

[0042] Furthermore, "intention identification is performed based on the current planned requested torque and the preset torque range to obtain the current intention" is refined into "if the current planned requested torque is greater than the upper limit of the preset torque range, the current intention is determined to be a driving intention; if the current planned requested torque is less than the lower limit of the preset torque range and the current planned position point is on a downhill section, the current intention is determined to be a braking intention" to improve the mechanism for determining the current intention.

[0043] refer to Figure 2A , the method specifically comprises the following steps:

[0044] S210: Obtain a target planning state for each planned position point in the slope section, where the target planning state includes a target planning speed and a target planning gear.

[0045] S220 , determining the currently planned requested torque according to the target planned state of the currently planned position point, the target planned speed of the next planned position point, the slope value of the next planned position point, and the preset distance step.

[0046] S230: If the currently planned requested torque is greater than an upper limit of a preset torque range, determine that the current intention is a driving intention.

[0047] S240: If the currently planned requested torque is less than the lower limit of the preset torque range and the currently planned position point is on a downhill section, determine that the current intention is a braking intention.

[0048] The upper limit and the lower limit of the preset torque range may be set based on experience.

[0049] For example, if it is determined that the currently planned requested torque belongs to the corresponding preset torque range, the current intention can be maintained as the intention type determined during the last intention judgment, and the intention type may include driving intention and braking intention, etc.

[0050] S250: Perform cruise control on the vehicle according to the current intention.

[0051] In an optional embodiment, before performing intention recognition based on the current planned requested torque and the preset torque range to obtain the current intention, the following steps may also be included:

[0052] Determine whether the current intent recognition is the first intent recognition;

[0053] If so, when the current planned requested torque is a positive value, the current intention is determined to be a driving intention, and when the current planned requested torque is a negative value, the current intention is determined to be a braking intention.

[0054] The first intention recognition may be the first intention recognition process performed by the vehicle on the corresponding slope section.

[0055] Specifically, when it is determined that the current intention recognition is not the first time that intention recognition is performed, intention recognition may be performed based on the current planned requested torque and the preset torque interval to obtain the current intention.

[0056] It can be understood that by directly judging whether the current intention is a driving intention or a braking intention based on the positive or negative of the current planned requested torque when determining that the current intention is recognized as the first intention, the corresponding planned intention can be determined when the vehicle reaches the starting point of the slope section, and the vehicle can be cruise controlled based on the planned intention, which helps to avoid "due to speed deviation during downhill, it will accelerate to follow the vehicle speed at the beginning of the downhill, and after the vehicle speed reaches the set speed, it will exceed a certain speed, and then brake to follow the vehicle speed" and "in the road condition of going downhill first and then uphill, if the vehicle exceeds the planned speed at the end of the downhill slope, it will brake and slow down at the beginning of the uphill, and then accelerate to go uphill" and other situations, which will help to utilize the gravitational potential energy of the downhill to convert the accumulated kinetic energy, avoid the energy loss of accelerating after deceleration, and at the same time, it can also use the excess kinetic energy to rush up the slope, saving time and reducing energy consumption.

[0057] In an optional embodiment, performing cruise control on the vehicle according to the current intention may include:

[0058] If the current intention is a driving intention, the control prohibits the vehicle from performing energy recovery braking; if the current intention is a braking intention, the control prohibits outputting a positive torque request to the motor.

[0059] Among them, energy recovery braking can convert the excess energy generated by the vehicle during braking into electrical energy.

[0060] It can be understood that by prohibiting the vehicle from performing energy recovery braking when the current intention is driving, and not allowing positive torque to be requested from the motor when the current intention is braking, it can effectively avoid the occurrence of downhill refueling and uphill braking that may be caused by the actual control being inconsistent with the planned intention, which in turn helps to ensure that the actual vehicle speed control is as close as possible to the changing trend of the target planned speed corresponding to each planned position point, thereby reducing energy consumption during the actual driving of the vehicle.

[0061] In an optional embodiment, performing cruise control on the vehicle according to the current intention may further include:

[0062] Based on the current actual speed and target planned speed of the vehicle at the current planned position, the current motor actual required torque is determined for the current planned position; when the current intention is a driving intention, if the current motor actual required torque is positive, the corresponding motor can be controlled to output the current motor actual required torque to adjust the current actual speed of the vehicle. If the current motor actual required torque is negative, the vehicle is controlled to prohibit energy recovery braking; when the current intention is a braking intention, if the current motor required torque is positive, the motor is controlled to refuse to input the current motor required torque. If the current motor required torque is negative, the corresponding motor is controlled to output the current motor actual required torque.

[0063] In an optional embodiment, adjusting the current actual speed of the vehicle may include:

[0064] Based on the current actual vehicle speed at the current planned position and the target planned speed in the target planned state, the current actual required torque of the motor of the vehicle at the current planned position can be obtained through a proportional-integral-derivative (PID) closed loop. The parameters of the PID controller corresponding to the PID closed loop can be set in advance based on experience or needs.

[0065] In an embodiment of the present invention, by setting a corresponding preset torque interval, and when the currently planned requested torque is greater than the upper limit of the preset torque interval, the current intention is determined to be a driving intention, and when the currently planned requested torque is less than the lower limit of the preset torque interval and the current planned position point is in a downhill section, the current intention is determined to be a braking intention, thereby helping to avoid frequent jumps in the corresponding intention determination results when intention recognition is performed on the corresponding slope section multiple times, and further helping to ensure the reliability of the corresponding intention recognition results obtained.

[0066] For ease of understanding, refer to Figure 2B A specific example of vehicle speed change when vehicle speed control is performed on a long downhill road condition is provided. It should be noted that the vehicle speed change trend and applicable scenarios involved in the figure are only for exemplary description and should not be understood as a specific limitation of the present invention.

[0067] Figure 2B This is a schematic diagram of vehicle speed change when vehicle speed control is performed on a long downhill road condition. Figure 2B As shown in , for long downhill road conditions, the vehicle can use gravitational potential energy to slide to the target planning speed of each planning position point. Correspondingly, the speed change trend of each planning position point corresponding to the target planning speed under ideal conditions can be as follows: Figure 2B As shown in the red curve, the vehicle uses gravity potential energy to gradually slide to the maximum speed, and then maintains the maximum speed through braking energy recovery. During the whole process, the vehicle has little or no driving torque demand, and more is zero torque demand and negative torque demand. However, in the actual driving process of the vehicle, there may be Figure 2B In the case of the green curve, due to the speed deviation during the downhill process, the vehicle will accelerate at the beginning of the downhill to follow the target planned speed. After the speed reaches the target planned speed, it will exceed a certain speed and then brake to follow the target planned speed, which will cause energy waste. The actual speed curve after adding intention recognition is as shown in the black curve in 2B. After recognizing that the vehicle has the intention to brake, it will no longer send a positive torque request to the motor. When the speed is less than the target planned speed, it relies on gravity potential energy to accelerate. When the speed reaches the target planned speed, the braking energy is recovered and follows the target planned speed.

[0068] For ease of understanding, refer to Figure 2C A specific example of vehicle speed change when vehicle speed control is performed on a road condition of going uphill after going downhill is provided. It should be noted that the vehicle speed change trend and applicable scenarios involved in the figure are only for illustrative purposes and should not be understood as a specific limitation of the present invention.

[0069] Figure 2C This is a schematic diagram of vehicle speed change when vehicle speed control is performed on a road condition where the vehicle goes downhill and then uphill. Figure 2C As shown in , for the road condition of going uphill after going downhill, the speed change trend of each planned position point corresponding to the target planned speed under ideal conditions can be as follows: Figure 2C As shown by the red curve in the middle, if the actual vehicle speed exceeds the target planned speed at the end of the downhill slope, the following may occur: Figure 2C The green curve in the middle shows the situation of braking and decelerating at the beginning of the uphill slope, and then accelerating uphill. The actual speed curve after adding intention recognition is as follows Figure 2CAs shown in the black curve in the middle, after the vehicle recognizes that it has the intention to drive at the end of the downhill slope, it will no longer send a negative torque request to the motor, thus reusing the kinetic energy accumulated by the downhill gravitational potential energy conversion, avoiding the energy loss of accelerating after deceleration, and using the excess kinetic energy to rush up the slope, saving time and reducing energy consumption. In an optional embodiment, for the flat road condition after going downhill, the control of the vehicle speed is the same as Figure 2C Similarly, there may be a situation where the speed at the end of a downhill slope exceeds the target planned speed, and the vehicle decelerates and then accelerates on a flat road.

[0070] Figure 3 This is a flow chart of a vehicle cruise control method provided by Embodiment 3 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.

[0071] Further, “determine the current planned request torque based on the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step” is refined into “determine the corresponding comprehensive resistance between the current planned position point and the next planned position point based on the target planning speed of the current planned position point, the target planning speed of the next planned position point and the slope value of the next planned position point; determine the current planned request torque based on the comprehensive resistance, the target planning state of the current planned position point, the target planning speed of the next planned position point and the preset distance step” to improve the determination mechanism of the current planned request torque.

[0072] refer to Figure 3 , the method specifically comprises the following steps:

[0073] S310: Obtain a target planning state for each planned position point in the slope section, where the target planning state includes a target planning speed and a target planning gear.

[0074] S320: Determine the corresponding comprehensive resistance between the current planned location point and the next planned location point based on the target planned speed of the current planned location point, the target planned speed of the next planned location point, and the slope value of the next planned location point.

[0075] Specifically, a mapping relationship database of different target planning speeds for the current planning position point, different target planning speeds for the next planning position point, different slope values ​​for the next planning position point, and corresponding comprehensive resistances can be established in advance. Accordingly, when determining the target planning speed for the current planning position point, the target planning speed for the next planning position point, and the slope value for the next planning position point, the corresponding comprehensive resistance can be matched by traversing the mapping relationship database, and the matched comprehensive resistance can be used as the corresponding comprehensive resistance between the current planning position point and the next planning position point.

[0076] In an optional embodiment, the calculation method of the corresponding comprehensive resistance between the current planned position point and the next planned position point can be:

[0077]

[0078] Among them, F rx It can be the corresponding comprehensive resistance between the current planned location point and the next planned location point, 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 windward area of ​​the vehicle at the current planned position, V d It can represent the target planning speed corresponding to the current planning position point, V x It can represent the target planned speed of the next planned position point, 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.

[0079] S330: Determine the currently planned requested torque based on the comprehensive resistance, the target planned state of the currently planned position point, the target planned speed of the next planned position point, and the preset distance step.

[0080] Specifically, a mapping relationship database between different comprehensive resistances, different target planning states of the current planned position point, different target planning speeds of the next planned position point, different preset distance steps and corresponding planned request torques can be established in advance. Accordingly, after determining the corresponding comprehensive resistance between the current planned position point and the next planned position point, the target planning state of the current planned position point, the target planning speed of the next planned position point and the preset distance step, the mapping relationship database can be traversed to match the corresponding planned request torque, and the matched planned request torque can be used as the current planned request torque.

[0081] In an optional embodiment, the current planned requested torque may be calculated as follows:

[0082]

[0083] Among them, TQ can represent the current planned requested torque, x can represent the preset distance step, R can be the tire radius of the vehicle, i can represent the comprehensive transmission ratio under the target planning state of the current planning position point, and the comprehensive transmission ratio can be the product of the transmission ratio and the main reduction ratio under the target planning state of the current planning position point, and the transmission ratio can be obtained by looking up the table based on the target planning gear corresponding to the target planning state.

[0084] S340, performing intention recognition based on the current planned requested torque and the preset torque range to obtain the current intention, and performing cruise control on the vehicle according to the current intention; the current intention is driving or braking.

[0085] In an optional embodiment, the process of determining the target planning state of the planning location point may be:

[0086] 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;

[0087] Based on the target planning speed of the previous planning position, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step, the current target planning state is determined for the current planning position; based on the current target planning state, the current motor required torque is determined for the current planning position, and the current motor required torque is used to control the speed of the vehicle.

[0088] Among them, the target planning state of the planning position point can be determined by the predictive cruise controller. 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 predictive cruise controller can be independent of the vehicle controller. The preset speed can be a cruise speed. The current cruise speed can be the cruise speed corresponding to the cruise state of the vehicle at present, and the cruise speed can be set by the user as needed when turning on the cruise control function of the vehicle. Different candidate planning states correspond to different combinations of candidate planning speeds and candidate planning gears, and each planning position point can correspond to at least one candidate planning state, and the candidate planning states corresponding to different planning position points can be the same. The slope of the slope section can be obtained from the map data information of the road to be driven in front of the vehicle that is obtained in advance, and the map data information can be obtained through the in-vehicle communication equipment (Telematics BOX, TBOX), and the map data information can be transmitted to the predictive cruise controller through 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 include at least one of the current battery voltage, the current remaining battery power, the current battery temperature, etc. The current target planning state can be one of the current candidate planning states.

[0089] Specifically, a mapping relationship database between different cruise speeds and candidate planning states corresponding to different planning positions can be pre-established. 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. The slope of the slope section can be the slope value of the slope section. A mapping relationship database between different target planning speeds, different slope section slopes, different candidate planning states, different battery states, different preset distance steps and corresponding target planning states can also be pre-established. Accordingly, after determining the target planning speed, slope section slope, current candidate planning states, current battery state and preset distance step of the previous planning position corresponding to the current planning position, the mapping relationship database can be traversed to match the target planning state corresponding to the current planning position, and the matched target planning state can be used as the current target planning state of the current planning position.

[0090] It can be understood that by determining the candidate planning states of the current planned position point in the slope section according to the current cruise control speed of the vehicle, and then based on the target planning speed of the previous planned position point of the current planned 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, the current target planning state is determined for the current planned position point, so that the current motor required torque corresponding to the current planned 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 a slope section after turning on the cruise control state, the speed and gear corresponding to each planned 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, thereby helping to further reduce vehicle energy consumption.

[0091] In an optional embodiment, determining the current target planning state for the current planning position point based on the target planning speed, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step of the previous planning position point may include:

[0092] Determine the comprehensive resistance in the current candidate planning state based on the target planning speed of the previous planning position, the slope of the slope section and the candidate planning speed corresponding to the current candidate planning state; determine the motor speed in the current candidate planning state based on the target planning speed of the previous planning position 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, 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 from each current candidate planning state based on the energy consumption value corresponding to each current candidate planning state.

[0093] 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.

[0094] In an optional embodiment, the comprehensive resistance in the current candidate planning state may be calculated as follows:

[0095]

[0096] Among them, F r It can be the comprehensive resistance under the current candidate planning state, V 0 It can represent the candidate planning speed corresponding to the current candidate planning state, and V can represent the target planning speed of the previous planning position point.

[0097] 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.

[0098] In an optional embodiment, the motor speed in the current candidate planning state may be calculated as follows:

[0099]

[0100] Among them, n motor It can be the motor speed under the current candidate planning state, i 0 It 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 drive ratio.

[0101] Specifically, a database of mapping relationships between different comprehensive resistances, different motor speeds, different target planning speeds of the last planning position, different candidate planning states, different battery states, different preset distance steps and corresponding energy consumption values ​​can be pre-established. Accordingly, after determining the comprehensive resistance, motor speed, target planning speed of the last planning position, current battery state and preset distance step 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. Furthermore, 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 position.

[0102] 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:

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] In an optional embodiment, 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, determining the energy consumption value corresponding to the current candidate planning state may include:

[0108] 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 torque limit interval under the current candidate planning state is determined; based on the wheel-end torque 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.

[0109] 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.

[0110] 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.

[0111] In an optional embodiment, the limit value of the wheel end force limit interval may be calculated as follows:

[0112]

[0113] 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.

[0114] In an optional embodiment, the limit value of the current candidate planned speed interval may be calculated as follows:

[0115]

[0116] Among them, V k It can represent the limit of the current candidate planning speed interval. x can represent the preset distance step.

[0117] 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:

[0118] 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.

[0119] 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.

[0120] In an optional embodiment, the limit value of the second motor torque limit interval may be calculated as follows:

[0121]

[0122] 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.

[0123] 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:

[0124] 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.

[0125] 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.

[0126] In an optional embodiment, the wheel end required torque may be calculated as follows:

[0127]

[0128] Wherein, TQ can represent the wheel end required torque.

[0129] In an optional embodiment, the motor required torque may be calculated as follows:

[0130]

[0131] Among them, T M3 It can represent the motor demand torque.

[0132] In an optional embodiment, the motor required power may be calculated as follows:

[0133]

[0134]

[0135] 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.

[0136] 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 may also be included:

[0137] 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;

[0138] 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:

[0139] 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.

[0140] 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.

[0141] 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.

[0142] In an optional embodiment, the calculation formula of the corresponding energy consumption value may be:

[0143]

[0144]

[0145] 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.

[0146] In an embodiment of the present invention, the corresponding comprehensive resistance between the current planned position point and the next planned position point is determined based on the target planned speed of the current planned position point, the target planned speed of the next planned position point and the slope value of the next planned position point; the current planned request torque is determined based on the comprehensive resistance, the target planning state of the current planned position point, the target planning speed of the next planned position point and the preset distance step. In the process of calculating the current planned request torque, the corresponding comprehensive resistance between the current planned position point and the next planned position point can be introduced, thereby helping to improve the accuracy of the determined corresponding current planned request torque, and further helping to improve the reliability of subsequent intention recognition.

[0147] Figure 4This is a schematic diagram of the structure of a vehicle cruise control device provided by the fourth embodiment of the present invention. This embodiment is applicable to the case where the vehicle is in a cruise control state and there is a slope section on the road ahead. The device can be implemented in the form of hardware and / or software, and the device can be configured in an electronic device. Figure 4 Said device comprises:

[0148] The target planning state acquisition module 410 is used to acquire the target planning state of each planned position point in the slope section, and the target planning state includes the target planning speed and the target planning gear position;

[0149] The current planning request torque determination module 420 is used to determine the current planning request torque according to the target planning state of the current planning position point, the target planning speed of the next planning position point, the slope value of the next planning position point and the preset distance step;

[0150] The intention recognition and cruise control module 430 is used to recognize the intention based on the current planned requested torque and the preset torque range, obtain the current intention, and cruise control the vehicle according to the current intention; the current intention is driving or braking.

[0151] The technical solution of the embodiment of the present invention determines the current planned request torque according to the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step after obtaining the target planning state of each planned position point in the slope section, and then performs intention recognition based on the correlation between the current planned request torque and the preset torque interval to obtain the planning intention of speed control for the corresponding slope section, and cruise control the vehicle based on the planning intention, so as to ensure that the actual control of the vehicle speed in the corresponding cruise control process is consistent with the planning intention, avoid the occurrence of downhill refueling and uphill braking that may be caused by the discrepancy between the actual control and the planning intention, and then help to ensure that the actual vehicle speed control is as close as possible to the changing trend of the target planning speed corresponding to each planned position point, thereby reducing energy consumption during the actual driving of the vehicle.

[0152] Optionally, the intention recognition and cruise control module 430 may include:

[0153] a driving intention determination unit, configured to determine that the current intention is a driving intention if the currently planned requested torque is greater than an upper limit of a preset torque range;

[0154] The braking intention determination unit is used to determine that the current intention is a braking intention if the currently planned requested torque is less than a lower limit of a preset torque range and the currently planned position point is on a downhill section.

[0155] Optionally, before performing intention recognition based on the current planned requested torque and the preset torque range to obtain the current intention, the corresponding device may further include:

[0156] A first intention recognition determination module is used to determine whether the current intention recognition is the first intention recognition;

[0157] The intention determination module is used to determine that the current intention is a driving intention when the current planned requested torque is a positive value, and to determine that the current intention is a braking intention when the current planned requested torque is a negative value.

[0158] Optionally, the intention recognition and cruise control module 430 may include:

[0159] an energy recovery braking prohibition module, configured to control prohibiting the vehicle from performing energy recovery braking if the current intention is a driving intention;

[0160] The positive torque request output prohibition module is configured to prohibit outputting a positive torque request to the motor if the current intention is a braking intention.

[0161] Optionally, the current planned requested torque determination module 420 may include:

[0162] A comprehensive resistance determination unit, used to determine the corresponding comprehensive resistance between the current planned location point and the next planned location point based on the target planned speed of the current planned location point, the target planned speed of the next planned location point and the slope value of the next planned location point;

[0163] The current planned requested torque determination unit is used to determine the current planned requested torque based on the comprehensive resistance, the target planned state of the current planned position point, the target planned speed of the next planned position point and the preset distance step.

[0164] Optionally, the process of determining the target planning state of the planning location point may be:

[0165] 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;

[0166] Based on the target planning speed of the previous planning location, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step, the current target planning state is determined for the current planning location.

[0167] Optionally, determining the current target planning state for the current planning position point based on the target planning speed, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step of the previous planning position point may include:

[0168] 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;

[0169] 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;

[0170] 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;

[0171] 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.

[0172] Optionally, 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:

[0173] 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 torque limit interval of the current candidate planning state based on the target motor torque limit interval and the current candidate planning gear;

[0174] Based on the wheel end torque 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;

[0175] 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.

[0176] The vehicle cruise control device provided in the embodiment of the present invention can execute any of the vehicle cruise control methods provided in the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing each vehicle cruise control method. For the contents not described in detail in the embodiment of the present invention, reference can be made to the description in any of the vehicle cruise control method embodiments of the present invention.

[0177] 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.

[0178] Figure 5 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.

[0179] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0180] 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.

[0181] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle cruise control method.

[0182] In some embodiments, the vehicle cruise control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle cruise control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle cruise control method in any other appropriate manner (e.g., by means of firmware).

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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).

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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.

[0192] 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 cruise control method, characterized in that: include: Obtain the target planning status of each planned position point in the slope section, the target planning status including the target planning speed and the target planning gear position; Determine the current planned request torque according to the target planning state of the current planned position point, the target planning speed of the next planned position point, the slope value of the next planned position point and the preset distance step; Performing intention recognition based on the current planned requested torque and the preset torque range to obtain the current intention, and performing cruise control on the vehicle according to the current intention; The current intention is to drive or brake.

2. The method according to claim 1, characterized in that Based on the current planned requested torque and the preset torque range, the intention is identified to obtain the current intention, including: If the currently planned requested torque is greater than an upper limit of a preset torque range, determining that the current intention is a driving intention; If the currently planned requested torque is less than the lower limit of the preset torque range and the currently planned position point is on a downhill section, it is determined that the current intention is a braking intention.

3. The method according to claim 1, characterized in that Before the intention is recognized based on the current planned requested torque and the preset torque range and the current intention is obtained, the following is also included: Determine whether the current intent recognition is the first intent recognition; If so, when the current planned requested torque is a positive value, the current intention is determined to be a driving intention, and when the current planned requested torque is a negative value, the current intention is determined to be a braking intention.

4. The method according to any one of claims 1 to 3, characterized in that Cruise control of the vehicle based on current intentions, including: If the current intention is a driving intention, controlling to prohibit the vehicle from performing energy recovery braking; If the current intention is a braking intention, control inhibits outputting a positive torque request to the electric machine.

5. The method according to claim 1, characterized in that According to the target planning state of the current planning position point, the target planning speed of the next planning position point, the slope value of the next planning position point and the preset distance step, the current planning request torque is determined, including: Determine the corresponding comprehensive resistance between the current planning location point and the next planning location point based on the target planning speed of the current planning location point, the target planning speed of the next planning location point, and the slope value of the next planning location point; The current planned request torque is determined based on the comprehensive resistance, the target planned state of the current planned position point, the target planned speed of the next planned position point and the preset distance step.

6. The method according to claim 1, characterized in that The process of determining the target planning state of the planning location point is as follows: 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; Based on the target planning speed of the previous planning location, the slope of the slope section, the current candidate planning state, the current battery state and the preset distance step, the current target planning state is determined for the current planning location.

7. The method according to claim 6, 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.

8. The method according to claim 7, 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 torque 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 torque 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.

9. A vehicle cruise control device, characterized in that: include: A target planning state acquisition module is used to obtain the target planning state of each planned position point in the slope section, and the target planning state includes a target planning speed and a target planning gear position; A current planning request torque determination module, used to determine the current planning request torque according to the target planning state of the current planning position point, the target planning speed of the next planning position point, the slope value of the next planning position point and the preset distance step; An intention recognition and cruise control module, used to recognize the intention based on the current planned requested torque and the preset torque range, obtain the current intention, and perform cruise control on the vehicle according to the current intention; The current intention is to drive or brake.

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 perform the vehicle cruise 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 cruise 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 cruise control method according to any one of claims 1-8.

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