Vehicle cruise control method, device and equipment and medium

Abstract

The invention discloses a vehicle cruise control method, device and equipment and a medium. The method comprises the following steps: acquiring a constant-speed cruise speed in a constant-speed cruise driving scene; acquiring a first gradient of the current vehicle on the historical road section; predicting a second gradient of the current vehicle in a future road section according to the first gradient of the current vehicle; according to the second gradient and the constant-speed cruise speed, the required power of the current vehicle in the future road section is determined; and determining a power distribution mode of the current vehicle on the future road section according to the required power of the future road section, and controlling the current vehicle to run on the future road section based on the power distribution mode. The embodiment of the invention can improve the accuracy of predicting the gradient of a future road section and the rationality of vehicle power distribution.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology, hybrid vehicles account for an increasing share of the market. When a hybrid vehicle is driving, it is necessary to obtain the slope of the road where the hybrid vehicle will travel in the future.

[0003] Currently, the slope of the future driving section of the hybrid vehicle is obtained based on the slope map information.

[0004] However, most hybrid vehicles are unable to obtain slope map information in real time. Summary of the invention

[0005] The present invention provides a vehicle cruise control method, device, equipment and medium. The embodiments of the present invention can improve the accuracy of predicting the future road section slope and the rationality of vehicle power distribution.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle cruise control method, the method comprising:

[0007] In the cruise control scenario, obtain the cruise control vehicle speed;

[0008] Get the first slope of the current vehicle on the historical road section;

[0009] According to the first slope of the current vehicle, predict the second slope of the current vehicle in the future road section;

[0010] According to the second slope and the cruise control speed, the required power of the current vehicle in the future road section is determined;

[0011] According to the required power of the future road section, the power allocation method of the current vehicle in the future road section is determined, and the current vehicle is controlled to travel on the future road section based on the power allocation method.

[0012] In a second aspect, an embodiment of the present invention further provides a vehicle cruise control device, the device comprising:

[0013] The cruise control speed acquisition module is used to obtain the cruise control speed in the cruise control driving scenario;

[0014] A first slope acquisition module, used to acquire the first slope of the current vehicle on the historical road section;

[0015] A second slope prediction module, used for predicting a second slope of the current vehicle in a future road section according to the first slope of the current vehicle;

[0016] A power demand determination module, used to determine the power demand of the current vehicle in the future road section according to the second slope and the cruise control speed;

[0017] The power allocation module is used to determine the power allocation method of the current vehicle on the future road section according to the required power of the future road section, and control the current vehicle to travel on the future road section based on the power allocation method.

[0018] In a third aspect, an embodiment of the present invention further provides a vehicle cruise control device, the vehicle cruise control device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the vehicle cruise control method according to any embodiment of the present invention.

[0022] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, 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 of any embodiment of the present invention when executed.

[0023] The technical solution of the embodiment of the present invention can provide basic data for the vehicle driving state by obtaining the cruise control speed in the cruise control driving scenario; by obtaining the first slope of the current vehicle in the historical section, and predicting the second slope of the current vehicle in the future section according to the first slope of the current vehicle, the known driving slope information of the vehicle can be used to provide a basis for predicting the slope information of the future section, thereby improving the rationality and accuracy of the slope prediction; by determining the required power of the current vehicle in the future section according to the second slope and the cruise control speed, the power demand can be accurately quantified; by determining the power allocation method of the current vehicle in the future section according to the required power of the future section, and controlling the current vehicle to travel on the future section based on the power allocation method, the energy optimization management of the vehicle can be realized, the energy utilization efficiency can be improved, and the driving stability can be improved.

[0024] 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

[0025] 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.

[0026] Figure 1 A flow chart of a vehicle cruise control method provided by an embodiment of the present invention;

[0027] Figure 2 A flow chart of a vehicle cruise control method provided by an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of a vehicle driving with slope prediction provided by an embodiment of the present invention;

[0029] Figure 4 A back propagation neural network structure diagram for slope prediction provided by an embodiment of the present invention;

[0030] Figure 5 A module diagram of a vehicle cruise control method provided by an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of a vehicle cruise control method provided by an embodiment of the present invention;

[0032] Figure 7 A schematic structural diagram of a vehicle cruise control device provided by an embodiment of the present invention;

[0033] Figure 8 A schematic structural diagram of a vehicle cruise control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the collected images, etc. are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0037] Figure 1 A flow chart of a vehicle cruise control method provided by an embodiment of the present invention. The embodiment of the present invention is applicable to vehicle cruise control, and the method can be executed by a vehicle cruise control device, which can be implemented in the form of hardware and / or software.

[0038] See also Figure 1 The vehicle cruise control method shown includes:

[0039] S101: In a cruise control driving scenario, obtain a cruise control vehicle speed.

[0040] The cruise control driving scenario may refer to a scenario where the vehicle is driving at a set constant speed without the driver continuously pressing the accelerator pedal. The cruise control driving scenario can reduce the driver's operating burden and improve driving comfort.

[0041] The cruise speed may refer to a constant speed maintained by the vehicle in a cruise mode. The cruise speed may provide a basic parameter for subsequent power calculation.

[0042] S102: Obtain the first slope of the current vehicle on the historical road section.

[0043] The historical road section may refer to the road section that the current vehicle has traveled. The historical road section is used to analyze the characteristics of the historical road section and provide a basis for predicting the trend of future road sections. In an example, the current vehicle has just traveled a road section with a total length of XXX meters, and the road section of XXX meters may refer to the historical road section.

[0044] The first slope may refer to the slope information of the vehicle on the historical road section. The first slope of the vehicle on the historical road section may be obtained by a slope sensor. The first slope may refer to a sequence set composed of slope values ​​in a continuous road section, and the sequence set is stored in the vehicle memory. For example, when a road section is XXX meters long, it can be divided into several small sections, and the slope of each small section is calculated separately to obtain a sequence set including N slope values. The first slope is used to provide input basis for the slope prediction of future road sections and help determine the slope information sequence of future road sections.

[0045] S103. Predicting a second slope of the current vehicle on a future road section based on the first slope of the current vehicle.

[0046] The future road section may refer to the road section that the current vehicle is about to travel on and has not yet traveled on. In one example, when the current vehicle is traveling on a road section with a total length of X meters, when the current vehicle is traveling at a position of Y meters (Y<X), the road section of Y meters that the vehicle has traveled on is the historical road section, and the road section of YX meters that has not yet traveled on may refer to the future road section.

[0047] The second slope may refer to a slope information sequence that predicts the vehicle on the future road section. The second slope is a predicted value, and the second slope may be calculated by a prediction model to obtain the slope information sequence of the future road section. The second slope is used to accurately calculate the required power of the vehicle on the future road section, make energy planning in advance, and enhance energy utilization efficiency.

[0048] Since there is no sudden change on the current road, the second slope of the current vehicle in the future section can be predicted by a prediction model or other means based on the first slope of the current vehicle. The sudden change can be a discontinuity in the road curve of the road side section, that is, the road curve changes from a continuous and smooth curve to a discontinuous or abrupt change. For example, on a mountain road, the sudden change can be a sudden cliff-like slope on the road; in an area where the roadbed sinks or rises, the local ground suddenly sinks or rises.

[0049] S104: Determine the power requirement of the current vehicle on the future road section according to the second slope and the cruise control speed.

[0050] The required power may refer to the driving power required for the vehicle to maintain the cruise speed at the predicted second slope. The power calculation of the vehicle is affected by the air resistance coefficient, vehicle body area, air density, vehicle speed, vehicle mass, gravity acceleration, slope and rolling resistance coefficient. When the vehicle is driving on an open road, the required power is mainly affected by the second slope and the cruise speed, that is, it is mainly affected by the slope and speed. Parameters such as vehicle mass can be set as fixed values, and the required power of the current vehicle in the future section can be calculated by the second slope and the cruise speed.

[0051] S105. Determine a power allocation method for the current vehicle on the future road section according to the required power of the future road section, and control the current vehicle to travel on the future road section based on the power allocation method.

[0052] The power distribution method may refer to the strategy of power distribution output among multiple power sources in a hybrid vehicle. The power distribution method determines the power output proportion of each power source at a specific road slope, ensuring that the hybrid vehicle meets the required power and optimizes energy efficiency. In one example, a hybrid vehicle is equipped with a range extender and an electric motor to provide extended-range power and battery power respectively. The lowest energy consumption is obtained through the extended-range power and battery power, that is, the hybrid vehicle can reach the required power with the least energy consumption.

[0053] It can be seen that in the embodiment of the present application, by obtaining the cruise control speed in the cruise control driving scenario, basic data can be provided for the vehicle driving status; by obtaining the first slope of the current vehicle in the historical section, and predicting the second slope of the current vehicle in the future section based on the first slope of the current vehicle, the known driving slope information of the vehicle can be used to provide a basis for predicting the slope information of the future section, thereby improving the rationality and accuracy of the slope prediction; by determining the required power of the current vehicle in the future section based on the second slope and the cruise control speed, accurate quantification of power demand can be achieved; by determining the power allocation method of the current vehicle in the future section based on the required power of the future section, and controlling the current vehicle to travel on the future section based on the power allocation method, the vehicle's energy optimization management can be achieved, energy utilization efficiency can be improved, and driving stability can be improved.

[0054] The method of "predicting the second slope of the current vehicle in a future section based on the first slope of the current vehicle" is refined into "predicting the predicted slope of at least one section point of the current vehicle in a future section based on the historical slopes of each section point on the historical section; wherein the first slope includes the historical slopes of each section point on the historical section; the predicted slope of each section point on the future section is determined as the second slope of the future section; wherein the distance of the historical section is greater than or equal to the distance of the future section" to improve the operation of the vehicle's cruise control.

[0055] It should be noted that for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments. Figure 2 The present invention provides a flow chart of a vehicle cruise control method.

[0056] See also Figure 2 The vehicle cruise control method shown includes:

[0057] S201. Predicting a predicted slope of at least one road section point of the current vehicle on a future road section based on a historical slope of each road section point of the current vehicle on a historical road section; wherein a first slope includes the historical slopes of each road section point on the historical road section.

[0058] The predicted slope may refer to the road slope value of the road section point obtained by prediction and calculation. The predicted slope enables the vehicle to obtain the specific road slope value of the future road section in advance, and the power allocation method can be formulated in advance before driving on the future road section.

[0059] Specifically, the historical slope of each section point of the current vehicle on the historical section may also refer to the slope information sequence of the historical section. According to the slope information sequence of the historical section, the predicted slope of at least one section point of the current vehicle on the future section may be predicted by the prediction model. Since the current vehicle is in a forward driving state, when the current vehicle drives to the first section point of the future section, if the predicted slope value is the same as the slope value of the first section point of the future section actually obtained by the vehicle, no other operation is performed. When the predicted slope value is different from the slope value of the first section point of the future section actually obtained by the vehicle, the predicted slope of at least one section point of the current vehicle on the future section is re-predicted.

[0060] S202: Determine the predicted slope of each section point on the future section as the second slope of the future section; wherein the distance of the historical section is greater than or equal to the distance of the future section.

[0061] Among them, the distance of the historical section is greater than or equal to the distance of the future section in order to provide sufficient data support and improve the prediction accuracy. When the distance of the historical section is greater than or equal to the distance of the future section, the continuity and regularity of the terrain of the historical section can be captured, the prediction error can be reduced, and the robustness of the prediction results can be improved.

[0062] In a specific example, Figure 3 A schematic diagram of a vehicle driving with slope prediction provided by an embodiment of the present invention; Figure 4 A back propagation neural network structure diagram for slope prediction provided by an embodiment of the present invention. During vehicle driving, the slope value of the historical road section is stored in the vehicle memory, such as Figure 3As shown, the vehicle records the slope values ​​of 1-K and stores the slope values ​​of 1-K as a slope information sequence in the vehicle memory. The slope values ​​of the vehicle from K+1 to K+N can be predicted by a neural network algorithm, and the slope values ​​of K+1 to K+N are used as a slope information sequence. The BP (Back Propagation) neural network can be used to predict the predicted slope of at least one section point of the current vehicle on the future section. The network structure of the BP neural network is as follows: the number of network input layer nodes is K, the number of output nodes is NK, the number of hidden layers is 1, the input is a 1-K slope information sequence, and the output is a predicted K+1 to K+N slope information sequence.

[0063] It can be seen that in this embodiment, by predicting the predicted slope of the current vehicle at at least one road point on a future road section based on the historical slopes of the current vehicle at each road point on the historical road section, it is possible to estimate the terrain changes of future road sections, which is helpful to plan the vehicle's power requirements in advance; by ensuring that the historical data coverage is sufficient, the robustness of the prediction model can be enhanced and the impact of abnormal data on the prediction results can be reduced.

[0064] In some embodiments, controlling the current vehicle to travel on a future road segment based on the power allocation method includes:

[0065] When the current vehicle drives to the target point on the future road section, the actual slope corresponding to the target point is obtained;

[0066] Compare the actual slope corresponding to the target point with the predicted slope corresponding to the target point;

[0067] When the difference between the actual slope and the predicted slope is small, the current vehicle is controlled to travel on the future road section based on the power distribution method;

[0068] When the actual slope is significantly different from the predicted slope, the power distribution method of the current vehicle is updated according to the actual slope;

[0069] The driving of the current vehicle is controlled according to the updated power distribution method.

[0070] The target point may refer to a road point on the future road section. The target point is used to verify the difference between the predicted slope and the actual slope. When the current vehicle drives to the target point, it is necessary to verify whether the previously predicted slope of the target point is consistent with the actual slope of the target point.

[0071] The real slope may refer to the actual slope value obtained by the vehicle through the slope sensor. There is an error between the real slope value and the predicted slope. When the error between the real slope and the predicted slope is smaller, the predicted predicted slope is more accurate. When the error between the real slope and the predicted slope is larger, the predicted predicted slope is less accurate.

[0072] In a specific example, the current vehicle is traveling on a road section with a total length of 1000 meters. When the vehicle travels to 500 meters, the untraveled 500 meters is the future section, where 510 meters can refer to the target point, and the predicted slope at 510 meters is predicted to be +3%, where + indicates that the road surface is uphill, and - indicates that the road surface is downhill. When the current vehicle travels to 510 meters, the actual slope obtained is +2.9%, and the error between the actual slope and the predicted slope is 0.1%, which is a small error. The current vehicle is controlled to travel on the future section based on the power allocation method; when the current vehicle travels to 510 meters, the actual slope obtained is +1%, and the error between the actual slope and the predicted slope is 2%, which is a large error. The power allocation method of the current vehicle is updated according to the actual slope, and the power allocation at 510 meters is based on the power allocation method achieved by the predicted slope at 500 meters. Since the error between the actual slope and the predicted slope is large, the predicted slope of the future section is predicted according to the updated historical slope, and the travel of the current vehicle is controlled according to the updated power allocation method.

[0073] It can be seen that in this embodiment, by obtaining the actual slope of the target point, a basis can be provided for power distribution adjustment, and real-time collection of actual slope information of the target point can reduce the impact of prediction errors; by comparing the actual slope with the predicted slope, the accuracy of the prediction model can be detected to provide data support for subsequent adjustments; by using the predicted power distribution method when the slope difference is small, unnecessary adjustments can be reduced and control efficiency can be improved; by controlling the vehicle based on the power distribution method, smooth operation of the vehicle can be ensured and computing resource consumption can be reduced.

[0074] In some embodiments, updating the power distribution mode of the current vehicle according to the actual slope includes:

[0075] Obtain a new historical section, which includes the slope of the target point;

[0076] According to the first slope of the new historical road section obtained, predict the second slope of the new future road section of the current vehicle; the road section point on the new future road section is in front of the target point;

[0077] The power distribution method of the current vehicle is updated according to the new second slope and the cruise control speed.

[0078] According to the updated power distribution method, the input power of the current vehicle at the target point is controlled.

[0079] Specifically, since the difference between the predicted slope and the actual slope is large, it means that the predicted slope is inaccurate. When the vehicle travels to the target point, the actual slope of the target point can be obtained. Therefore, it is necessary to re-acquire a new historical road section.

[0080] When the vehicle travels to the target point, the road section point on the future road section is in front of the target point, and the second slope of the future road section is predicted based on the first slope of the new historical road section. Since the predicted second slope of the future road section changes, the power allocation method also needs to be updated, and the input power of the current vehicle at the target point is controlled according to the updated power allocation method. The above steps can ensure the accuracy of re-predicting the second slope of the future road section when the error between the predicted slope and the actual slope is large.

[0081] It can be seen that in this embodiment, by introducing the slope information of the target point, historical data is updated in real time to improve the accuracy of the prediction of the slope of future road sections; the power distribution method is dynamically adjusted to make it more in line with the needs of future road sections, thereby optimizing the vehicle's power system efficiency; precise control of input power at the target point helps to cope with actual slope changes and improve the vehicle's stability and energy efficiency.

[0082] In some embodiments, according to the required power of the future road section, determining the power allocation method of the current vehicle in the future road section includes:

[0083] Obtaining the required power includes the provided power of each section point of the future section;

[0084] For each section point of the future section, at least one power combination corresponding to the section point is determined according to the power provided by the section point; the power combination includes battery power and range extender power;

[0085] Among the various power combinations, select the power combination with the minimum energy consumption;

[0086] The power combination with the lowest energy consumption, including the battery power and the range extender power, is determined as the allocation method corresponding to the section points on the future section.

[0087] The provided power may refer to the power that the vehicle needs to be provided by the power system at each future road section point.

[0088] Among them, the power combination can refer to a combination of multiple energy output modes that meet the power demand. In the extended-range hybrid system, the power combination can refer to the sum of the battery power and the range extender power. The battery power is provided by the battery, and the range extender power is provided by the fuel. The goal of the power combination is to achieve the lowest energy consumption or maximize the system efficiency while meeting the power requirements.

[0089] In an example, the same provided power can be provided by multiple power combinations. For example, the provided power is 100kW, the battery power can provide 10kW, and the range extender power can provide 90kW. The above provision method can be a power combination. Different battery powers and range extender powers require different amounts of electricity and fuel. A power combination with the lowest energy consumption is selected and determined as the allocation method corresponding to the section point on the future road section.

[0090] It can be seen that in this embodiment, by clearly obtaining the power provided by each section point of the future road section, the vehicle's future power demand can be accurately estimated, providing accurate data support for subsequent power allocation; by separately calculating the power combination for the required power of each section point, the power allocation can be finely managed to avoid waste of resources; by selecting the solution with the lowest energy consumption among all power combinations, the overall energy consumption of the vehicle can be reduced and the cruising range can be extended; by optimizing the power combination, energy loss can be minimized, thereby reducing the vehicle's operating costs and environmental impact; by determining the power combination with the lowest energy consumption as the final allocation method, it can be ensured that the vehicle's power system operation on future sections is more efficient and economical.

[0091] In some embodiments, determining at least one power combination corresponding to the road segment point according to the provided power of the road segment point includes:

[0092] Obtain the provided power of the road section point, the power limit of the battery and the power limit of the range extender;

[0093] According to the provided power of the section point, the power limit of the battery and the power limit of the range extender, at least one power combination corresponding to the section point is generated, the sum of the battery power and the range extender power in the power combination is the provided power of the section point, the battery power meets the power limit of the battery, and the range extender power meets the power limit of the range extender.

[0094] The power limit value may refer to the maximum and minimum power range that the battery and range extender can safely and stably provide during operation. The power limit value is determined by the design parameters and operating conditions of the battery and range extender. Exceeding the power limit value range may lead to performance degradation, equipment damage or safety issues.

[0095] In a specific example, under the condition of providing power, the energy consumption of all power combinations is calculated according to the objective function, and the fuel amount and power consumption with the minimum energy consumption are selected from the energy consumption of all power combinations.

[0096] The objective function formula is as follows:

[0097] MIN J=K1*fuel+K2*Ebat

[0098] Wherein, J represents the energy consumption of all power combinations, K1 represents the coefficient of energy provided by the fuel amount, K2 represents the coefficient of energy provided by the battery, fuel represents the fuel amount, and Ebat represents the power consumption.

[0099] The constraints of the battery power limit and the range extender power limit are as follows:

[0100] Pe_dlim≤Peng≤Pe_ulim

[0101] Pb_dlim≤Pbat≤Pb_ulim

[0102] Wherein, Pe_dlim represents the lower limit of the power limit value of the range extender, Pe_ulim represents the upper limit of the power limit value of the range extender, Pb_dlim represents the lower limit of the power limit value of the battery, Pb_ulim represents the upper limit of the power limit value of the battery, Peng represents the range extender power, and Pbat represents the battery power.

[0103] It can be seen that in this embodiment, by obtaining the provided power of the road section point, the power limit value of the battery and the power limit value of the range extender, equipment damage or safety problems caused by overload can be avoided; by generating a power combination, coordinated work between the battery and the range extender can be achieved to ensure that power requirements are met while optimizing energy utilization; and by generating multiple power combination schemes, they can be flexibly adjusted under different road conditions to achieve rapid response to dynamic working conditions.

[0104] In some embodiments, the battery power and the range extender power are discrete integer values.

[0105] The discrete integer value may refer to a set of specific integer values ​​of the battery power and the range extender power. The battery power and the range extender power are not continuous values, and the discrete integer values ​​of the battery power and the range extender power can be achieved through a fixed step size. For example, if the power provided is 100kW, the discrete integer values ​​of the battery power are 1kW, 2kW and 3kW, etc., and the discrete integer values ​​of the range extender power are 99kW, 98kW and 97kW, etc.

[0106] It can be seen that in this embodiment, the design of the battery power and the range extender power as discrete integer values ​​helps to simplify the control logic, reduce the calculation complexity, and improve the stability and life of the equipment. This limitation provides a more practical and easy-to-implement way for the dynamic power allocation of the power system.

[0107] In some embodiments, obtaining the first slope of the current vehicle on the historical road section includes:

[0108] When the current vehicle is traveling steadily, the first slope of the current vehicle on the historical road section is obtained.

[0109] In a specific example, when the vehicle is driving smoothly, the first slope of the current vehicle in the historical road section is obtained, wherein stable driving may refer to the current vehicle driving on a flat road. A flat road may refer to a road without many shallow pits. The slope value of the road on which the vehicle is driving in real time is obtained through a slope sensor, and the slope change rate of the slope value of the historical road section is calculated. When the slope change rate is less than a threshold value set in advance, it is determined that the current vehicle is in a stable driving state; when the slope change rate is greater than the threshold value set in advance, it is determined that the current vehicle is not in a stable driving state. For example, when the current vehicle is driving on a highway or road with good road conditions, the slope change rate of the road is less than the threshold value set in advance, and the current vehicle is determined to be driving smoothly; when the current vehicle is driving on a dirt road with poor road conditions, the slope change rate of the road is greater than the threshold value set in advance, and the current vehicle is determined to be not driving smoothly.

[0110] It can be seen that in this embodiment, the first slope of the historical road section collected during stable driving is more reliable and can more accurately predict the second slope of the subsequent future road section, thereby reducing the prediction deviation.

[0111] In some embodiments, when the current vehicle is driving steadily, obtaining the first slope of the current vehicle on the historical road section includes:

[0112] When the change rate of the slope gradient of the current vehicle in the historical road section is less than a preset change threshold, the first slope of the current vehicle in the historical road section is obtained.

[0113] Specifically, when the change rate of the slope gradient of the current vehicle in the historical road section is less than a preset change threshold, it can be used to determine that the current vehicle is in a stable driving state.

[0114] It can be seen that in this embodiment, by limiting the slope change rate to be less than the preset change threshold, it can be ensured that data is recorded only when the road slope is relatively smooth, avoiding interference from sudden slope changes or noise, thereby improving the accuracy and stability of the slope data.

[0115] In a specific example, Figure 5 A module diagram of a vehicle cruise control method provided by an embodiment of the present invention, wherein the road slope prediction module is used to input the first slope of the historical road section and output the predicted second slope of the future road, and the energy management module is used to determine the power allocation method of the future road section.

[0116] Figure 6A schematic diagram of a vehicle cruise control method provided by an embodiment of the present invention. The implementation principle is as follows: the vehicle predicts the road slope information according to the road slope prediction module, that is, predicts the second slope of the future road section, calculates the required power of the future road section according to the cruise setting speed of the vehicle, the predicted road slope information and the vehicle dynamics model, obtains the provided power of each section point of the future road section, and calculates the battery power and range extender power required for the power combination with the minimum energy consumption through the energy management module.

[0117] Figure 7 The present invention provides a structural diagram of a vehicle cruise control device. The present invention is applicable to vehicle cruise control. The device can execute a vehicle cruise control method. The device can be implemented in the form of hardware and / or software.

[0118] See also Figure 7 The vehicle cruise control device shown includes: a cruise speed acquisition module 701, a first slope acquisition module 702, a second slope prediction module 703, a required power determination module 704 and a power allocation module 705, wherein:

[0119] The cruise control vehicle speed acquisition module 701 is used to acquire the cruise control vehicle speed in the cruise control driving scenario;

[0120] The first slope acquisition module 702 is used to acquire the first slope of the current vehicle on the historical road section;

[0121] The second slope prediction module 703 is used to predict the second slope of the current vehicle in the future road section according to the first slope of the current vehicle;

[0122] The power requirement determination module 704 is used to determine the power requirement of the current vehicle in the future road section according to the second slope and the cruise speed;

[0123] The power allocation module 705 is used to determine the power allocation mode of the current vehicle on the future road section according to the required power of the future road section, and control the current vehicle to travel on the future road section based on the power allocation mode.

[0124] The technical solution of the embodiment of the present invention can provide basic data for the vehicle driving state by obtaining the cruise control speed in the cruise control driving scenario; by obtaining the first slope of the current vehicle in the historical section, and predicting the second slope of the current vehicle in the future section according to the first slope of the current vehicle, the known driving slope information of the vehicle can be used to provide a basis for predicting the slope information of the future section, thereby improving the rationality and accuracy of the slope prediction; by determining the required power of the current vehicle in the future section according to the second slope and the cruise control speed, the power demand can be accurately quantified; by determining the power allocation method of the current vehicle in the future section according to the required power of the future section, and controlling the current vehicle to travel on the future section based on the power allocation method, the energy optimization management of the vehicle can be realized, the energy utilization efficiency can be improved, and the driving stability can be improved.

[0125] In some embodiments, in predicting the second slope of the current vehicle on the future road section according to the first slope of the current vehicle, the second slope prediction module 703 is specifically used to:

[0126] Predicting the predicted slope of at least one road section point of the current vehicle on a future road section according to the historical slopes of each road section point on the historical road section; wherein the first slope includes the historical slopes of each road section point on the historical road section;

[0127] The predicted slope of each section point on the future section is determined as the second slope of the future section; wherein the distance of the historical section is greater than or equal to the distance of the future section.

[0128] In some embodiments, in terms of controlling the current vehicle to travel on a future road section based on the power allocation method, the second slope prediction module 703 is specifically used to:

[0129] When the current vehicle drives to the target point on the future road section, the actual slope corresponding to the target point is obtained;

[0130] Compare the actual slope corresponding to the target point with the predicted slope corresponding to the target point;

[0131] When the difference between the actual slope and the predicted slope is small, the current vehicle is controlled to travel on the future road section based on the power distribution method;

[0132] When the actual slope is significantly different from the predicted slope, the power distribution method of the current vehicle is updated according to the actual slope;

[0133] The driving of the current vehicle is controlled according to the updated power distribution method.

[0134] In some embodiments, in terms of updating the power distribution mode of the current vehicle according to the actual slope, the second slope prediction module 703 is specifically used to:

[0135] Obtain a new historical section, which includes the slope of the target point;

[0136] According to the first slope of the new historical road section obtained, predict the second slope of the new future road section of the current vehicle; the road section point on the new future road section is in front of the target point;

[0137] The power distribution method of the current vehicle is updated according to the new second slope and the cruise control speed.

[0138] According to the updated power distribution method, the input power of the current vehicle at the target point is controlled.

[0139] In some embodiments, in determining the power allocation method of the current vehicle in the future road section according to the required power of the future road section, the power allocation module 705 is specifically used to:

[0140] Obtaining the required power includes the provided power of each section point of the future section;

[0141] For each section point of the future section, at least one power combination corresponding to the section point is determined according to the power provided by the section point; the power combination includes battery power and range extender power;

[0142] Among the various power combinations, select the power combination with the minimum energy consumption;

[0143] The power combination with the lowest energy consumption, including the battery power and the range extender power, is determined as the allocation method corresponding to the section points on the future section.

[0144] In some embodiments, in determining at least one power combination corresponding to the road section point according to the provided power of the road section point, the power allocation module 705 is specifically used to:

[0145] Obtain the provided power of the road section point, the power limit of the battery and the power limit of the range extender;

[0146] According to the provided power of the section point, the power limit of the battery and the power limit of the range extender, at least one power combination corresponding to the section point is generated, the sum of the battery power and the range extender power in the power combination is the provided power of the section point, the battery power meets the power limit of the battery, and the range extender power meets the power limit of the range extender.

[0147] In some embodiments, the battery power and the range extender power are discrete integer values.

[0148] In some embodiments, in terms of obtaining the first slope of the current vehicle on the historical road section, the first slope obtaining module 702 is specifically used to:

[0149] When the current vehicle is traveling steadily, the first slope of the current vehicle on the historical road section is obtained.

[0150] In some embodiments, when the current vehicle is driving steadily, in terms of obtaining the first slope of the current vehicle on the historical road section, the first slope obtaining module 702 is specifically used to:

[0151] When the change rate of the slope gradient of the current vehicle in the historical road section is less than a preset change threshold, the first slope of the current vehicle in the historical road section is obtained.

[0152] The vehicle cruise control device provided in the embodiment of the present invention can execute the vehicle cruise control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the vehicle cruise control method.

[0153] Figure 8 A schematic structural diagram of a vehicle cruise control device provided by an embodiment of the present invention.

[0154] like Figure 8 As shown, the vehicle cruise control device 800 includes at least one processor 801, and a memory connected to the at least one processor 801, such as a read-only memory (ROM) 802, a random access memory (RAM) 803, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 801 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 802 or the computer program loaded from the storage unit 808 to the random access memory (RAM) 803. In RAM803, various programs and data required for the operation of the vehicle cruise control device 800 can also be stored. The processor 801, ROM802 and RAM803 are connected to each other through a bus 804. An input / output (I / O) interface 808 is also connected to the bus 804.

[0155] Multiple components in the vehicle cruise control device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the vehicle cruise control device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0156] The processor 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 801 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, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 801 performs the various methods and processes described above, such as a vehicle cruise control method.

[0157] 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 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle cruise control device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the processor 801, one or more steps of the vehicle cruise control method described above may be performed. Alternatively, in other embodiments, the processor 801 may be configured to perform the vehicle cruise control method in any other appropriate manner (e.g., by means of firmware).

[0158] 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), complex 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.

[0159] 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.

[0160] 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.

[0161] To provide interaction with a user, the systems and techniques described herein may be implemented on an operation detection device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the vehicle cruise control device. Other types of devices may also be used to provide interaction with a 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).

[0162] 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.

[0163] 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 relationship between the client and the server 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 a 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 (Virtual Private Server) services.

[0164] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0165] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle cruise control method, characterized in that: The method comprises: In the cruise control scenario, obtain the cruise control vehicle speed; Get the first slope of the current vehicle on the historical road section; Predicting a second slope of the current vehicle on a future road section according to the first slope of the current vehicle; Determining the required power of the current vehicle at the future road section according to the second slope and the cruise control speed; According to the required power of the future road section, a power allocation mode of the current vehicle on the future road section is determined, and based on the power allocation mode, the current vehicle is controlled to travel on the future road section.

2. The method according to claim 1, characterized in that The predicting, based on the first slope of the current vehicle, a second slope of the current vehicle on a future road section comprises: Predicting the predicted slope of at least one road section point of the current vehicle on a future road section according to the historical slopes of each road section point on the historical road section; wherein the first slope includes the historical slopes of each road section point on the historical road section; The predicted slope of each section point on the future section is determined as the second slope of the future section; wherein the distance of the historical section is greater than or equal to the distance of the future section.

3. The method according to claim 2, characterized in that The controlling the current vehicle to travel on the future road section based on the power allocation method includes: When the current vehicle travels to a target point on the future road section, obtaining a real slope corresponding to the target point; Comparing the actual slope corresponding to the target point with the predicted slope corresponding to the target point; When the difference between the actual slope and the predicted slope is small, controlling the current vehicle to travel on the future road section based on the power allocation method; When the actual slope differs greatly from the predicted slope, updating the power distribution mode of the current vehicle according to the actual slope; The driving of the current vehicle is controlled according to the updated power distribution method.

4. The method according to claim 3, characterized in that The updating of the power distribution mode of the current vehicle according to the actual slope includes: Acquire a new historical road section, wherein the new historical road section includes the slope of the target point; Predicting a second slope of a new future road section for the current vehicle based on the acquired first slope of the new historical road section; a road section point on the new future road section is ahead of the target point; The power distribution mode of the current vehicle is updated according to the new second slope and the cruise control speed. According to the updated power distribution mode, the input power of the current vehicle at the target point is controlled.

5. The method according to claim 1, characterized in that The determining, according to the required power of the future road section, a power allocation method of the current vehicle on the future road section comprises: Acquiring the required power includes the provided power of each section point of the future section; For each section point of the future section, determining at least one power combination corresponding to the section point according to the power provided by the section point; the power combination includes battery power and range extender power; Among the power combinations, selecting the power combination with the minimum energy consumption; The battery power and the range extender power included in the power combination with the minimum energy consumption are determined as the allocation method corresponding to the section point on the future section.

6. The method according to claim 5, characterized in that The determining, according to the provided power of the road section point, at least one power combination corresponding to the road section point comprises: Obtaining the provided power of the road section point, the power limit value of the battery, and the power limit value of the range extender; At least one power combination corresponding to the road section point is generated according to the provided power of the road section point, the power limit value of the battery, and the power limit value of the range extender, wherein the sum of the battery power and the range extender power in the power combination is the provided power of the road section point, the battery power satisfies the power limit value of the battery, and the range extender power satisfies the power limit value of the range extender.

7. The method according to claim 6, characterized in that The battery power and the range extender power are discrete integer values.

8. The method according to claim 1, characterized in that The obtaining of the first slope of the current vehicle on the historical road section includes: When the current vehicle is running smoothly, a first slope of the current vehicle on the historical road section is obtained.

9. The method according to claim 8, characterized in that The step of obtaining the first slope of the current vehicle on the historical road section when the current vehicle is running smoothly includes: When the change rate of the slope gradient of the current vehicle in the historical road section is less than a preset change threshold, the first slope of the current vehicle in the historical road section is obtained.

10. A vehicle cruise control device, characterized in that: include: The cruise control vehicle speed acquisition module is used to obtain the cruise control vehicle speed in the cruise control driving scenario; A first slope acquisition module, used to acquire the first slope of the current vehicle on the historical road section; A second slope prediction module, used for predicting a second slope of the current vehicle in a future road section according to the first slope of the current vehicle; A required power determination module, used to determine the required power of the current vehicle at the future road section according to the second slope and the cruise control speed; The power allocation module is used to determine the power allocation method of the current vehicle on the future road section according to the required power of the future road section, and control the current vehicle to travel on the future road section based on the power allocation method.

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

12. 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 9 when executed.

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