Vehicle cruise control method, device, equipment and medium

Abstract

The present invention discloses a vehicle cruise control method, device, equipment, and medium. The method includes: obtaining a cruise control speed in a cruise driving scenario; obtaining a first slope of the current vehicle on a historical road section; predicting a second slope of the current vehicle on a future road section based on the first slope of the current vehicle; determining the power requirement of the current vehicle on the future road section based on the second slope and the cruise control speed; determining a power allocation method for the current vehicle on the future road section based on the power requirement of the future road section, and controlling the current vehicle on the future road section based on the power allocation method. Embodiments of the present invention can improve the accuracy of predicting the slope of the future road section and the rationality of vehicle power allocation.

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 are taking up an increasingly larger share of the market. While a hybrid vehicle is driving, it is necessary to obtain the slope of the road it will be traveling on.

[0003] Currently, the slope of the road section where the hybrid vehicle will travel in the future 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 future road slopes 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 speed;

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

[0009] Predicting a second slope of the current vehicle on a future road section based on the first slope of the current vehicle;

[0010] Determine the power requirement of the current vehicle on the future road section based on the second slope and the cruise control speed;

[0011] According to the power demand of the future road section, the power distribution 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 distribution 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 is used to obtain the first slope of the current vehicle on the historical road section;

[0015] A second slope prediction module is used to predict a second slope of the current vehicle in a future road section based on the first slope of the current vehicle;

[0016] A power demand determination module is 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 the 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 storing computer instructions, which 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 provides basic data for the vehicle's driving status by obtaining the cruise control speed in a cruise control driving scenario; obtains the first slope of the current vehicle on a historical road section and predicts the second slope of the current vehicle on a future road section based on the first slope of the current vehicle, thereby utilizing the vehicle's known driving slope information to provide a basis for predicting the slope information of future road sections, thereby improving the rationality and accuracy of the slope prediction; determines the power requirement of the current vehicle on the future road section based on the second slope and the cruise control speed, thereby achieving accurate quantification of the power requirement; determines the power distribution method of the current vehicle on the future road section based on the power requirement of the future road section, and controls the current vehicle to travel on the future road section based on the power distribution method, thereby achieving optimal energy management of the vehicle, improving energy utilization efficiency, and improving driving stability.

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 schematic diagram of a vehicle driving with slope prediction provided by an embodiment of the present invention;

[0028] Figure 3 A back propagation neural network structure diagram for slope prediction provided by an embodiment of the present invention;

[0029] Figure 4 A module diagram of a vehicle cruise control method provided by an embodiment of the present invention;

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

[0031] Figure 6 A schematic structural diagram of a vehicle cruise control device 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. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] In the technical solutions of the embodiments of the present invention, the acquisition, storage and application of collected images, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0036] The embodiment of the present invention is applicable to vehicle cruise control. The method may be executed by a vehicle cruise control device, which may be implemented in the form of hardware and / or software.

[0037] A vehicle cruise control method, comprising:

[0038] S101: In a cruise control scenario, obtain a cruise control speed.

[0039] The cruise control scenario may be a scenario where the vehicle travels at a set constant speed without the driver having to continuously depress the accelerator pedal. The cruise control scenario can reduce the driver's operational burden and improve driving comfort.

[0040] 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 calculations.

[0041] S102: Obtain the first slope of the current vehicle on the historical road section.

[0042] A historical road segment refers to a road segment that the vehicle has already traveled. Historical road segments are used to analyze their characteristics and provide a basis for predicting future road segment trends. For example, if the vehicle has just traveled a road segment with a total length of XXX meters, the XXX-meter segment may refer to the historical road segment.

[0043] The first slope may refer to the slope information of the vehicle on a historical road section. The first slope of the vehicle on the historical road section can be obtained by a slope sensor. The first slope may refer to a sequence of slope values ​​in a continuous road section, which is stored in the vehicle memory. For example, a road section with a length of XXX meters can be divided into several small sections, and the slope of each small section can be calculated separately to obtain a sequence of N slope values. The first slope is used to provide input for slope prediction of future road sections, helping to determine the slope information sequence of future road sections.

[0044] S103 . Predicting a second slope of the current vehicle on a future road section based on the first slope of the current vehicle.

[0045] The future road segment may refer to a road segment that the current vehicle is about to travel on but has not yet traveled on. In one example, when the current vehicle is traveling on a road segment with a total length of X meters and is at a position Y meters (Y < X), the Y-meter segment that the vehicle has traveled on is the historical segment, and the YX-meter segment that the vehicle has not yet traveled on is the future road segment.

[0046] The second slope can refer to a sequence of predicted slope information for a vehicle on a future road section. The second slope is a predicted value, which can be calculated using a prediction model. This second slope is used to accurately calculate the vehicle's power requirements for the future road section, enabling advance energy planning and improving energy efficiency.

[0047] Since the current road does not experience sudden changes, the second slope of the current vehicle on the future road section can be predicted based on the current vehicle's first slope using a prediction model or other methods. A sudden change can be a discontinuity in the road curve on the road's side section, where the curve changes from a continuous, smooth curve to a discontinuous or abrupt change. For example, on a mountain road, a sudden change could be a cliff-like slope; in areas where the roadbed sinks or rises, the ground may suddenly sink or rise.

[0048] S104: Determine the required power of the current vehicle on the future road section based on the second slope and the cruise control speed.

[0049] The required power refers to the driving power required to maintain the vehicle's cruise control speed at the predicted second slope. Vehicle power calculation is influenced by the drag coefficient, vehicle body area, air density, vehicle speed, vehicle mass, gravitational acceleration, slope, and rolling resistance coefficient. When driving on an open road, the required power is primarily affected by the second slope and cruise control speed. Parameters such as vehicle mass can be set to fixed values, and the vehicle's required power for the future road section can be calculated based on the second slope and cruise control speed.

[0050] 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.

[0051] The power allocation method refers to the strategy for distributing power output among multiple power sources in a hybrid vehicle. This method determines the power output contribution of each power source at a specific road gradient, ensuring that the hybrid vehicle meets the required power while optimizing 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 achieved by combining the extended range power and battery power, i.e., the hybrid vehicle achieves the required power with the least energy consumption.

[0052] 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 for the vehicle driving status can be provided; 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 the power demand can be achieved; by determining the power distribution 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 distribution method, the vehicle's energy optimization management can be achieved, energy utilization efficiency can be improved, and driving stability can be improved at the same time.

[0053] The method of "predicting the second slope of the current vehicle in a future road section based on the first slope of the current vehicle" is refined into "predicting the predicted slope of at least one road point of the current vehicle in a future road section based on the historical slopes of each road point on the historical road section; wherein the first slope includes the historical slopes of each road point on the historical road section; and the predicted slope of each road point on the future road section is determined as the second slope of the future road section; wherein the distance of the historical road section is greater than or equal to the distance of the future road section" is used to improve the operation of the vehicle's cruise control.

[0054] It should be noted that for parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments. Figure 1 The present invention provides a flow chart of a vehicle cruise control method.

[0055] See also Figure 1 The vehicle cruise control method shown includes:

[0056] S201. Predicting a predicted slope of at least one road point on a future road section for the current vehicle based on the historical slopes of each road point on the historical road section; wherein the first slope includes the historical slopes of each road point on the historical road section.

[0057] The predicted slope can refer to the road slope value of a road section point obtained by prediction and calculation. The predicted slope allows the vehicle to obtain the specific road slope value of the future road section in advance, and the power allocation method can be determined in advance before driving on the future road section.

[0058] Specifically, the historical slope of the current vehicle at each road point on the historical road section may also refer to a sequence of slope information for the historical road section. Based on the sequence of slope information for the historical road section, a prediction model may be used to predict the predicted slope of at least one road point on the current vehicle's future road section. Since the current vehicle is in a forward driving state, when the current vehicle reaches the first road point on the future road section, if the predicted slope value and the slope value of the first road point on the future road section actually obtained by the vehicle are the same, no further operation is performed. If the predicted slope value and the slope value of the first road point on the future road section actually obtained by the vehicle are different, the predicted slope of at least one road point on the future road section for the current vehicle is re-predicted.

[0059] 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.

[0060] 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.

[0061] In a specific example, Figure 2 A schematic diagram of a vehicle driving with slope prediction provided by an embodiment of the present invention; Figure 3 A back propagation neural network structure diagram for slope prediction provided by an embodiment of the present invention. During the vehicle's driving process, the vehicle's memory stores the slope values ​​of historical sections, such as Figure 2As shown, the vehicle records the slope values ​​from 1 to K and stores them as a slope information sequence in the vehicle memory. A neural network algorithm can be used to predict the vehicle's slope values ​​from K+1 to K+N, with the slope values ​​from K+1 to K+N being the slope information sequence. A BP (Back Propagation) neural network can be used to predict the predicted slope of the current vehicle at at least one point on the road in the future. The BP neural network has the following network structure: the network has K input nodes, NK output nodes, 1 hidden layer, and the input is the slope information sequence from 1 to K, and the output is the predicted slope information sequence from K+1 to K+N.

[0062] 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 slope of 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.

[0063] In some embodiments, controlling the current vehicle to travel on a future road segment based on the power distribution method includes:

[0064] When the current vehicle reaches the target point on the future road section, the actual slope corresponding to the target point is obtained;

[0065] Compare the actual slope corresponding to the target point with the predicted slope corresponding to the target point;

[0066] 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;

[0067] When the actual slope differs significantly from the predicted slope, the power distribution method of the current vehicle is updated according to the actual slope;

[0068] The driving of the current vehicle is controlled according to the updated power distribution method.

[0069] The target point can be a point on a future road segment. The target point is used to verify the difference between the predicted slope and the actual slope. When the vehicle reaches the target point, it is necessary to verify whether the predicted slope at the target point is consistent with the actual slope at the target point.

[0070] The actual slope may refer to the actual slope value obtained by the vehicle via the slope sensor. There is an error between the actual slope value and the predicted slope. The smaller the error between the actual slope and the predicted slope, the more accurate the predicted slope. The larger the error between the actual slope and the predicted slope, the less accurate the predicted slope.

[0071] In a specific example, the current vehicle is traveling on a road section with a total length of 1,000 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 +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 road section based on the power distribution 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 distribution method of the current vehicle is updated according to the actual slope. The power distribution at 510 meters is based on the power distribution 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 road section is predicted based on the updated historical slope, and the travel of the current vehicle is controlled based on the updated power distribution method.

[0072] It can be seen that in this embodiment, by obtaining the actual slope of the target point, a basis for power distribution adjustment can be provided, 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, providing 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.

[0073] In some embodiments, updating the current vehicle power distribution method according to the actual slope includes:

[0074] Get a new historical section, which includes the slope of the target point;

[0075] Based on the first slope of the new historical road section, the second slope of the new future road section of the current vehicle is predicted; the road point on the new future road section is ahead of the target point;

[0076] The power distribution method of the current vehicle is updated according to the new second slope and the cruise control speed.

[0077] According to the updated power distribution method, the input power of the current vehicle at the target point is controlled.

[0078] 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, a new historical road section needs to be re-acquired.

[0079] When the vehicle reaches the target point, the future route point is ahead of the target point. Based on the new historical first slope, the second slope of the future route is predicted. Since the predicted second slope of the future route has changed, the power allocation method must also be updated. The current vehicle input power at the target point is controlled according to the updated power allocation method. This ensures the accuracy of the re-prediction of the second slope of the future route when there is a significant difference between the predicted and actual slopes.

[0080] It can be seen that in this embodiment, by introducing the slope information of the target point, historical data is updated in real time, and the accuracy of the slope prediction of future road sections is improved; 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.

[0081] In some embodiments, determining a power allocation method for the current vehicle on the future road section based on the required power of the future road section includes:

[0082] Obtaining the required power includes the provided power of each section point of the future section;

[0083] For each section point of the future section, determining at least one power combination corresponding to the section point based on the power provided by the section point; the power combination includes battery power and range extender power;

[0084] Among all power combinations, select the power combination with the lowest energy consumption;

[0085] The power combination with the lowest energy consumption, including the battery power and the range extender power, is determined as the distribution method corresponding to the section points on the future road section.

[0086] 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.

[0087] The power combination can refer to a combination of multiple energy output methods to meet power requirements. In a range-extended hybrid system, the power combination can refer to the sum of battery power and range-extender power, with battery power provided by the battery and range-extender power provided by the fuel level. The goal of the power combination is to minimize energy consumption or maximize system efficiency while meeting power requirements.

[0088] In one example, the same provided power can be provided by multiple power combinations. For example, the provided power is 100 kW, the battery power can provide 10 kW, and the range extender power can provide 90 kW. The above provision method can be a power combination. Different battery power and range extender power require different amounts of electricity and fuel consumption. 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.

[0089] It can be seen that in this embodiment, by clearly obtaining the power provided by each section point on 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, refined management of power allocation can be achieved 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.

[0090] In some embodiments, determining at least one power combination corresponding to the segment point based on the provided power of the segment point includes:

[0091] Obtain the provided power of the road section point, the power limit of the battery, and the power limit of the range extender;

[0092] According to the provided power of the road section point, the power limit of the battery and the power limit of the range extender, at least one power combination corresponding to the road 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 road 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.

[0093] The power limit value refers 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 can cause performance degradation, equipment damage, or safety issues.

[0094] 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 consumption and power consumption with the minimum energy consumption are selected from the energy consumption of all power combinations.

[0095] The objective function formula is as follows:

[0096]

[0097] Where 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.

[0098] The constraints on the battery power limit and the range extender power limit are as follows:

[0099]

[0100] Wherein, Pe_dlim represents the lower limit of the range extender's power limit, Pe_ulim represents the upper limit of the range extender's power limit, Pb_dlim represents the lower limit of the battery's power limit, Pb_ulim represents the upper limit of the battery's power limit, Peng represents the range extender power, and Pbat represents the battery power.

[0101] It can be seen that in this embodiment, by obtaining the provided power of the road section point, the power limit of the battery, and the power limit 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 demand is met while optimizing energy utilization; multiple power combination schemes are generated, which can be flexibly adjusted under different road conditions to achieve rapid response to dynamic working conditions.

[0102] In some embodiments, the battery power and the range extender power are discrete integer values.

[0103] The discrete integer values ​​may refer to a set of specific integer values ​​for the battery power and range extender power. The battery power and range extender power are not continuous values. Discrete integer values ​​for the battery power and range extender power can be achieved using a fixed step size. For example, if the supplied power is 100kW, the discrete integer values ​​for the battery power are 1kW, 2kW, and 3kW, and the discrete integer values ​​for the range extender power are 99kW, 98kW, and 97kW, respectively.

[0104] It can be seen that in this embodiment, the design of battery power and range extender power as discrete integer values ​​helps to simplify the control logic, reduce computational complexity, and improve the stability and life of the equipment. This limitation provides a more practical and easy-to-implement approach to dynamic power allocation of the power system.

[0105] In some embodiments, obtaining the first slope of the current vehicle on the historical road section includes:

[0106] When the current vehicle is traveling smoothly, the first slope of the current vehicle on the historical road section is obtained.

[0107] In a specific example, when a vehicle is traveling smoothly, the first slope of the current vehicle on a historical road section is obtained, where smooth driving can mean that the current vehicle is traveling on a flat road. A flat road can mean a road without many shallow potholes. The slope value of the road on which the vehicle is traveling 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 pre-set threshold, the current vehicle is determined to be in a smooth driving state; when the slope change rate is greater than the pre-set threshold, the current vehicle is determined to be not in a smooth driving state. For example, when the current vehicle is traveling on a highway or road with good road conditions, the slope change rate of the road is less than the pre-set threshold, and the current vehicle is determined to be in a smooth driving state; when the current vehicle is traveling on a dirt road with poor road conditions, the slope change rate of the road is greater than the pre-set threshold, and the current vehicle is determined to be not in a smooth driving state.

[0108] It can be seen that in this embodiment, the first slope of the historical road section collected during steady driving is more reliable, and can more accurately predict the second slope of the subsequent future road section, thereby reducing prediction deviation.

[0109] In some embodiments, when the current vehicle is traveling steadily, obtaining a first slope of the current vehicle on a historical road section includes:

[0110] When the rate of change of the slope gradient of the current vehicle on the historical road section is less than a preset change threshold, the first slope of the current vehicle on the historical road section is obtained.

[0111] Specifically, when the rate of change 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.

[0112] It can be seen that in this embodiment, by limiting the slope 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.

[0113] In a specific example, Figure 4 This is a block diagram of a vehicle cruise control method provided by an embodiment of the present invention. The road slope prediction module is used to input a first slope of a historical road section and output a predicted second slope of a future road section. The energy management module is used to determine the power allocation method for the future road section.

[0114] Figure 5This is a schematic diagram of a vehicle cruise control method provided by an embodiment of the present invention. The implementation principle is as follows: the vehicle uses the road slope prediction module to predict road slope information, namely, the second slope of the future road section. The vehicle calculates the required power for the future road section based on the vehicle's cruise control speed, the predicted road slope information, and the vehicle dynamics model. The provided power for each road point in the future road section is obtained, and the energy management module calculates the battery power and range extender power required for the power combination with the lowest energy consumption.

[0115] Figure 6 This is a schematic diagram of the structure of a vehicle cruise control device provided by an embodiment of the present invention. The embodiment of the present invention is applicable to vehicle cruise control situations. The device can execute a vehicle cruise control method and can be implemented in the form of hardware and / or software.

[0116] See also Figure 6 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:

[0117] The cruise control speed acquisition module 701 is used to obtain the cruise control speed in the cruise control driving scenario;

[0118] A first slope acquisition module 702 is used to acquire the first slope of the current vehicle on the historical road section;

[0119] A second slope prediction module 703 is used to predict a second slope of the current vehicle on a future road section based on the first slope of the current vehicle;

[0120] The power requirement determination module 704 is configured to determine the power requirement of the current vehicle on the future road section according to the second slope and the cruise speed;

[0121] 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.

[0122] The technical solution of the embodiment of the present invention provides basic data for the vehicle's driving status by obtaining the cruise control speed in a cruise control driving scenario; obtains the first slope of the current vehicle on a historical road section and predicts the second slope of the current vehicle on a future road section based on the first slope of the current vehicle, thereby utilizing the vehicle's known driving slope information to provide a basis for predicting the slope information of future road sections, thereby improving the rationality and accuracy of the slope prediction; determines the power requirement of the current vehicle on the future road section based on the second slope and the cruise control speed, thereby achieving accurate quantification of the power requirement; determines the power distribution method of the current vehicle on the future road section based on the power requirement of the future road section, and controls the current vehicle to travel on the future road section based on the power distribution method, thereby achieving optimal energy management of the vehicle, improving energy utilization efficiency, and improving driving stability.

[0123] In some embodiments, in predicting the second slope of the current vehicle on a future road section based on the first slope of the current vehicle, the second slope prediction module 703 is specifically configured to:

[0124] Predicting the predicted slope of at least one road point on a future road section of the current vehicle based on the historical slopes of each road point on the historical road section; wherein the first slope includes the historical slopes of each road point on the historical road section;

[0125] 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.

[0126] In some embodiments, in controlling the current vehicle to travel on a future road segment based on the power allocation method, the second slope prediction module 703 is specifically configured to:

[0127] When the current vehicle reaches the target point on the future road section, the actual slope corresponding to the target point is obtained;

[0128] Compare the actual slope corresponding to the target point with the predicted slope corresponding to the target point;

[0129] 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;

[0130] When the actual slope differs significantly from the predicted slope, the power distribution method of the current vehicle is updated according to the actual slope;

[0131] The driving of the current vehicle is controlled according to the updated power distribution method.

[0132] In some embodiments, in terms of updating the current vehicle power distribution method according to the actual slope, the second slope prediction module 703 is specifically configured to:

[0133] Get a new historical section, which includes the slope of the target point;

[0134] Based on the first slope of the new historical road section, the second slope of the new future road section of the current vehicle is predicted; the road point on the new future road section is ahead of the target point;

[0135] The power distribution method of the current vehicle is updated according to the new second slope and the cruise control speed.

[0136] According to the updated power distribution method, the input power of the current vehicle at the target point is controlled.

[0137] In some embodiments, in determining the power allocation method for the current vehicle on the future road section based on the required power of the future road section, the power allocation module 705 is specifically configured to:

[0138] Obtaining the required power includes the provided power of each section point of the future section;

[0139] For each section point of the future section, determining at least one power combination corresponding to the section point based on the power provided by the section point; the power combination includes battery power and range extender power;

[0140] Among all power combinations, select the power combination with the lowest energy consumption;

[0141] The power combination with the lowest energy consumption, including the battery power and the range extender power, is determined as the distribution method corresponding to the section points on the future road section.

[0142] In some embodiments, in determining at least one power combination corresponding to a road segment point based on the provided power of the road segment point, the power allocation module 705 is specifically configured to:

[0143] Obtain the provided power of the road section point, the power limit of the battery, and the power limit of the range extender;

[0144] According to the provided power of the road section point, the power limit of the battery and the power limit of the range extender, at least one power combination corresponding to the road 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 road 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.

[0145] In some embodiments, the battery power and the range extender power are discrete integer values.

[0146] 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 configured to:

[0147] When the current vehicle is traveling smoothly, the first slope of the current vehicle on the historical road section is obtained.

[0148] In some embodiments, when the current vehicle is traveling 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 configured to:

[0149] When the rate of change of the slope gradient of the current vehicle on the historical road section is less than a preset change threshold, the first slope of the current vehicle on the historical road section is obtained.

[0150] The vehicle cruise control device provided by the embodiment of the present invention can execute the vehicle cruise control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the vehicle cruise control method.

[0151] Figure 7 A schematic structural diagram of a vehicle cruise control device provided by an embodiment of the present invention.

[0152] like Figure 7 As shown, vehicle cruise control device 800 includes at least one processor 801 and memory, such as read-only memory (ROM) 802 and random access memory (RAM) 803, communicatively connected to the at least one processor 801. The memory stores computer programs executable by the at least one processor. Processor 801 can perform various appropriate actions and processes based on the computer programs stored in ROM 802 or loaded from storage unit 808 into RAM 803. RAM 803 can also store various programs and data required for the operation of vehicle cruise control device 800. Processor 801, ROM 802, and RAM 803 are interconnected via bus 804. An input / output (I / O) interface 808 is also connected to bus 804.

[0153] 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 and mouse; an output unit 807, such as various types of displays and speakers; a storage unit 808, such as a magnetic disk and optical disk; 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 via a computer network such as the Internet and / or various telecommunication networks.

[0154] Processor 801 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any other suitable processor, controller, microcontroller, etc. Processor 801 executes the various methods and processes described above, such as the vehicle cruise control method.

[0155] In some embodiments, the vehicle cruise control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed into the vehicle cruise control device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by processor 801, one or more steps of the vehicle cruise control method described above can be performed. Alternatively, in other embodiments, processor 801 can be configured to perform the vehicle cruise control method via any other suitable means (e.g., via firmware).

[0156] Various embodiments of the systems and techniques described above 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), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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.

[0157] 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0158] 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 conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, 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.

[0159] To provide user interaction, the systems and techniques described herein can be implemented on an operation detection device that includes: 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the vehicle cruise control device. Other types of devices can also be used to provide user interaction; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0160] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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.

[0161] A computing system may include clients and servers. The clients and servers are generally remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS (Virtual Private Server) services.

[0162] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0163] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection 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 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 segment based on the first slope of the current vehicle includes: predicting a predicted slope of at least one road segment point on the future road segment based on the historical slopes of the current vehicle at each road segment point on the historical road segment; wherein the first slope includes the historical slopes of each road segment point on the historical road segment; and determining the predicted slopes of each road segment point on the future road segment as the second slope of the future road segment; wherein the distance of the historical road segment is greater than or equal to the distance of the future road segment; determining a required power of the current vehicle on the future road section according to the second slope and the cruise control speed; determining a power allocation mode for the current vehicle on the future road section according to the required power of the future road section, and controlling the current vehicle to travel on the future road section based on the power allocation mode; 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 distribution 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; Controlling the driving of the current vehicle according to the updated power distribution method; 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; updating the power distribution mode of the current vehicle according to the new second slope and the cruise control speed; controlling the input power of the current vehicle at the target point according to the updated power distribution mode; The determining, based on the required power of the future road section, a power distribution method for the current vehicle on the future road section includes: Acquiring the required power including the provided power of each section point of the future section; determining, for each section point of the future section, at least one power combination corresponding to the section point based on the provided power of the section point, including: obtaining the provided power of the section point, a power limit value of the battery, and a power limit value of the range extender; generating, based on the provided power of the 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 section point, wherein 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 satisfies the battery power limit value, and the range extender power satisfies the range extender power limit value; and the power combination includes the battery power and the range extender power; Among the power combinations, selecting the power combination with the lowest 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.

2. The method according to claim 1, characterized in that The battery power and the range extender power are discrete integer values.

3. 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 traveling smoothly, a first slope of the current vehicle on the historical road section is obtained.

4. The method according to claim 3, characterized in that The obtaining of a first slope of the current vehicle on a historical road section when the current vehicle is traveling smoothly includes: When the rate of change of the slope gradient of the current vehicle on the historical road section is less than a preset change threshold, the first slope of the current vehicle on the historical road section is obtained.

5. A vehicle cruise control device, characterized in that: include: The cruise control speed acquisition module is used to obtain the cruise control speed in the cruise control driving scenario; A first slope acquisition module is used to obtain the first slope of the current vehicle on the historical road section; A second slope prediction module is used to predict a second slope of the current vehicle on a future road section based on the first slope of the current vehicle; a required power determination module, configured to determine the required power of the current vehicle on the future road section according to the second slope and the cruise speed; a power allocation module, configured to determine a power allocation mode 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 mode; The vehicle cruise control device can execute the vehicle cruise control method according to any one of claims 1 to 4.

6. 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. The computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle cruise control method according to any one of claims 1 to 4.

7. 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 4 when executed.

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