Predictive cruise control method and device, equipment and storage medium

Abstract

The invention discloses a predictive cruise control method, device and equipment and a storage medium, relates to the technical field of cruise control, and discloses a predictive cruise control method which comprises the steps that current gradient type information, target gradient storage information and a cruise set vehicle speed are obtained; determining a target cruise control strategy according to the current gradient type information; when the target cruise control strategy is a slope rushing control strategy or a downhill control strategy, a target vehicle speed deviation value and a deviation starting point are determined based on the target cruise control strategy according to the target slope storage information and the cruise set vehicle speed, and when the vehicle reaches the deviation starting point, the target vehicle speed deviation value and the deviation starting point are determined; and predictive cruise control is carried out on the vehicle based on the target vehicle speed deviation value and the cruise set vehicle speed, accurate control over the vehicle speed in the slope rushing or downhill process is achieved, and driving comfort and safety are improved.

Description

Technical Field

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

[0002] PCC (Predictive Cruise Control) is an intelligent control technology based on road traffic information. It can obtain future road traffic conditions in advance through maps, such as road slope, curvature, speed limit and other information, and make predictive adjustments to the vehicle speed and power system to improve the vehicle's driving safety and economy, and improve traffic efficiency.

[0003] The existing predictive cruise control method predicts the road condition ahead based on the map information and plans the cruise speed based on the road condition information, but does not propose a specific predictive cruise control process under the ramp or downhill conditions. How to design the advance offset position of the vehicle when ramping or downhill to accurately control the vehicle speed during the ramp or downhill process has become a problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a predictive cruise control method, device, equipment and storage medium, aiming to solve the technical problem of how to design the advance offset position of a vehicle rushing up or down a slope to accurately control the vehicle speed during the process of rushing up or down a slope.

[0006] To achieve the above objectives, the present application proposes a predictive cruise control method, the method comprising:

[0007] Obtain current slope type information, target slope storage information and cruise setting speed;

[0008] determining a target cruise control strategy according to the current slope type information;

[0009] When the target cruise control strategy is a hill-running control strategy or a downhill control strategy, a target vehicle speed offset value and an offset starting point are determined based on the target cruise control strategy according to the target slope storage information and the cruise set speed, and when the vehicle reaches the offset starting point, predictive cruise control is performed on the vehicle based on the target vehicle speed offset value and the cruise set speed.

[0010] In one embodiment, the target vehicle speed offset value includes a target vehicle speed offset value for ramping, and the offset starting point includes a speed-up starting point;

[0011] The step of determining a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting vehicle speed when the target cruise control strategy is a hill-rushing control strategy or a downhill control strategy, and performing predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise setting vehicle speed when the vehicle reaches the offset starting point, comprises:

[0012] When the target cruise control strategy is a slope control strategy, determining a target slope vehicle speed influence coefficient according to the target slope storage information;

[0013] Determine a starting reference speed offset for hill climbing according to the cruise setting speed;

[0014] Determine a target ramping speed offset value and a speed-up starting point according to the ramping starting reference speed offset, the cruise setting speed, and the target ramping speed influence coefficient;

[0015] When the vehicle reaches the acceleration starting point, predictive cruise control is performed on the vehicle based on the target hill-climbing speed offset value and the cruise setting speed.

[0016] In one embodiment, the step of performing predictive cruise control on the vehicle based on the target hill-climbing speed offset value and the cruise setting speed when the vehicle reaches the acceleration starting point includes:

[0017] When the vehicle reaches the acceleration starting point, a target ramping speed is determined according to the target ramping speed offset value and the cruise setting speed, and the vehicle is accelerated according to the target ramping speed;

[0018] When the vehicle reaches the uphill starting point and the vehicle control mode is a speed control mode, obtaining a torque request under the speed control mode, and converting the vehicle control mode from the speed control mode to a torque control mode according to the torque request;

[0019] Acquire the current vehicle speed, and calculate the actual vehicle speed offset value according to the current vehicle speed and the cruise setting speed;

[0020] When the actual vehicle speed offset value is less than or equal to a preset hill-climbing vehicle speed offset value, the vehicle control mode is converted from the torque control mode to the speed control mode to complete hill-climbing control.

[0021] In one embodiment, the target slope-running vehicle speed influence coefficient includes a first slope-running vehicle speed influence coefficient and a second slope-running vehicle speed influence coefficient;

[0022] When the target cruise control strategy is a slope control strategy, the step of determining a target slope vehicle speed influence coefficient according to the target slope storage information comprises:

[0023] When the target cruise control strategy is a ramp control strategy, the ramp gradient, the ramp length and the slope top plane length are determined according to the target slope storage information;

[0024] Determining the first ramp speed influence coefficient according to the ramp gradient and the ramp length;

[0025] The second slope-rushing vehicle speed influence coefficient is determined according to the length of the slope top plane.

[0026] In one embodiment, the target vehicle speed offset value includes a target downhill vehicle speed offset value, and the offset starting point includes a speed reduction starting point;

[0027] The step of determining a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting vehicle speed when the target cruise control strategy is a hill-rushing control strategy or a downhill control strategy, and performing predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise setting vehicle speed when the vehicle reaches the offset starting point, comprises:

[0028] When the target cruise control strategy is a downhill control strategy, determining a target downhill vehicle speed influence coefficient according to the target slope storage information;

[0029] Determining a downhill starting reference vehicle speed offset according to the cruise setting vehicle speed;

[0030] Determine a target downhill vehicle speed offset value and a deceleration starting point according to the downhill starting reference vehicle speed offset and the target downhill vehicle speed influence coefficient;

[0031] When the vehicle reaches the speed reduction starting point, predictive cruise control is performed on the vehicle based on the target downhill vehicle speed offset value.

[0032] In one embodiment, the step of performing predictive cruise control on the vehicle based on the target downhill vehicle speed offset value when the vehicle reaches the deceleration starting point includes:

[0033] When the vehicle reaches the deceleration starting point, a target downhill vehicle speed is determined according to the target downhill vehicle speed offset value and the cruise setting vehicle speed, and the vehicle is decelerated according to the target downhill vehicle speed;

[0034] When the vehicle reaches the downhill starting point, determining a preset downhill speed according to the cruise setting speed;

[0035] Acquiring a current vehicle speed, and controlling the vehicle to switch to a coasting control mode or a speed control mode according to the current vehicle speed and the preset downhill speed;

[0036] When the vehicle reaches the end of the downhill slope and the current vehicle speed is greater than the cruise setting speed, the vehicle is controlled to switch to the coasting control mode until the current vehicle speed is equal to the cruise setting speed to complete the downhill control.

[0037] In one embodiment, before the step of obtaining the current slope type information, the target slope storage information and the cruise setting speed, the method further includes:

[0038] Obtaining sampling point identification information and map slope information of a preset number of sampling points on the road ahead, and obtaining the sampling point slope storage information;

[0039] Determine the slope type and slope type switching point of the road section ahead according to the sampling point slope storage information;

[0040] Determine the target slope storage information according to the sampling point slope storage information, the slope type and the slope type switching point;

[0041] The current slope type information is determined according to the target slope storage information.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a predictive cruise control device, the predictive cruise control device comprising:

[0043] A data acquisition module is used to obtain current slope type information, target slope storage information and cruise setting speed;

[0044] A strategy determination module, configured to determine a target cruise control strategy according to the current slope type information;

[0045] A cruise control module is used to determine a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting vehicle speed when the target cruise control strategy is a hill-running control strategy or a downhill control strategy, and to perform predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise setting vehicle speed when the vehicle reaches the offset starting point.

[0046] In addition, to achieve the above objectives, the present application also proposes a predictive cruise control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the predictive cruise control method described above.

[0047] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the predictive cruise control method described above are implemented.

[0048] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the predictive cruise control method as described above are implemented.

[0049] One or more technical solutions proposed in this application have at least the following technical effects:

[0050] Acquire current slope type information, target slope storage information and cruise setting speed; determine a target cruise control strategy according to the current slope type information; when the target cruise control strategy is a hill-climbing control strategy or a downhill control strategy, determine a target speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting speed, and when the vehicle reaches the offset starting point, perform predictive cruise control on the vehicle based on the target speed offset value and the cruise setting speed, determine the corresponding target cruise control strategy such as the hill-climbing control strategy or the downhill control strategy in advance by identifying the slope type information of the road ahead, calculate the target speed offset value of the cruise setting speed according to the strategy, and determine the offset starting point of the hill-climbing or downhill advance, so that the vehicle can speed up or slow down in advance according to the target speed offset value when it reaches the offset starting point, thereby achieving accurate control of the vehicle speed during the hill-climbing or downhill process and improving driving comfort and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0053] Figure 1 A flowchart diagram of the first embodiment of the predictive cruise control method of the present application is provided;

[0054] Figure 2 A schematic diagram of a sloped road section provided for the first embodiment of the predictive cruise control method of the present application;

[0055] Figure 3 A schematic diagram of a mapping relationship of slope top plane length influence coefficients provided in Embodiment 1 of the predictive cruise control method of the present application;

[0056] Figure 4A schematic diagram of a mapping relationship of a reference vehicle speed offset at the start of a slope run provided in Embodiment 1 of the predictive cruise control method of the present application;

[0057] Figure 5 A schematic diagram of a mapping relationship of the acceleration starting point provided in the first embodiment of the predictive cruise control method of the present application;

[0058] Figure 6 A schematic diagram of a downhill starting reference vehicle speed offset mapping relationship provided in Embodiment 1 of the predictive cruise control method of the present application;

[0059] Figure 7 A schematic diagram of a mapping relationship of a deceleration starting point provided in Embodiment 1 of the predictive cruise control method of the present application;

[0060] Figure 8 A flowchart diagram of the second embodiment of the predictive cruise control method of the present application is provided;

[0061] Fig. 9 This is a schematic diagram of the module structure of the predictive cruise control device according to an embodiment of the present application;

[0062] Fig.10 Schematic diagram of the device structure of the hardware operating environment involved in the predictive cruise control method in the embodiment of the present application.

[0063] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0065] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0066] The main solution of the embodiment of the present application is: obtaining current slope type information, target slope storage information and cruise set speed; determining a target cruise control strategy according to the current slope type information; when the target cruise control strategy is a hill-climbing control strategy or a downhill control strategy, determining a target speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise set speed, and when the vehicle reaches the offset starting point, performing predictive cruise control on the vehicle based on the target speed offset value and the cruise set speed.

[0067] In this embodiment, for ease of description, the following description is made by taking the identification of a predictive cruise control system as the execution subject.

[0068] PCC (Predictive Cruise Control) is an intelligent control technology based on road traffic information. It can obtain future road traffic conditions in advance through maps, such as road slope, curvature, speed limit and other information, and make predictive adjustments to the vehicle speed and power system to improve the vehicle's driving safety and economy, and improve traffic efficiency.

[0069] Although the existing predictive cruise control method predicts the road condition ahead based on the map information and plans the cruise speed based on the road condition information, it does not propose a specific predictive cruise control process under the ramp or downhill conditions. How to design the advance offset position of the vehicle when ramping or downhill to accurately control the vehicle speed during the ramp or downhill process has become a problem to be solved.

[0070] The present application provides a solution, which determines in advance a corresponding target cruise control strategy such as a hill-climbing control strategy or a downhill control strategy by identifying the slope type information of the road ahead, calculates a target speed offset value for the cruise setting speed according to the strategy, and determines an offset starting point for the hill-climbing or downhill offset in advance, so that when the vehicle reaches the offset starting point, it can speed up or slow down in advance according to the target speed offset value, thereby achieving accurate control of the vehicle speed during the hill-climbing or downhill process and improving driving comfort and safety.

[0071] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a predictive cruise control system, etc. The following takes the predictive cruise control system as an example to illustrate this embodiment and the following embodiments.

[0072] Based on this, the present application embodiment provides a predictive cruise control method, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the predictive cruise control method of the present application.

[0073] In this embodiment, the predictive cruise control method includes steps S10 to S30:

[0074] Step S10, obtaining current slope type information, target slope storage information and cruise setting speed;

[0075] It should be noted that the current slope type information is the slope type of the current road section on which the vehicle is traveling (such as flat road, climbing a gentle slope, climbing a steep slope, descending a gentle slope, and descending a steep slope). The target slope storage information includes the ramp length, ramp gradient, and slope type of each road section at a preset distance in front of the vehicle (such as 3km). Among them, the target slope storage information can be obtained by processing the map information of the road section at a preset distance in front of the vehicle (such as 3km), and the current slope type information can be determined by obtaining the slope type corresponding to the first road section stored in the target slope storage information.

[0076] It should be understood that the cruise setting speed is the cruising speed set by the driver when the cruise function of the vehicle is turned on, which is used to control the vehicle to travel at a target speed. Specifically, the cruise setting speed can be defined as CC_VehSpd.

[0077] Step S20, determining a target cruise control strategy according to the current slope type information;

[0078] It should be understood that the corresponding target cruise control strategy can be determined according to the slope type information of the current slope type information. The slope type information includes flat road, climbing a gentle slope, climbing a steep slope, descending a gentle slope and descending a steep slope, and the target cruise control strategy includes a flat road control strategy, a ramp control strategy and a downhill control strategy.

[0079] In addition, it should be understood that the flat road control strategy corresponds to the road section with the current slope type information being flat road, the ramp control strategy corresponds to the road section with the current slope type information being uphill (climbing a gentle slope and climbing a steep slope), and the downhill control strategy corresponds to the road section with the current slope type information being downhill (descending a gentle slope and descending a steep slope). Among them, when the target cruise control strategy is the flat road control strategy, the system will control the vehicle to travel on the current road section at the cruise set speed according to the speed control mode. Figure 2 , Figure 2 This is a schematic diagram of a slope section provided in the first embodiment of the predictive cruise control method of this application. Figure 2 As shown, Distance B is an uphill section, Distance C is a flat road section, and Distance D is a downhill section.

[0080] Step S30, when the target cruise control strategy is a hill-climbing control strategy or a downhill control strategy, a target vehicle speed offset value and an offset starting point are determined based on the target cruise control strategy according to the target slope storage information and the cruise set speed, and when the vehicle reaches the offset starting point, predictive cruise control is performed on the vehicle based on the target vehicle speed offset value and the cruise set speed.

[0081] It should be noted that the target speed offset value is the difference between the target speed that the vehicle needs to adjust and the cruise setting speed when going uphill or downhill, and the offset starting point is the specific position where the speed adjustment starts. In order to improve the comfort and safety of the driver when driving on uphill and downhill sections, when the current section where the vehicle is traveling is identified as an uphill section or a downhill section, the ramp information of the current section (such as ramp slope, ramp length, slope top plane length, etc.) will be obtained according to the target slope storage information, and the offset value of the cruise setting speed will be calculated according to the cruise setting speed and the ramp information of the current section to obtain the target speed offset value, and at the same time determine a suitable offset starting point, so that when the vehicle reaches the offset starting point, it can speed up or slow down in advance according to the calculated offset value to improve the economy of the whole vehicle.

[0082] In a feasible implementation manner, the target vehicle speed offset value includes a target vehicle speed offset value for ramping, the offset starting point includes a speed-up starting point, and step S30 may include steps A11 to A14:

[0083] Step A11, when the target cruise control strategy is a slope control strategy, determining a target slope vehicle speed influence coefficient according to the target slope storage information;

[0084] It should be noted that after determining that the target cruise control strategy for the current section is the ramp control strategy, the specific uphill ramp information of the current section (such as ramp gradient, ramp length, top plane length, etc.) will be obtained according to the target slope storage information, and the target ramp speed influence coefficient will be determined by looking up the table through the ramp information, so that the offset value of the cruise setting speed calculated at the end is within the appropriate range. Among them, the value of the target ramp speed influence coefficient needs to be greater than 0 and less than or equal to 1, which reflects the degree of influence of the slope information on the vehicle speed, and the minimum speed or recommended speed that the vehicle can reach when ramping a specific slope.

[0085] In a feasible implementation, the target hill-climbing vehicle speed influence coefficient includes a first hill-climbing vehicle speed influence coefficient and a second hill-climbing vehicle speed influence coefficient. Step A11 may include: when the target cruise control strategy is the hill-climbing control strategy, determining the ramp slope, ramp length and slope top plane length according to the target slope storage information; determining the first hill-climbing vehicle speed influence coefficient according to the ramp slope and the ramp length; determining the second hill-climbing vehicle speed influence coefficient according to the slope top plane length.

[0086] It should be noted that the first slope speed influence coefficient is used to adjust the starting baseline speed offset of slope climbing to adapt to different slopes and slope lengths. The second slope speed influence coefficient is used to calculate the maximum speed offset allowed by the cruise setting speed to ensure that the vehicle does not exceed the safe speed when slope climbing.

[0087] Additionally, it should be noted that the first uphill speed influence coefficient can be defined as phillDistanceAndSlope_factor, and the second uphill speed influence coefficient can be defined as Uphill_MaxFactor. After obtaining the ramp slope, ramp length, and top flat length of the current section based on the stored information of the target slope, the first uphill speed influence coefficient phillDistanceAndSlope_factor can be queried based on the ramp slope and ramp length from the pre-set slope-length influence coefficient query table of the system, and the second uphill speed influence coefficient Uphill_MaxFactor can be queried based on the top flat length from the pre-set top flat length influence coefficient query table of the system.

[0088] Specifically, for the design of the slope-length uphill influence coefficient mapping table, the following principles need to be followed: when the ramp slope remains unchanged, the greater the uphill ramp length, the greater UphillDistanceAndSlope_factor should be; when the uphill ramp length reaches the set value 1 of the ramp length, UphillDistance_factor should be a fixed value; when the ramp length remains unchanged, the greater the uphill ramp slope, the greater UphillDistanceAndSlope_factor should be; when the uphill ramp slope reaches the set value 1 of the slope, UphillDistanceAndSlope_factor should be the fixed maximum value; when both the ramp slope and the ramp length increase, when the uphill ramp length reaches the set value 2 of the ramp length or the uphill ramp slope reaches the set value 2 of the slope, UphillDistanceAndSlope_factor should be the fixed maximum value, where the set value 1 of the ramp length is greater than the set value 2 of the ramp length, and the set value 1 of the slope is greater than the set value 2 of the slope.

[0089] Refer to Figure 3 , Figure 3 FIG. is a schematic diagram of the mapping relationship of the top flat length influence coefficient provided for the first embodiment of the predictive cruise control method of this application. For the design of the top flat length influence coefficient mapping table, the following principles need to be followed: when Distance C of the top flat length < Distance C1, Uphill_MaxFactor should increase with the increase of Distance C1; when Distance C > Distance C1, Uphill_MaxFactor should be a fixed value.

[0090] Step A12, determine the starting reference speed offset for uphill according to the cruise set speed;

[0091] It should be noted that the starting reference speed offset for uphill climbing is the difference between the reference speed to which the vehicle needs to be adjusted before uphill climbing and the cruise setting speed. The starting reference speed offset for uphill climbing Uphill_BasicOffset can be queried based on the cruise setting speed CC_VehSpd according to the system preset starting reference speed offset query table.

[0092] Specifically, refer to Figure 4 , Figure 4 A schematic diagram of the mapping relationship of the baseline vehicle speed offset at the start of uphill running provided for the first embodiment of the predictive cruise control method of this application. The design of the baseline vehicle speed offset lookup table at the start of uphill running needs to follow the following principles: at low and medium vehicle speeds (i.e. when CC_VehSpd is less than or equal to the set value VehSpd_1), Uphill_BasicOffset increases with the increase of CC_VehSpd; when CC_VehSpd is higher than the set value VehSpd_1, Uphill_BasicOffset is a fixed maximum value.

[0093] Step A13, determining a target ramping speed offset value and a speed-up starting point according to the ramping starting reference speed offset, the cruise setting speed, and the target ramping speed influence coefficient;

[0094] It should be noted that after obtaining the starting baseline speed offset Uphill_BasicOffset for hill climbing, the cruise setting speed CC_VehSpd, and the target hill climbing speed influence coefficients phillDistanceAndSlope_factor and UphillDistanceAndSlope_factor, the target hill climbing speed offset value TargetUphillOffset can be calculated according to the target hill climbing speed offset value calculation formula, and the acceleration distance Distance A corresponding to the acceleration starting point can be queried according to the target hill climbing speed offset value TargetUphillOffset based on the system preset acceleration starting point query table, so that the vehicle can accelerate after continuing to travel the distance Distance A.

[0095] Exemplarily, the target uphill vehicle speed offset value is calculated as follows: TargetUphillOffset=min(Uphill_BasicOffset*UphillDistanceAndSlope_factor, CC_VehSpd*Uphill_MaxFactor).

[0096] Reference Figure 5 , Figure 5A schematic diagram of the acceleration starting point mapping relationship provided for the first embodiment of the predictive cruise control method of this application. The design of the acceleration starting point query table needs to follow the following principles: when TargetUphillOffset is less than or equal to the set value Offset1, Distance A increases with the increase of TargetUphillOffset; when TargetUphillOffset is higher than the set value Offset1, Distance A is a fixed maximum value.

[0097] Step A14: When the vehicle reaches the acceleration starting point, predictive cruise control is performed on the vehicle based on the target hill-climbing speed offset value and the cruise setting speed.

[0098] It should be understood that when the vehicle reaches the acceleration starting point, the target speed that the vehicle needs to reach when reaching the uphill starting point will be calculated based on the target hill-climbing speed offset value and the cruise setting speed, and the vehicle will be predictively cruise controlled based on this target speed.

[0099] In a feasible implementation, step A14 may include steps B11 to B14:

[0100] Step B11, when the vehicle reaches the acceleration starting point, determining a target ramping speed according to the target ramping speed offset value and the cruise setting speed, and accelerating the vehicle according to the target ramping speed;

[0101] It should be noted that when the vehicle reaches the acceleration starting point, the speed will be accelerated based on the target ramping speed calculated according to the target ramping speed offset value and the cruise setting speed, so that the vehicle speed reaches the target ramping speed before reaching the uphill starting point. In this process, using slow acceleration on a flat road to increase the vehicle speed to the target ramping speed is conducive to reducing battery discharge current, improving the working efficiency of the power system, and thus improving the economy of the entire vehicle.

[0102] Step B12, when the vehicle reaches the uphill starting point and the vehicle control mode is the speed control mode, obtaining a torque request under the speed control mode, and converting the vehicle control mode from the speed control mode to the torque control mode according to the torque request;

[0103] It should be understood that under normal working conditions, the vehicle control mode is generally a speed control mode, in which the vehicle speed is maintained by adjusting the engine speed. In the torque control mode, the driving force of the vehicle is maintained by controlling the engine torque to more accurately control the torque output. When the vehicle reaches the starting point of the uphill, the torque request WhTrqCmd_M in the speed control mode can be calculated and recorded according to the driving needs and control strategy of the vehicle. After obtaining the torque request, the vehicle control mode will be converted from the speed control mode to the torque control mode according to the recorded torque request WhTrqCmd_M to ensure that the driving force of the vehicle is constant when rushing up the slope, avoid insufficient power caused by over-reliance on the speed control mode, and prevent the vehicle from stagnating due to insufficient power.

[0104] Step B13, obtaining the current vehicle speed, and calculating the actual vehicle speed offset value according to the current vehicle speed and the cruise setting speed;

[0105] It should be understood that when the vehicle reaches the starting point of the uphill climb and starts to climb, a difference will be generated between the current vehicle speed and the cruise setting speed, namely, the actual vehicle speed offset value VehSpdOffset.

[0106] Step B14, when the actual vehicle speed offset value is less than or equal to the preset hill-climbing vehicle speed offset value, converting the vehicle control mode from the torque control mode to the speed control mode to complete hill-climbing control.

[0107] It should be noted that the preset uphill speed offset value is the minimum uphill speed offset. Based on the system preset minimum uphill speed offset query table, the minimum uphill speed offset Uphill_MinOffset can be queried according to the cruise set speed CC_VehSpd.

[0108] Specifically, Figure 4 As shown. The design of the minimum speed offset query table for ramping needs to follow the following principles: At low and medium speeds (i.e. when CC_VehSpd is less than or equal to the set value VehSpd_1), Uphill_MinOffset increases with the increase of CC_VehSpd; when CC_VehSpd is higher than the set value VehSpd_1, Uphill_MinOffset is a fixed maximum value. The change trend of Uphill_MinOffset with CC_VehSpd is roughly consistent with Uphill_BasicOffset, but at the same CC_VehSpd, Uphill_MinOffset needs to be lower than Uphill_BasicOffset.

[0109] It should be understood that when the actual vehicle speed offset value VehSpdOffset is less than or equal to the minimum vehicle speed offset Uphill_MinOffset, the system will switch back to the speed control mode, which can prevent the vehicle from accelerating too fast on the slope, thereby avoiding unnecessary over-acceleration and ensuring driving safety. By switching from speed control to torque control, the system can more accurately control the behavior of the vehicle on the slope, thereby improving the stability of the vehicle's driving and avoiding instability caused by too low or too high speed.

[0110] In another feasible implementation, the target vehicle speed offset value includes a target downhill vehicle speed offset value, the offset starting point includes a deceleration starting point, and step S30 may include steps A21 to A24:

[0111] Step A21, when the target cruise control strategy is a downhill control strategy, determining a target downhill vehicle speed influence coefficient according to the target slope storage information;

[0112] It should be noted that after determining that the target cruise control strategy for the current road section is the downhill control strategy, the specific downhill ramp information (such as ramp gradient, ramp length, etc.) of the current road section will be obtained according to the target slope storage information, and the target downhill vehicle speed influence coefficient will be determined by looking up the ramp information, so that the offset value of the cruise setting speed calculated in the end is within the appropriate range. Among them, the value of the target downhill vehicle speed influence coefficient needs to be greater than 0 and less than or equal to 1, which reflects the degree of influence of the slope information on the vehicle speed, and whether the vehicle can reach the recommended speed when going downhill at a specific slope.

[0113] In addition, it should be noted that the target downhill vehicle speed influence coefficient can be defined as DownhillDistanceAndSlope_factor. After obtaining the ramp slope and ramp length of the current road section according to the target slope storage information, the target downhill vehicle speed influence coefficient DownhillDistanceAndSlope_factor can be queried according to the ramp slope and ramp length based on the system preset slope length downhill influence coefficient query table.

[0114] Specifically, for the design of the slope and slope length downhill influence coefficient query table, the following principles need to be followed: when the downhill ramp gradient remains unchanged, the greater the uphill ramp length, the smaller the DownhillDistanceAndSlope_factor should be; when the uphill ramp length reaches the set value, DownhillDistanceAndSlope_factor should be a fixed minimum value; when the uphill ramp length remains unchanged, the greater the uphill ramp gradient, the smaller the DownhillDistanceAndSlope_factor should be; when the uphill ramp length reaches the set value, DownhillDistanceAndSlope_factor should be a fixed minimum value; when the uphill ramp gradient and the uphill ramp length increase at the same time, DownhillDistanceAndSlope_factor should be a fixed minimum value earlier.

[0115] Step A22, determining a downhill starting reference speed offset according to the cruise setting speed;

[0116] It should be noted that the downhill starting reference speed offset is the difference between the reference speed to which the vehicle needs to be adjusted before going downhill and the cruise setting speed. The downhill starting reference speed offset Downhill_BasicOffset can be queried based on the cruise setting speed CC_VehSpd based on the system preset downhill starting reference speed offset query table.

[0117] Specifically, refer to Figure 6 , Figure 6 A schematic diagram of the downhill starting reference speed offset mapping relationship provided for the first embodiment of the predictive cruise control method of this application. The design of the downhill starting reference speed offset query table needs to follow the following principles: when CC_VehSpd is less than or equal to the set value VehSpd_1, Downhill_BasicOffset decreases as CC_VehSpd increases; when CC_VehSpd is higher than the set value VehSpd_1, Downhill_BasicOffset is a fixed minimum value.

[0118] Step A23, determining a target downhill vehicle speed offset value and a deceleration starting point according to the downhill starting reference vehicle speed offset and the target downhill vehicle speed influence coefficient;

[0119] It should be noted that after obtaining the downhill starting base speed offset Downhill_BasicOffset, the cruise setting speed CC_VehSpd and the target downhill speed influence coefficient DownhillDistanceAndSlope_factor, the target downhill speed offset value TargetDownhillOffset can be calculated according to the target downhill speed offset value calculation formula, and the deceleration distance Distance F corresponding to the deceleration starting point can be queried according to the target downhill speed offset value TargetDownhillOffset based on the system preset deceleration starting point query table, so that the vehicle can decelerate after continuing to travel the distance Distance F.

[0120] Exemplarily, the target downhill vehicle speed offset value is calculated using the following formula: TargetDownhillOffset=Downhill_BasicOffset*DownhillDistanceAndSlopeFactor.

[0121] Reference Figure 7 , Figure 7 A schematic diagram of the mapping relationship of the deceleration starting point provided for the first embodiment of the predictive cruise control method of this application. The design of the deceleration starting point query table needs to follow the following principles: when TargetDownhillOffset is less than or equal to the set value Offset1, Distance F increases with the increase of TargetDownhillOffset; when TargetDownhillOffset is higher than the set value Offset1, Distance F is a fixed maximum value.

[0122] Step A24: When the vehicle reaches the deceleration starting point, predictive cruise control is performed on the vehicle based on the target downhill vehicle speed offset value.

[0123] It should be understood that when the vehicle reaches the deceleration starting point, the target speed that the vehicle needs to reach before reaching the downhill starting point will be calculated based on the target downhill speed offset value and the cruise setting speed, and the vehicle will be predictively cruise controlled based on this target speed.

[0124] In a feasible implementation, step A24 may include steps B21 to B24:

[0125] Step B21, when the vehicle reaches the deceleration starting point, determining a target downhill vehicle speed according to the target downhill vehicle speed offset value and the cruise setting vehicle speed, and decelerating the vehicle according to the target downhill vehicle speed;

[0126] It should be noted that when the vehicle reaches the deceleration starting point, the vehicle speed will be decelerated based on the target downhill speed calculated according to the target deceleration speed offset value and the cruise setting speed, so that the vehicle speed is reduced to the target downhill speed before reaching the uphill starting point. When the vehicle is about to go downhill, reducing the speed can avoid frequent braking during the downhill process and reduce the opportunity for energy recovery.

[0127] Step B22, when the vehicle reaches the downhill starting point, determining a preset downhill speed according to the cruise setting speed;

[0128] It should be noted that the preset downhill speed is the maximum downhill speed MaxDownhillSpd, which indicates the maximum speed limited when going downhill. The maximum downhill speed MaxDownhillSpd can be queried based on the maximum downhill speed query table preset by the system according to the cruise setting speed CC_VehSpd.

[0129] Specifically, the design of the maximum downhill speed query table needs to follow the following principles: when CC_VehSpd is less than or equal to the set value VehSpd_1, MaxDownhillSpdt increases with the increase of CC_VehSpd; when CC_VehSpd is higher than the set value, MaxDownhillSpd is a fixed value.

[0130] Step B23, obtaining the current vehicle speed, and controlling the vehicle to switch to a coasting control mode or a speed control mode according to the current vehicle speed and the preset downhill speed;

[0131] It should be noted that during downhill driving, when the current vehicle speed is lower than the maximum downhill speed MaxDownhillSpd, the vehicle will be controlled to switch from speed control mode to gliding control mode. When the vehicle speed reaches MaxDownhillSpd, the vehicle will be controlled to switch from gliding control mode to speed control mode, and the target speed will be set to respond to MaxDownhillSpd. In gliding control mode, energy recovery will be performed to convert the mechanical energy of the wheels during gliding into electrical energy and store it in the battery, which can not only improve the overall energy efficiency of the vehicle, but also slow down the vehicle's deceleration to a certain extent and avoid wear caused by frequent braking.

[0132] Step B24, when the vehicle reaches the end of the downhill slope and the current vehicle speed is greater than the cruise setting speed, control the vehicle to switch to the coasting control mode until the current vehicle speed is equal to the cruise setting speed to complete the downhill control.

[0133] It should be noted that when the vehicle reaches the end of the downhill slope and the current speed is greater than the cruise setting speed CC_VehSpd, the vehicle will be controlled to switch from the speed control mode to the coasting control mode until the current speed drops to the cruise setting speed CC_VehSpd, and the vehicle will be controlled to switch to the speed control mode, and the target speed will be set as the response CC_VehSpd to complete the downhill control. When the current speed exceeds the cruise setting speed CC_VehSpd, it switches to the coasting control mode, so that the vehicle can rely on inertia to maintain or reduce the speed during the downhill process, avoiding unnecessary power consumption, thereby improving the overall energy efficiency and effectively saving electricity or fuel. During and after the coasting process, making full use of the coasting energy recovery can improve the economy of the whole vehicle.

[0134] The present embodiment provides a predictive cruise control method, which obtains current slope type information, target slope storage information and cruise setting speed; determines a target cruise control strategy according to the current slope type information; when the target cruise control strategy is a slope control strategy or a downhill control strategy, determines a target speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting speed, and when the vehicle reaches the offset starting point, predictive cruise control is performed on the vehicle based on the target speed offset value and the cruise setting speed, and the corresponding target cruise control strategy such as the slope control strategy or the downhill control strategy is determined in advance by identifying the slope type information of the road ahead, and the target speed offset value of the cruise setting speed is calculated according to the strategy, and the offset starting point of the slope or downhill is determined in advance, so that the vehicle can speed up or slow down in advance according to the target speed offset value when it reaches the offset starting point, thereby achieving accurate control of the vehicle speed during the slope or downhill process and improving driving comfort and safety.

[0135] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 8 Before step S10, the predictive cruise control method further includes steps S01 to S04:

[0136] Step S01, obtaining sampling point identification information and map slope information of a preset number of sampling points on the road ahead, and obtaining sampling point slope storage information;

[0137] It should be noted that the road section ahead is the road section within a preset distance in front of the vehicle (such as 3 km). For the road section within the preset distance, a preset number (such as 120) of sampling points will be set according to the preset sampling interval (such as 25 m). The sampling point identification information, that is, the ID information of the sampling points, is used to identify the preset number of sampling points respectively (such as 1, 2, 3... 120). The slope information of the road section ahead can be obtained by processing the map information. Specifically, the vehicle can be accurately positioned through GPS and combined with a high-precision map to obtain the road information of the road section within the preset distance in front, and the road information includes the slope information. The sampling point slope storage information includes the ID information of the preset number of sampling points and the slope information corresponding to each ID, and the distance between each sampling point is the same.

[0138] Exemplarily, a sampling point is set every 25 m for the 3 km ahead of the vehicle. From the current position of the vehicle to 3 km ahead, the IDs of each sampling point are 1, 2, 3... 120 respectively. Every time the vehicle travels 25 m, the slopes of all sampling points are updated in a rolling manner. During the process of rolling-updating the slopes of the sampling points, the slope and the sampling point ID information of each sampling point are stored to obtain the sampling point slope storage information.

[0139] Step S02, determine the slope type and the slope type switching point of the road section ahead according to the sampling point slope storage information;

[0140] It should be noted that after obtaining the sampling point slope storage information, the slope type of the road section within the preset distance in front of the vehicle will be identified according to the sampling point slope storage information, and the sampling points where the slope type changes in the road section ahead will be marked as slope type switching points. Specifically, for a sampling point with a slope of Slope, the slope type of this sampling point can be determined according to the preset slope range. For example, it is set that -a1 < Slope < a1 is a flat road, and the slope type is 0; a1 < Slope < a2 is a gentle uphill slope, and the slope type is 1; Slope > a2 is a steep uphill slope, and the slope type is 2; -a2 < Slope < -a1 is a gentle downhill slope, and the slope type is -1; Slope < -a2 is a steep downhill slope, and the slope type is -2.

[0141] It should be understood that after obtaining the slope type of the sampling point, the slope type of the front section of the road will be divided according to the slope type of the sampling point and the number of times the continuous slope type is reached, and the sampling point where the slope type changes will be marked as the slope type switching point (i.e., the sampling point where the slope type changes). Specifically, when the slopes of consecutive a sampling points all satisfy -a1 < Slope < a1, it is determined that the slope type is flat road; when the slopes of consecutive b sampling points all satisfy a1 < Slope < a2, it is determined that the slope type is gentle uphill; when the slopes of consecutive c sampling points all satisfy Slope > a2, it is determined that the slope type is steep uphill; when the slopes of consecutive d sampling points all satisfy -a2 < Slope < -a1, it is determined that the slope type is gentle downhill; when the slopes of consecutive e sampling points all satisfy Slope < -a2, it is determined that the slope type is steep downhill; when the above conditions are not met, the slope type remains unchanged and is the slope type at the previous moment.

[0142] Step S03, determine the target slope storage information according to the sampling point slope storage information, the slope type, and the slope type switching point;

[0143] It should be understood that for the already marked slope type switching points, they will be marked by the switching point ID numbers (such as slope switching point ID1, slope switching point ID2, slope switching point ID3...), and at the same time, the length of the road section corresponding to every two switching points (such as the road section between slope switching point ID1 - slope switching point ID2, slope switching point ID2 - slope switching point ID3) will be calculated according to the sampling point slope storage information and the preset sampling interval (such as 25m), that is, the ramp length, and the average value of the slopes of each sampling point of this section of the road will be taken as the ramp slope of this section of the road, and the ramp length, ramp slope, and slope type of each section of the road within a preset distance in front of the vehicle (such as 3km) will be stored to obtain the target slope storage information.

[0144] Step S04, determine the current slope type information according to the target slope storage information.

[0145] It should be understood that since the target slope storage information is updated in real time by the rolling update method during the vehicle's driving, when the vehicle is driving on the current road section, the slope type of the slope storage information of the road section before the first slope switching point and the second slope switching point in the target slope storage information (i.e., the ramp length, ramp slope, and slope type of the road section corresponding to slope switching point ID1 - slope switching point ID2) will be obtained and used as the current slope type information.

[0146] This embodiment obtains sampling point slope storage information by acquiring sampling point identification information and map slope information of a preset number of sampling points in the road section ahead; determines the slope type and slope type switching point of the road section ahead according to the sampling point slope storage information; determines target slope storage information according to the sampling point slope storage information, the slope type and the slope type switching point; determines current slope type information according to the target slope storage information, so that when the vehicle turns on the adaptive cruise function, the system can identify the slope type of the current road section according to the current slope type information and adopt a corresponding target cruise control strategy (such as a flat road control strategy, a slope control strategy, and a downhill control strategy, etc.) to perform predictive cruise control on the vehicle, which can simulate the driving habits of drivers who are familiar with map information, and improve the economy of the whole vehicle under the premise of ensuring safety.

[0147] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the predictive cruise control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0148] This application also provides a predictive cruise control device, please refer to Fig. 9 , the predictive cruise control device comprises:

[0149] The data acquisition module 10 is used to acquire the current slope type information, the target slope storage information and the cruise setting speed;

[0150] A strategy determination module 20, configured to determine a target cruise control strategy according to the current slope type information;

[0151] The cruise control module 30 is used to determine a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise set speed when the target cruise control strategy is a hill-running control strategy or a downhill control strategy, and to perform predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise set speed when the vehicle reaches the offset starting point.

[0152] In one embodiment, the target vehicle speed offset value includes a target hill-climbing vehicle speed offset value, and the offset starting point includes an acceleration starting point. The cruise control module 30 is also used to determine a target hill-climbing vehicle speed influence coefficient according to the target slope storage information when the target cruise control strategy is a hill-climbing control strategy; determine a hill-climbing starting reference vehicle speed offset according to the cruise setting speed; determine a target hill-climbing vehicle speed offset value and an acceleration starting point according to the hill-climbing starting reference vehicle speed offset, the cruise setting speed, and the target hill-climbing vehicle speed influence coefficient; and when the vehicle reaches the acceleration starting point, perform predictive cruise control on the vehicle based on the target hill-climbing vehicle speed offset value and the cruise setting speed.

[0153] In one embodiment, the cruise control module 30 is further used to determine the target hilling speed according to the target hilling speed offset value and the cruise setting speed when the vehicle reaches the acceleration starting point, and accelerate the vehicle according to the target hilling speed; when the vehicle reaches the uphill starting point and the vehicle control mode is the speed control mode, obtain the torque request under the speed control mode, and convert the vehicle control mode from the speed control mode to the torque control mode according to the torque request; obtain the current vehicle speed, and calculate the actual vehicle speed offset value according to the current vehicle speed and the cruise setting speed; when the actual vehicle speed offset value is less than or equal to the preset hilling speed offset value, convert the vehicle control mode from the torque control mode to the speed control mode to complete hilling control.

[0154] In one embodiment, the target hill-climbing vehicle speed influence coefficient includes a first hill-climbing vehicle speed influence coefficient and a second hill-climbing vehicle speed influence coefficient. The cruise control module 30 is also used to determine the ramp slope, ramp length and slope top plane length according to the target slope storage information when the target cruise control strategy is the hill-climbing control strategy; determine the first hill-climbing vehicle speed influence coefficient according to the ramp slope and the ramp length; and determine the second hill-climbing vehicle speed influence coefficient according to the slope top plane length.

[0155] In one embodiment, the target vehicle speed offset value includes a target downhill vehicle speed offset value, and the offset starting point includes a deceleration starting point. The cruise control module 30 is further used to determine a target downhill vehicle speed influence coefficient according to the target slope storage information when the target cruise control strategy is a downhill control strategy; determine a downhill starting reference vehicle speed offset according to the cruise set speed; determine a target downhill vehicle speed offset value and a deceleration starting point according to the downhill starting reference vehicle speed offset and the target downhill vehicle speed influence coefficient; and when the vehicle reaches the deceleration starting point, perform predictive cruise control on the vehicle based on the target downhill vehicle speed offset value.

[0156] In one embodiment, the cruise control module 30 is further used to determine the target downhill speed according to the target downhill speed offset value and the cruise setting speed when the vehicle reaches the deceleration starting point, and decelerate the vehicle according to the target downhill speed; determine the preset downhill speed according to the cruise setting speed when the vehicle reaches the downhill starting point; obtain the current vehicle speed, and control the vehicle to switch to the coasting control mode or the speed control mode according to the current vehicle speed and the preset downhill speed; when the vehicle reaches the downhill end point and the current vehicle speed is greater than the cruise setting speed, control the vehicle to switch to the coasting control mode until the current vehicle speed is equal to the cruise setting speed to complete the downhill control.

[0157] In one embodiment, the data acquisition module 10 is further used to obtain sampling point identification information and map slope information of a preset number of sampling points in the road section ahead, and obtain sampling point slope storage information; determine the slope type and slope type switching point of the road section ahead according to the sampling point slope storage information; determine target slope storage information according to the sampling point slope storage information, the slope type and the slope type switching point; and determine current slope type information according to the target slope storage information.

[0158] The predictive cruise control device provided by the present application adopts the predictive cruise control method in the above embodiment, which can solve the technical problem of how to design the advance offset position of the vehicle rushing up or downhill to accurately control the vehicle speed during the process of rushing up or downhill. Compared with the prior art, the beneficial effects of the predictive cruise control device provided by the present application are the same as the beneficial effects of the predictive cruise control method provided by the above embodiment, and the other technical features of the predictive cruise control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0159] The present application provides a predictive cruise control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the predictive cruise control method in the above-mentioned embodiment one.

[0160] Reference below Fig.10 , which shows a schematic diagram of the structure of a predictive cruise control device suitable for implementing the embodiment of the present application. The predictive cruise control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The predictive cruise control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0161] like Fig.10As shown, the predictive cruise control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the predictive cruise control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the predictive cruise control device to communicate wirelessly or wired with other devices to exchange data. Although the predictive cruise control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0162] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0163] The predictive cruise control device provided by the present application adopts the predictive cruise control method in the above embodiment, which can solve the technical problem of how to design the advance offset position of the vehicle rushing up or downhill to accurately control the vehicle speed during the process of rushing up or downhill. Compared with the prior art, the beneficial effects of the predictive cruise control device provided by the present application are the same as the beneficial effects of the predictive cruise control method provided by the above embodiment, and the other technical features in the predictive cruise control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0164] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0165] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0166] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the predictive cruise control method in the above-mentioned embodiment.

[0167] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with 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 above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0168] The computer-readable storage medium may be included in the predictive cruise control device; or may exist independently without being assembled into the predictive cruise control device.

[0169] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the predictive cruise control device, the predictive cruise control device: obtains current slope type information, target slope storage information and cruise set speed; determines a target cruise control strategy based on the current slope type information; when the target cruise control strategy is a hill-climbing control strategy or a downhill control strategy, determines a target speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise set speed; and when the vehicle reaches the offset starting point, performs predictive cruise control on the vehicle based on the target speed offset value and the cruise set speed.

[0170] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0171] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0172] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0173] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned predictive cruise control method, and can solve the technical problem of how to design the advance offset position of the vehicle when rushing up or downhill to accurately control the vehicle speed during the process of rushing up or downhill. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the predictive cruise control method provided by the above-mentioned embodiment, and will not be repeated here.

[0174] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the predictive cruise control method as described above are implemented.

[0175] The computer program product provided by the present application can solve the technical problem of how to design the advance offset position of the vehicle when rushing up or down a slope to accurately control the vehicle speed during the process of rushing up or down a slope. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the predictive cruise control method provided by the above embodiment, which will not be repeated here.

[0176] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A predictive cruise control method, characterized in that: The predictive cruise control method comprises: Obtain current slope type information, target slope storage information and cruise setting speed; determining a target cruise control strategy according to the current slope type information; When the target cruise control strategy is a hill-running control strategy or a downhill control strategy, a target vehicle speed offset value and an offset starting point are determined based on the target cruise control strategy according to the target slope storage information and the cruise set speed, and when the vehicle reaches the offset starting point, predictive cruise control is performed on the vehicle based on the target vehicle speed offset value and the cruise set speed.

2. The method according to claim 1, characterized in that The target vehicle speed offset value includes a target vehicle speed offset value for ramping, and the offset starting point includes a speed-up starting point; The step of determining a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting vehicle speed when the target cruise control strategy is a hill-rushing control strategy or a downhill control strategy, and performing predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise setting vehicle speed when the vehicle reaches the offset starting point, comprises: When the target cruise control strategy is a slope control strategy, determining a target slope vehicle speed influence coefficient according to the target slope storage information; Determining a starting reference speed offset for hill climbing according to the cruise setting speed; Determine a target ramping speed offset value and a speed-up starting point according to the ramping starting reference speed offset, the cruise setting speed, and the target ramping speed influence coefficient; When the vehicle reaches the acceleration starting point, predictive cruise control is performed on the vehicle based on the target hill-climbing speed offset value and the cruise setting speed.

3. The method according to claim 2, characterized in that The step of performing predictive cruise control on the vehicle based on the target ramp speed offset value and the cruise setting speed when the vehicle reaches the acceleration starting point comprises: When the vehicle reaches the acceleration starting point, a target ramping speed is determined according to the target ramping speed offset value and the cruise setting speed, and the vehicle is accelerated according to the target ramping speed; When the vehicle reaches the uphill starting point and the vehicle control mode is a speed control mode, obtaining a torque request under the speed control mode, and converting the vehicle control mode from the speed control mode to a torque control mode according to the torque request; Obtaining the current vehicle speed, and calculating the actual vehicle speed offset value according to the current vehicle speed and the cruise setting speed; When the actual vehicle speed offset value is less than or equal to a preset hill-climbing vehicle speed offset value, the vehicle control mode is converted from the torque control mode to the speed control mode to complete hill-climbing control.

4. The method according to claim 2, characterized in that The target slope-rushing vehicle speed influence coefficient includes a first slope-rushing vehicle speed influence coefficient and a second slope-rushing vehicle speed influence coefficient; When the target cruise control strategy is a slope control strategy, the step of determining a target slope vehicle speed influence coefficient according to the target slope storage information comprises: When the target cruise control strategy is a ramp control strategy, the ramp gradient, the ramp length and the slope top plane length are determined according to the target slope storage information; Determining the first ramp speed influence coefficient according to the ramp gradient and the ramp length; The second slope-rushing vehicle speed influence coefficient is determined according to the length of the slope top plane.

5. The method according to claim 1, characterized in that The target vehicle speed offset value includes a target downhill vehicle speed offset value, and the offset starting point includes a speed reduction starting point; The step of determining a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting vehicle speed when the target cruise control strategy is a hill-rushing control strategy or a downhill control strategy, and performing predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise setting vehicle speed when the vehicle reaches the offset starting point, comprises: When the target cruise control strategy is a downhill control strategy, determining a target downhill vehicle speed influence coefficient according to the target slope storage information; Determining a downhill starting reference vehicle speed offset according to the cruise setting vehicle speed; Determine a target downhill vehicle speed offset value and a deceleration starting point according to the downhill starting reference vehicle speed offset and the target downhill vehicle speed influence coefficient; When the vehicle reaches the speed reduction starting point, predictive cruise control is performed on the vehicle based on the target downhill vehicle speed offset value.

6. The method according to claim 5, characterized in that The step of performing predictive cruise control on the vehicle based on the target downhill vehicle speed offset value when the vehicle reaches the deceleration starting point comprises: When the vehicle reaches the deceleration starting point, a target downhill vehicle speed is determined according to the target downhill vehicle speed offset value and the cruise setting vehicle speed, and the vehicle is decelerated according to the target downhill vehicle speed; When the vehicle reaches the downhill starting point, determining a preset downhill speed according to the cruise setting speed; Acquiring a current vehicle speed, and controlling the vehicle to switch to a coasting control mode or a speed control mode according to the current vehicle speed and the preset downhill speed; When the vehicle reaches the end of the downhill slope and the current vehicle speed is greater than the cruise setting speed, the vehicle is controlled to switch to the coasting control mode until the current vehicle speed is equal to the cruise setting speed to complete the downhill control.

7. The method according to any one of claims 1 to 6, characterized in that Before the step of obtaining the current slope type information, the target slope storage information and the cruise setting speed, the method further includes: Obtaining sampling point identification information and map slope information of a preset number of sampling points on the road ahead, and obtaining the sampling point slope storage information; Determine the slope type and slope type switching point of the road section ahead according to the sampling point slope storage information; Determine the target slope storage information according to the sampling point slope storage information, the slope type and the slope type switching point; The current slope type information is determined according to the target slope storage information.

8. A predictive cruise control device, characterized in that: The device comprises: A data acquisition module is used to obtain current slope type information, target slope storage information and cruise setting speed; A strategy determination module, configured to determine a target cruise control strategy according to the current slope type information; A cruise control module is used to determine a target vehicle speed offset value and an offset starting point based on the target cruise control strategy according to the target slope storage information and the cruise setting vehicle speed when the target cruise control strategy is a hill-running control strategy or a downhill control strategy, and to perform predictive cruise control on the vehicle based on the target vehicle speed offset value and the cruise setting vehicle speed when the vehicle reaches the offset starting point.

9. A predictive cruise control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the predictive cruise control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the predictive cruise control method according to any one of claims 1 to 7 are implemented.

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