Cruise control method and device of hybrid vehicle, electronic equipment and storage medium

Abstract

The invention provides a cruise control method and device for a hybrid vehicle, electronic equipment and a storage medium, and relates to the technical field of vehicle control, after it is determined that the hybrid vehicle enters a cruise mode, target control parameters suitable for the current road gradient are determined by comparing the gradient of a road where the hybrid vehicle is located with a preset gradient threshold value, and then the target control parameters are determined according to the target control parameters. And cruise control is conducted on the hybrid vehicle based on the target control parameters, so that the hybrid vehicle always runs under the working condition suitable for the current road slope, and the fuel efficiency of the hybrid vehicle in the cruise mode is improved.

Description

Technical Field

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

[0002] Cruise mode is an automatic driving or assisted driving function that enables the vehicle to travel at a stable speed on highways or flat roads. In the case of long-distance driving, cruise mode can reduce driving fatigue.

[0003] Traditional cruise control methods for hybrid vehicles do not consider the impact of road slope on the cruise mode, resulting in lower fuel efficiency of hybrid vehicles in cruise mode. Summary of the invention

[0004] In order to solve the above problems in the prior art, the embodiments of the present application provide a cruise control method, device, electronic device and storage medium for a hybrid vehicle, so as to improve the fuel efficiency of the hybrid vehicle in cruise mode.

[0005] In a first aspect, an embodiment of the present application provides a cruise control method for a hybrid vehicle, the method comprising:

[0006] After determining that the hybrid vehicle enters the cruise mode, obtaining the slope of the road where the hybrid vehicle is located;

[0007] Comparing the slope of the road where the hybrid vehicle is located with a preset slope threshold to obtain a comparison result;

[0008] A target control parameter of the hybrid vehicle is determined based on the comparison result, and cruise control is performed on the hybrid vehicle according to the target control parameter.

[0009] In a possible implementation manner, determining the target control parameter of the hybrid vehicle based on the comparison result includes:

[0010] If the comparison result is that the slope of the road where the hybrid vehicle is located is greater than a first ramp threshold and less than a second ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a normal slope, the first ramp threshold is less than zero, and the second ramp threshold is greater than or equal to zero;

[0011] If the comparison result is that the slope of the road where the hybrid vehicle is located is less than the third ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a steep downhill slope, and the third ramp threshold is less than or equal to the first ramp threshold;

[0012] A target control parameter of the hybrid vehicle is determined according to a slope type of a road on which the hybrid vehicle is located.

[0013] In a possible implementation manner, determining the target control parameter of the hybrid vehicle according to the slope type of the road where the hybrid vehicle is located includes:

[0014] If the slope type of the road where the hybrid vehicle is located is a normal slope, determining a speed difference between a current speed of the hybrid vehicle and a target speed, where the target speed is an expected speed set by a user when the hybrid vehicle enters a cruise mode;

[0015] If the vehicle speed difference is greater than or equal to a preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the vehicle speed difference is less than the preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be a target engine torque corresponding to the slope of the road where the hybrid vehicle is located;

[0016] The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

[0017] In a possible implementation manner, determining the engine torque of the hybrid vehicle as a target engine torque corresponding to the slope of the road where the hybrid vehicle is located includes:

[0018] Obtaining a correspondence between a preset road slope and an engine torque;

[0019] According to the correspondence between the road slope and the engine torque, a target engine torque corresponding to the slope of the road where the hybrid vehicle is currently located is determined.

[0020] In a possible implementation manner, determining the target control parameter of the hybrid vehicle according to the slope type of the road where the hybrid vehicle is located includes:

[0021] If the slope type of the road where the hybrid vehicle is located is a steep downhill slope, determining that the engine torque of the hybrid vehicle is zero;

[0022] The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

[0023] In a possible implementation, the method further includes:

[0024] determining a motor recovery torque of the hybrid vehicle in the cruise mode;

[0025] The performing cruise control on the hybrid vehicle according to the target control parameter includes:

[0026] The engine of the hybrid vehicle is controlled according to the target control parameter, and the motor of the hybrid vehicle is controlled according to the motor recovery torque of the hybrid vehicle in the cruise mode.

[0027] In a possible implementation manner, determining the motor recovery torque of the hybrid vehicle in the cruise mode includes:

[0028] determining a speed difference between a current speed of the hybrid vehicle and a target speed, wherein the target speed is a desired speed set by a user when the hybrid vehicle enters a cruise mode;

[0029] The motor recovery torque of the hybrid vehicle in the cruise mode is determined according to the vehicle speed difference.

[0030] In a second aspect, an embodiment of the present application provides a cruise control device for a hybrid vehicle, the device comprising:

[0031] an acquisition unit, configured to acquire the slope of the road on which the hybrid vehicle is located after determining that the hybrid vehicle enters the cruise mode;

[0032] a comparison unit, configured to compare the slope of the road on which the hybrid vehicle is located with a preset slope threshold to obtain a comparison result;

[0033] A control unit is used to determine a target control parameter of the hybrid vehicle based on the comparison result, and perform cruise control on the hybrid vehicle according to the target control parameter.

[0034] In a possible implementation manner, the control unit is specifically used to:

[0035] If the comparison result is that the slope of the road where the hybrid vehicle is located is greater than a first ramp threshold and less than a second ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a normal slope, the first ramp threshold is less than zero, and the second ramp threshold is greater than or equal to zero;

[0036] If the comparison result is that the slope of the road where the hybrid vehicle is located is less than the third ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a steep downhill slope, and the third ramp threshold is less than or equal to the first ramp threshold;

[0037] A target control parameter of the hybrid vehicle is determined according to a slope type of a road on which the hybrid vehicle is located.

[0038] In a possible implementation manner, the control unit is specifically used to:

[0039] If the slope type of the road where the hybrid vehicle is located is a normal slope, determining a speed difference between a current speed of the hybrid vehicle and a target speed, where the target speed is an expected speed set by a user when the hybrid vehicle enters a cruise mode;

[0040] If the vehicle speed difference is greater than or equal to a preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the vehicle speed difference is less than the preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be a target engine torque corresponding to the slope of the road where the hybrid vehicle is located;

[0041] The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

[0042] In a possible implementation manner, the control unit is specifically used to:

[0043] Obtaining a correspondence between a preset road slope and an engine torque;

[0044] According to the correspondence between the road slope and the engine torque, a target engine torque corresponding to the slope of the road where the hybrid vehicle is currently located is determined.

[0045] In a possible implementation manner, the control unit is specifically used to:

[0046] If the slope type of the road where the hybrid vehicle is located is a steep downhill slope, determining that the engine torque of the hybrid vehicle is zero;

[0047] The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

[0048] In a possible implementation manner, the control unit is further used to:

[0049] determining a motor recovery torque of the hybrid vehicle in the cruise mode;

[0050] The performing cruise control on the hybrid vehicle according to the target control parameter includes:

[0051] The engine of the hybrid vehicle is controlled according to the target control parameter, and the motor of the hybrid vehicle is controlled according to the motor recovery torque of the hybrid vehicle in the cruise mode.

[0052] In a possible implementation manner, the control unit is specifically used to:

[0053] determining a speed difference between a current speed of the hybrid vehicle and a target speed, wherein the target speed is a desired speed set by a user when the hybrid vehicle enters a cruise mode;

[0054] The motor recovery torque of the hybrid vehicle in the cruise mode is determined according to the vehicle speed difference.

[0055] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, and when the computer program is executed by the processor, any one of the cruise control methods for a hybrid vehicle in the first aspect is implemented.

[0056] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the cruise control methods for a hybrid vehicle in the first aspect is implemented.

[0057] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0058] The cruise control method for a hybrid vehicle provided in the present application determines a target control parameter suitable for the current road slope by comparing the slope of the road on which the hybrid vehicle is located with a preset slope threshold after determining that the hybrid vehicle has entered the cruise mode. Then, cruise control is performed on the hybrid vehicle based on the target control parameter, so that the hybrid vehicle always operates under operating conditions suitable for the current road slope, thereby improving the fuel efficiency of the hybrid vehicle in the cruise mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0060] Figure 1 A flow chart of a cruise control method for a hybrid vehicle provided in an embodiment of the present application;

[0061] Figure 2 A schematic structural diagram of a cruise control device for a hybrid vehicle provided in an embodiment of the present application;

[0062] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0064] It should be noted that the terms "including" and "having" and their variations involved in the documents of this application 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.

[0065] Cruise mode is an automatic driving or assisted driving function that enables the vehicle to travel at a stable speed on highways or flat roads. In the case of long-distance driving, cruise mode can reduce driving fatigue.

[0066] Traditional cruise control methods for hybrid vehicles do not consider the impact of road slope on the cruise mode, resulting in lower fuel efficiency of hybrid vehicles in cruise mode.

[0067] Based on this, an embodiment of the present application provides a cruise control method for a hybrid vehicle. After determining that the hybrid vehicle enters the cruise mode, the method determines a target control parameter suitable for the current road slope by comparing the slope of the road on which the hybrid vehicle is located with a preset slope threshold. Then, the hybrid vehicle is cruise controlled based on the target control parameter, so that the hybrid vehicle always operates under working conditions suitable for the current road slope, thereby improving the fuel efficiency of the hybrid vehicle in the cruise mode.

[0068] Figure 1 The flowchart of a cruise control method for a hybrid vehicle provided in an embodiment of the present application is shown. The method can be implemented by an ECU (Electronic Control Unit, vehicle controller). Figure 1 As shown, the method may include the following steps:

[0069] Step S101, after determining that the hybrid vehicle enters the cruise mode, obtaining the slope of the road where the hybrid vehicle is located.

[0070] When a user of a hybrid vehicle needs to enter the cruise mode, he or she can press a related button in the vehicle, or set the desired vehicle speed through voice control to put the hybrid vehicle into the cruise mode. After confirming that the hybrid vehicle enters the cruise mode, the slope of the current road can be obtained.

[0071] In an optional implementation, the slope of the current road may be acquired through an inertial measurement unit. Specifically, the slope of the current road where the hybrid vehicle is located may be determined based on the acceleration and angular velocity provided by the inertial measurement unit.

[0072] In another optional implementation, the current position information of the hybrid vehicle may also be measured using a GPS signal, and the slope of the road where the hybrid vehicle is currently located may be determined by calculating the height difference and horizontal distance between two or more position points.

[0073] In another optional implementation, a radar or laser ranging device may be used to measure the height change of the road ahead of the hybrid vehicle in real time, thereby determining the slope of the road where the hybrid vehicle is currently located.

[0074] In another optional implementation, the slope of the road where the hybrid vehicle is currently located may also be determined through high-precision map data of the vehicle navigation system.

[0075] However, it should be noted that the above methods for determining the current slope of the road where the hybrid vehicle is located can also be used in combination to further improve the accuracy and real-time performance of the acquired slope. This application does not limit the specific implementation method for acquiring the road slope.

[0076] Step S102 : comparing the slope of the road where the hybrid vehicle is located with a preset slope threshold to obtain a comparison result.

[0077] In some embodiments, the comparison result of the slope of the road where the hybrid vehicle is located and the preset slope threshold value may be that the slope of the road where the hybrid vehicle is located is greater than the first slope threshold value and less than the second slope threshold value.

[0078] The first ramp threshold is less than zero, and the second ramp threshold is greater than or equal to zero.

[0079] In other embodiments, the comparison result of the slope of the road where the hybrid vehicle is located and the preset slope threshold may be that the slope of the road where the hybrid vehicle is located is less than the third slope threshold.

[0080] The third ramp threshold is less than or equal to the first ramp threshold.

[0081] In other embodiments, the comparison result of the slope of the road where the hybrid vehicle is located and the preset slope threshold may be that the slope of the road where the hybrid vehicle is located is greater than the fourth slope threshold.

[0082] The fourth ramp threshold is greater than or equal to the second ramp threshold.

[0083] Step S103 : determining a target control parameter of the hybrid vehicle based on the comparison result, and performing cruise control on the hybrid vehicle according to the target control parameter.

[0084] Based on the comparison result of the slope of the road where the hybrid vehicle is located and the preset slope threshold, the slope type of the road where the hybrid vehicle is currently located can be determined. For different slope types, different control methods can be used to cruise control the hybrid vehicle.

[0085] In an optional implementation, if the comparison result is determined to be that the slope of the road where the hybrid vehicle is located is greater than the first ramp threshold and less than the second ramp threshold, then the slope type of the road where the hybrid vehicle is located is determined to be a normal slope.

[0086] When the hybrid vehicle is traveling on a road with a normal slope, a speed difference between the current speed of the hybrid vehicle and the target speed may be determined.

[0087] The target vehicle speed is the desired vehicle speed set by the user when the hybrid vehicle enters the cruise mode.

[0088] Furthermore, the magnitude relationship between the vehicle speed difference and a preset vehicle speed threshold may be determined, and then the engine torque of the hybrid vehicle may be determined based on the magnitude relationship.

[0089] In some embodiments, if the vehicle speed difference is greater than or equal to a preset vehicle speed threshold, it means that the current vehicle speed has reached the user's expected vehicle speed, or the current vehicle speed has exceeded the user's expected vehicle speed. At this time, it can be determined that the engine torque of the hybrid vehicle is zero, that is, the engine of the hybrid vehicle can be controlled to stop at this moment, allowing the entire vehicle to coast, thereby reducing the fuel consumption of the hybrid vehicle in cruise mode.

[0090] In other embodiments, if the vehicle speed difference is less than a preset vehicle speed threshold, it means that the current vehicle speed has not reached the user's expected vehicle speed. At this time, the engine of the hybrid vehicle can be controlled to output according to the target torque in the optimal fuel consumption zone, thereby saving the fuel consumption of the hybrid vehicle in cruise mode.

[0091] Among them, the torque of the engine's optimal fuel consumption area is pre-calibrated through experiments.

[0092] Specifically, the correspondence between the road slope and the torque in the optimal fuel consumption zone can be preset. When the vehicle speed difference is less than a preset vehicle speed threshold, the engine torque of the hybrid vehicle can be determined as the target engine torque corresponding to the current road slope according to the preset correspondence, so as to control the engine of the hybrid vehicle.

[0093] In another optional implementation, if the comparison result is that the slope of the road where the hybrid vehicle is located is less than the third slope threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a steep downhill slope.

[0094] When a hybrid vehicle is traveling on a steep downhill road, it can be determined that the engine torque of the hybrid vehicle is zero, causing the engine of the hybrid vehicle to shut down and the entire vehicle to coast. After the speed of the hybrid vehicle reaches the target speed set by the user, the speed difference between the current speed of the hybrid vehicle and the target speed can be determined, and the motor recovery torque of the hybrid vehicle in cruise mode can be determined based on the speed difference.

[0095] Specifically, the product of the vehicle speed difference and the proportional gain may be determined as a proportional term of the motor recovery torque of the hybrid vehicle. The proportional term may directly respond to the vehicle speed difference and quickly adjust the motor recovery torque to reduce the vehicle speed difference.

[0096] Then, the vehicle speed difference can be integrated and differentiated, and the obtained results can be multiplied by the product of the integral gain and the differential gain, respectively, as the integral term and the differential term of the motor recovery torque of the hybrid vehicle.

[0097] The integral term is the accumulated value of the speed difference, which is used to eliminate the steady-state speed difference. That is, in the case of a persistent speed difference, the motor recovery torque is continuously adjusted by accumulating the speed difference to eventually achieve the goal. The differential term is the rate of change of the speed difference. The differential term can provide additional adjustments by predicting the changing trend of the speed difference, thereby enhancing the stability of the speed control and reducing overshoot and oscillation.

[0098] Finally, the sum of the proportional term, the integral term, and the differential term can be used as the motor recovery torque of the hybrid vehicle to control the kinetic energy recovery of the motor of the hybrid vehicle.

[0099] According to the motor recovery torque of the hybrid vehicle in the cruise mode, the motor of the hybrid vehicle is controlled so that the motor recovers kinetic energy, which can make the hybrid vehicle more fuel-efficient in the cruise mode.

[0100] In another optional implementation, if the comparison result is that the slope of the road where the hybrid vehicle is located is greater than the fourth slope threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a steep uphill slope.

[0101] The fourth ramp threshold is greater than or equal to the second ramp threshold.

[0102] When the hybrid vehicle is traveling on a steep uphill road, the speed difference between the current speed of the hybrid vehicle and the target speed can be determined, and the engine torque of the hybrid vehicle in the cruise mode can be determined based on the speed difference.

[0103] Specifically, the product of the vehicle speed difference and the proportional gain may be determined as a proportional term of the engine torque of the hybrid vehicle. The proportional term may directly respond to the vehicle speed difference and quickly adjust the output of the engine torque to reduce the vehicle speed difference.

[0104] Then, the speed difference can be integrated and differentiated respectively, and the obtained results can be multiplied by the product of the integral gain and the differential gain respectively as the integral term and differential term of the engine torque of the hybrid vehicle, where the integral term is the accumulated value of the speed difference, which is used to eliminate the steady-state speed difference, that is, in the case of a persistent speed difference, the output of the engine torque is continuously adjusted by accumulating the speed difference to eventually achieve the goal; the differential term is the rate of change of the speed difference, which can provide additional adjustments by predicting the changing trend of the speed difference, thereby enhancing the stability of the speed control and reducing overshoot and oscillation.

[0105] Finally, the sum of the proportional term, the integral term, and the differential term can be used as the engine torque of the hybrid vehicle to control the output torque of the engine of the hybrid vehicle.

[0106] The embodiment of the present application provides a cruise control method for a hybrid vehicle. After determining that the hybrid vehicle enters the cruise mode, the target control parameter suitable for the current road slope is determined by comparing the slope of the road where the hybrid vehicle is located with a preset slope threshold. Then, the hybrid vehicle is cruise controlled based on the target control parameter, so that the engine of the hybrid vehicle operates in the optimal fuel consumption area, or the engine of the hybrid vehicle is stopped and coasted, thereby reducing the kinetic energy loss of the entire vehicle. In addition, the embodiment of the present application can also provide kinetic energy recovery through the recovery torque provided by the motor when the hybrid vehicle is driving downhill at a large slope, thereby further improving the fuel efficiency of the hybrid vehicle in the cruise mode.

[0107] Based on the same inventive concept, an embodiment of the present invention further provides a structural schematic diagram of a cruise control device for a hybrid vehicle, such as Figure 2 As shown, the cruise control device of the hybrid vehicle includes:

[0108] The acquisition unit 201 is used to acquire the slope of the road where the hybrid vehicle is located after determining that the hybrid vehicle enters the cruise mode.

[0109] The comparison unit 202 is used to compare the slope of the road where the hybrid vehicle is located with a preset slope threshold to obtain a comparison result.

[0110] The control unit 203 is used to determine a target control parameter of the hybrid vehicle based on the comparison result, and perform cruise control on the hybrid vehicle according to the target control parameter.

[0111] In a possible implementation manner, the control unit 203 is specifically configured to:

[0112] If the comparison result is that the slope of the road where the hybrid vehicle is located is greater than the first ramp threshold and less than the second ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a normal slope, the first ramp threshold is less than zero, and the second ramp threshold is greater than or equal to zero;

[0113] If the comparison result is that the slope of the road where the hybrid vehicle is located is less than the third ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a steep downhill slope, and the third ramp threshold is less than or equal to the first ramp threshold;

[0114] According to the slope type of the road where the hybrid vehicle is located, the target control parameters of the hybrid vehicle are determined.

[0115] In a possible implementation manner, the control unit 203 is specifically configured to:

[0116] If the slope type of the road where the hybrid vehicle is located is a normal slope, determining a speed difference between a current speed of the hybrid vehicle and a target speed, where the target speed is an expected speed set by a user when the hybrid vehicle enters a cruise mode;

[0117] If the vehicle speed difference is greater than or equal to a preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the vehicle speed difference is less than the preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be a target engine torque corresponding to the slope of the road where the hybrid vehicle is located;

[0118] The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

[0119] In a possible implementation manner, the control unit 203 is specifically configured to:

[0120] Obtaining a correspondence between a preset road slope and an engine torque;

[0121] According to the corresponding relationship between the road slope and the engine torque, the target engine torque corresponding to the slope of the road where the hybrid vehicle is currently located is determined.

[0122] In a possible implementation manner, the control unit 203 is specifically configured to:

[0123] If the slope type of the road where the hybrid vehicle is located is a steep downhill slope, then the engine torque of the hybrid vehicle is determined to be zero;

[0124] The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

[0125] In a possible implementation manner, the control unit 203 is further configured to:

[0126] Determine the motor regenerative torque of a hybrid vehicle in cruise mode;

[0127] Cruise control of hybrid vehicles is performed according to target control parameters, including:

[0128] The engine of the hybrid vehicle is controlled according to the target control parameter, and the motor of the hybrid vehicle is controlled according to the motor recovery torque of the hybrid vehicle in the cruise mode.

[0129] In a possible implementation manner, the control unit 203 is specifically configured to:

[0130] Determine a speed difference between a current speed of the hybrid vehicle and a target speed, where the target speed is a desired speed set by a user when the hybrid vehicle enters a cruise mode;

[0131] The motor recovery torque of the hybrid vehicle in cruise mode is determined according to the vehicle speed difference.

[0132] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, which may be the ECU mentioned above. The electronic device includes at least a memory and a processor for storing data, wherein, for the processor for data processing, when executing the processing, a microprocessor, a CPU, a GPU (Graphics Processing Unit), a DSP or an FPGA may be used. For the memory, an operation instruction is stored in the memory, and the operation instruction may be a computer executable code, and each step in the process of the cruise control method for a hybrid vehicle in the embodiment of the present application is implemented by the operation instruction.

[0133] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 300 includes a memory 301, a processor 302, a data acquisition module 303 and a bus 304. The memory 301, the processor 302 and the data acquisition module 303 are all connected via the bus 304, and the bus 304 is used to transmit data between the memory 301, the processor 302 and the data acquisition module 303.

[0134] The memory 301 can be used to store software programs and modules, and the processor 302 executes various functional applications and data processing of the electronic device 300 by running the software programs and modules stored in the memory 301, such as the cruise control method of a hybrid vehicle provided in the embodiment of the present application. The memory 301 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application application, etc.; the data storage area can store data created according to the use of the electronic device 300, etc. In addition, the memory 301 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0135] The processor 302 is the control center of the electronic device 300, and uses the bus 304 and various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the electronic device 300 by running or executing software programs and / or modules stored in the memory 301, and calling data stored in the memory 301. Optionally, the processor 302 may include one or more processing units, such as a CPU, a GPU (Graphics Processing Unit), a digital processing unit, etc.

[0136] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer program is executed by a processor, it can be used to implement the cruise control method for a hybrid vehicle described in any embodiment of the present application.

[0137] In some possible implementations, various aspects of the cruise control method for a hybrid vehicle provided in the present application may also be implemented in the form of a program product, which includes a program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the cruise control method for a hybrid vehicle according to various exemplary embodiments of the present application described above in this specification. For example, the computer device may execute the following steps: Figure 1 The process of the cruise control method for a hybrid vehicle is shown.

[0138] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0139] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0140] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0142] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A cruise control method for a hybrid vehicle, characterized in that: The method comprises: After determining that the hybrid vehicle enters the cruise mode, obtaining the slope of the road where the hybrid vehicle is located; Comparing the slope of the road where the hybrid vehicle is located with a preset slope threshold to obtain a comparison result; A target control parameter of the hybrid vehicle is determined based on the comparison result, and cruise control is performed on the hybrid vehicle according to the target control parameter.

2. The method according to claim 1, characterized in that The determining the target control parameter of the hybrid vehicle based on the comparison result includes: If the comparison result is that the slope of the road where the hybrid vehicle is located is greater than the first ramp threshold and less than the second ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a normal slope, the first ramp threshold is less than zero, and the second ramp threshold is greater than or equal to zero; If the comparison result is that the slope of the road where the hybrid vehicle is located is less than the third ramp threshold, it is determined that the slope type of the road where the hybrid vehicle is located is a steep downhill slope, and the third ramp threshold is less than or equal to the first ramp threshold; A target control parameter of the hybrid vehicle is determined according to a slope type of a road on which the hybrid vehicle is located.

3. The method according to claim 2, characterized in that The determining the target control parameter of the hybrid vehicle according to the slope type of the road where the hybrid vehicle is located includes: If the slope type of the road where the hybrid vehicle is located is a normal slope, determining a speed difference between a current speed of the hybrid vehicle and a target speed, where the target speed is an expected speed set by a user when the hybrid vehicle enters a cruise mode; If the vehicle speed difference is greater than or equal to a preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the vehicle speed difference is less than the preset vehicle speed threshold, the engine torque of the hybrid vehicle is determined to be a target engine torque corresponding to the slope of the road where the hybrid vehicle is located; The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

4. The method according to claim 3, characterized in that The determining the engine torque of the hybrid vehicle as a target engine torque corresponding to the slope of the road where the hybrid vehicle is located includes: Obtaining a correspondence between a preset road slope and an engine torque; According to the correspondence between the road slope and the engine torque, a target engine torque corresponding to the slope of the road where the hybrid vehicle is currently located is determined.

5. The method according to claim 2, characterized in that: The determining the target control parameter of the hybrid vehicle according to the slope type of the road where the hybrid vehicle is located includes: If the slope type of the road where the hybrid vehicle is located is a steep downhill slope, determining that the engine torque of the hybrid vehicle is zero; The determined engine torque of the hybrid vehicle is used as a target control parameter of the hybrid vehicle.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: determining a motor recovery torque of the hybrid vehicle in the cruise mode; The performing cruise control on the hybrid vehicle according to the target control parameter includes: The engine of the hybrid vehicle is controlled according to the target control parameter, and the motor of the hybrid vehicle is controlled according to the motor recovery torque of the hybrid vehicle in the cruise mode.

7. The method according to claim 6, characterized in that The determining the motor recovery torque of the hybrid vehicle in the cruise mode includes: determining a speed difference between a current speed of the hybrid vehicle and a target speed, wherein the target speed is a desired speed set by a user when the hybrid vehicle enters a cruise mode; The motor recovery torque of the hybrid vehicle in the cruise mode is determined according to the vehicle speed difference.

8. A cruise control device for a hybrid vehicle, characterized in that: The device comprises: an acquisition unit, configured to acquire the slope of the road on which the hybrid vehicle is located after determining that the hybrid vehicle enters the cruise mode; a comparison unit, configured to compare the slope of the road on which the hybrid vehicle is located with a preset slope threshold to obtain a comparison result; A control unit is used to determine a target control parameter of the hybrid vehicle based on the comparison result, and perform cruise control on the hybrid vehicle according to the target control parameter.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program executable on the processor, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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