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

Abstract

The application provides a cruise control method and device of a hybrid vehicle, an electronic device 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, the slope of the road where the hybrid vehicle is located is compared with a preset slope threshold value to determine a target control parameter suitable for the current road slope. Then, the hybrid vehicle is controlled based on the target control parameter, so that the hybrid vehicle always operates under the working condition suitable for the current road slope, thereby improving the fuel efficiency of the hybrid vehicle in the cruise mode.

Description

Technical Field

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

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

[0003] Traditional hybrid vehicle cruise control methods do not take into account the impact of road gradient on cruise mode, resulting in lower fuel efficiency for hybrid vehicles in cruise mode. Summary of the Invention

[0004] To address the problems in the prior art, embodiments of this application provide a cruise control method, device, electronic device, and storage medium for hybrid vehicles, thereby improving the fuel efficiency of hybrid vehicles in cruise mode.

[0005] In a first aspect, embodiments of this application provide a cruise control method for a hybrid vehicle, the method comprising:

[0006] After determining that the hybrid vehicle has entered cruise mode, the gradient of the road where the hybrid vehicle is located is obtained;

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

[0008] Based on the comparison results, the target control parameters of the hybrid vehicle are determined, and cruise control of the hybrid vehicle is performed according to the target control parameters.

[0009] In one possible implementation, determining the target control parameters 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 the first slope threshold and less than the second slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be normal slope, the first slope threshold is less than zero, and the second slope 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 slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be a steep downhill slope, and the third slope threshold is less than or equal to the first slope threshold.

[0012] The target control parameters of the hybrid vehicle are determined based on the slope type of the road where the hybrid vehicle is located.

[0013] In one possible implementation, determining the target control parameters of the hybrid vehicle based on 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 normal slope, then the speed difference between the current speed and the target speed of the hybrid vehicle is determined, where the target speed is the expected speed set by the user when the hybrid vehicle enters cruise mode.

[0015] If the speed difference is greater than or equal to a preset speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the speed difference is less than the preset speed threshold, the engine torque of the hybrid vehicle is determined to be the 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 the target control parameter for the hybrid vehicle.

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

[0018] Obtain the pre-set correspondence between road gradient and engine torque;

[0019] Based on the relationship between road gradient and engine torque, the target engine torque corresponding to the gradient of the road where the hybrid vehicle is currently located is determined.

[0020] In one possible implementation, determining the target control parameters of the hybrid vehicle based on the slope type of the road where the hybrid vehicle is located includes:

[0021] If the road where the hybrid vehicle is located has a steep downhill slope, then the engine torque of the hybrid vehicle is determined to be zero.

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

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

[0024] Determine the motor regeneration torque of the hybrid vehicle in the cruise mode;

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

[0026] The engine of the hybrid vehicle is controlled according to the target control parameters, 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 one possible implementation, determining the electric motor regeneration torque of the hybrid vehicle in the cruise mode includes:

[0028] Determine the speed difference between the current speed of the hybrid vehicle and the target speed, where the target speed is the desired speed set by the user when the hybrid vehicle enters cruise mode.

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

[0030] Secondly, embodiments of this application provide a cruise control device for a hybrid vehicle, the device comprising:

[0031] The acquisition unit is used to acquire the slope of the road where the hybrid vehicle is located after determining that the hybrid vehicle has entered cruise mode.

[0032] The comparison unit 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;

[0033] The control unit is configured to determine the target control parameters of the hybrid vehicle based on the comparison results, and to perform cruise control on the hybrid vehicle according to the target control parameters.

[0034] In one possible implementation, the control unit is specifically used for:

[0035] If the comparison result is that the slope of the road where the hybrid vehicle is located is greater than the first slope threshold and less than the second slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be normal slope, the first slope threshold is less than zero, and the second slope 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 slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be a steep downhill slope, and the third slope threshold is less than or equal to the first slope threshold.

[0037] The target control parameters of the hybrid vehicle are determined based on the slope type of the road where the hybrid vehicle is located.

[0038] In one possible implementation, the control unit is specifically used for:

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

[0040] If the speed difference is greater than or equal to a preset speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the speed difference is less than the preset speed threshold, the engine torque of the hybrid vehicle is determined to be the 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 the target control parameter for the hybrid vehicle.

[0042] In one possible implementation, the control unit is specifically used for:

[0043] Obtain the pre-set correspondence between road gradient and engine torque;

[0044] Based on the relationship between road gradient and engine torque, the target engine torque corresponding to the gradient of the road where the hybrid vehicle is currently located is determined.

[0045] In one possible implementation, the control unit is specifically used for:

[0046] If the road where the hybrid vehicle is located has a steep downhill slope, then the engine torque of the hybrid vehicle is determined to be zero.

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

[0048] In one possible implementation, the control unit is further configured to:

[0049] Determine the motor regeneration torque of the hybrid vehicle in the cruise mode;

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

[0051] The engine of the hybrid vehicle is controlled according to the target control parameters, 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 one possible implementation, the control unit is specifically used for:

[0053] Determine the speed difference between the current speed of the hybrid vehicle and the target speed, where the target speed is the desired speed set by the user when the hybrid vehicle enters cruise mode.

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

[0055] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the computer program is executed by the processor, it implements the method described in any one of the cruise control methods for hybrid vehicles in the first aspect.

[0056] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method described in any one of the cruise control methods for hybrid vehicles in the first aspect.

[0057] The technical solution provided in this application has at least the following beneficial effects:

[0058] The cruise control method for hybrid vehicles provided in this application determines a target control parameter suitable for the current road slope by comparing the slope of the road where the hybrid vehicle is located with a preset slope threshold after determining that the hybrid vehicle has entered 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 conditions suitable for the current road slope, thereby improving the fuel efficiency of the hybrid vehicle in cruise mode. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A flowchart illustrating a cruise control method for a hybrid vehicle provided in this application embodiment;

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

[0062] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] It should be noted that the terms "comprising" and "having" and their variations used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

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

[0066] Traditional hybrid vehicle cruise control methods do not take into account the impact of road gradient on cruise mode, resulting in lower fuel efficiency for hybrid vehicles in cruise mode.

[0067] Based on this, the present application provides a cruise control method for a hybrid vehicle. After determining that the hybrid vehicle has entered cruise mode, the method compares the slope of the road where the hybrid vehicle is located with a preset slope threshold to determine a target control parameter suitable for the current road slope. Then, the method performs cruise control on the hybrid vehicle based on the target control parameter, so that the hybrid vehicle always operates under conditions suitable for the current road slope, thereby improving the fuel efficiency of the hybrid vehicle in cruise mode.

[0068] Figure 1 A flowchart illustrating a cruise control method for a hybrid vehicle according to an embodiment of this application is shown. This 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 has entered cruise mode, obtain the slope of the road where the hybrid vehicle is located.

[0070] When a hybrid vehicle user needs to enter cruise control mode, they can press the relevant button inside the vehicle, or they can set the desired speed through voice control to put the hybrid vehicle into cruise control mode. After confirming that the hybrid vehicle has entered cruise control mode, the current road gradient can be obtained.

[0071] In one alternative implementation, the slope of the road where the hybrid vehicle is currently located can be obtained through an inertial measurement unit. Specifically, the slope of the road where the hybrid vehicle is currently located can be determined based on the acceleration and angular velocity provided by the inertial measurement unit.

[0072] In another alternative implementation, GPS signals can be used to measure the current location of the hybrid vehicle, and the slope of the road where the hybrid vehicle is currently located can be determined by calculating the height difference and horizontal distance between two or more location points.

[0073] In another alternative implementation, radar or laser ranging equipment can be used to measure the height changes of the road in front of the hybrid vehicle in real time, thereby determining the slope of the road where the hybrid vehicle is currently located.

[0074] In another alternative implementation, the gradient of the road where the hybrid vehicle is currently located can also be determined using high-precision map data from the vehicle navigation system.

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

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

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

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

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

[0080] Among them, the threshold of the third ramp is less than or equal to the threshold of the first ramp.

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

[0082] Among them, the threshold of the fourth ramp is greater than or equal to the threshold of the second ramp.

[0083] Step S103: Determine the target control parameters of the hybrid vehicle based on the comparison results, and perform cruise control on the hybrid vehicle according to the target control parameters.

[0084] Based on the comparison between 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 control the hybrid vehicle for cruise control.

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

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

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

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

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

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

[0091] The torque in the engine's optimal fuel consumption range was pre-calibrated through experiments.

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

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

[0094] When a hybrid vehicle is driving down a steep slope, the engine torque of the hybrid vehicle can be determined to be zero, causing the engine to stop and the vehicle to coast. After the hybrid vehicle reaches the target speed set by the user, the speed difference between the current speed 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 can be determined as the proportional term of the motor recovery torque of the hybrid vehicle. This proportional term can be used to quickly adjust the motor recovery torque by directly responding to the vehicle speed difference, thereby reducing the vehicle speed difference.

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

[0097] The integral term represents the cumulative value of the vehicle speed difference, used to eliminate steady-state speed difference. That is, under conditions of a persistent speed difference, the accumulated speed difference causes the motor's regenerative torque to continuously adjust until the target is reached. The derivative term represents the rate of change of the vehicle speed difference. By predicting the trend of the speed difference, the derivative term provides additional adjustment, enhancing the stability of vehicle speed control and reducing overshoot and oscillation.

[0098] Finally, the sum of the proportional, integral, and derivative terms can be used as the motor recovery torque of the hybrid vehicle, thereby controlling the kinetic energy recovery of the hybrid vehicle's motor.

[0099] By controlling the motor of the hybrid vehicle based on the motor's regenerative torque in cruise mode, the motor can recover kinetic energy, making the hybrid vehicle more fuel-efficient in cruise mode.

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

[0101] Among them, the threshold of the fourth ramp is greater than or equal to the threshold of the second ramp.

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

[0103] Specifically, the product of the vehicle speed difference and the proportional gain can be determined as the proportional term of the engine torque of the hybrid vehicle. This proportional term can quickly adjust the output of the engine torque by responding directly to the vehicle speed difference, thereby reducing the vehicle speed difference.

[0104] Then, the vehicle speed difference can be integrated and differentiated, and the results can be multiplied by the integral gain and differential gain, respectively, to serve as the integral and differential terms of the engine torque of the hybrid vehicle. The integral term is the cumulative value of the vehicle speed difference, which is used to eliminate the steady-state vehicle speed difference. That is, under the condition of a continuous vehicle speed difference, the engine torque output is continuously adjusted by accumulating the vehicle speed difference to eventually reach the target. The differential term is the rate of change of the vehicle speed difference, which can provide additional adjustment by predicting the trend of the vehicle speed difference, thereby enhancing the stability of vehicle speed control and reducing overshoot and oscillation.

[0105] Finally, the sum of the proportional, integral, and derivative terms can be used as the engine torque of the hybrid vehicle, thereby controlling the output torque of the hybrid vehicle's engine.

[0106] This application provides a cruise control method for a hybrid vehicle. After determining that the hybrid vehicle has entered cruise mode, it determines a target control parameter suitable for the current road slope by comparing the slope of the road where the hybrid vehicle is located with a preset slope threshold. Then, based on the target control parameter, it performs cruise control on the hybrid vehicle, so that the hybrid vehicle's engine operates in the optimal fuel consumption zone, or the hybrid vehicle's engine is shut down for coasting, thereby reducing the vehicle's kinetic energy loss. Furthermore, this application embodiment can also recover kinetic energy by providing regenerative torque through the electric motor when the hybrid vehicle is driving downhill on a steep slope, thereby further improving the fuel efficiency of the hybrid vehicle in cruise mode.

[0107] Based on the same inventive concept, this invention also provides a structural schematic diagram of a cruise control device for a hybrid vehicle, as shown in the following embodiment. 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 has entered 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 the target control parameters of the hybrid vehicle based on the comparison results, and to perform cruise control on the hybrid vehicle according to the target control parameters.

[0111] In one possible implementation, the control unit 203 is specifically used for:

[0112] If the comparison result shows that the slope of the road where the hybrid vehicle is located is greater than the first slope threshold and less than the second slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be normal slope, the first slope threshold is less than zero, and the second slope threshold is greater than or equal to zero.

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

[0114] The target control parameters for the hybrid vehicle are determined based on the slope type of the road where the hybrid vehicle is located.

[0115] In one possible implementation, the control unit 203 is specifically used for:

[0116] If the slope type of the road where the hybrid vehicle is located is normal slope, then determine the speed difference between the current speed and the target speed of the hybrid vehicle. The target speed is the expected speed set by the user when the hybrid vehicle enters cruise mode.

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

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

[0119] In one possible implementation, the control unit 203 is specifically used for:

[0120] Obtain the pre-set correspondence between road gradient and engine torque;

[0121] Based on the relationship between road gradient and engine torque, determine the target engine torque corresponding to the gradient of the road where the hybrid vehicle is currently located.

[0122] In one possible implementation, the control unit 203 is specifically used for:

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

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

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

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

[0127] Cruise control of the hybrid vehicle is performed based on target control parameters, including:

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

[0129] In one possible implementation, the control unit 203 is specifically used for:

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

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

[0132] Based on the same inventive concept, this application also provides an electronic device, which may be the ECU mentioned above. This electronic device includes at least a memory for storing data and a processor. The processor for data processing can be implemented using a microprocessor, CPU, GPU (Graphics Processing Unit), DSP, or FPGA. The memory stores operation instructions, which can be computer-executable code, to implement the various steps in the cruise control method for a hybrid vehicle described in this application.

[0133] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this 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, processor 302, and data acquisition module 303 are all connected via the bus 304, which is used for data transmission between the memory 301, processor 302, and data acquisition module 303.

[0134] The memory 301 can be used to store software programs and modules. 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 for a hybrid vehicle provided in this application embodiment. The memory 301 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs of at least one application, etc.; the data storage area may store data created based on the use of the electronic device 300, etc. In addition, the memory 301 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0135] The processor 302 is the control center of the electronic device 300. It connects various parts of the electronic device 300 via the bus 304 and various interfaces and lines. It 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 by calling data stored in the memory 301. Optionally, the processor 302 may include one or more processing units, such as a CPU, GPU (Graphics Processing Unit), or digital processing unit.

[0136] This application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer program can be used to implement the cruise control method for a hybrid vehicle described in any embodiment of this application.

[0137] In some possible implementations, various aspects of the cruise control method for hybrid vehicles provided in this application can also be implemented as a program product, comprising program code. When the program product is run on a computer device, the program code causes the computer device to perform the steps of the cruise control method for hybrid vehicles according to the various exemplary embodiments of this application described above. For example, the computer device can perform actions such as... Figure 1 The flowchart illustrates the cruise control method for hybrid vehicles.

[0138] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0139] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0140] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0141] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0142] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A cruise control method for a hybrid vehicle, characterized in that, The method includes: After determining that the hybrid vehicle has entered cruise mode, the gradient of the road where the hybrid vehicle is located is obtained; The slope of the road where the hybrid vehicle is located is compared with a preset slope threshold to obtain the comparison result; If the comparison result is that the slope of the road where the hybrid vehicle is located is greater than the first slope threshold and less than the second slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be normal slope, the first slope threshold is less than zero, and the second slope threshold is greater than or equal to zero. Determine the speed difference between the current speed and the target speed of the hybrid vehicle, wherein the target speed is the desired speed set by the user when the hybrid vehicle enters cruise mode. If the speed difference is greater than or equal to a preset speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the speed difference is less than the preset speed threshold, the engine torque of the hybrid vehicle is determined to be the 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 the target control parameter of the hybrid vehicle, and cruise control of the hybrid vehicle is performed according to the target control parameter.

2. The method according to claim 1, characterized in that, After obtaining the comparison results, the process also includes: If the comparison result is that the slope of the road where the hybrid vehicle is located is less than the third slope threshold, then the slope type of the road where the hybrid vehicle is located is determined to be a steep downhill slope, and the third slope threshold is less than or equal to the first slope threshold. The target control parameters of the hybrid vehicle are determined based on the slope type of the road where the hybrid vehicle is located. The determined engine torque of the hybrid vehicle is used as the target control parameter for the hybrid vehicle.

3. The method according to claim 1, characterized in that, Determining the engine torque of the hybrid vehicle to be the target engine torque corresponding to the slope of the road where the hybrid vehicle is located includes: Obtain the pre-set correspondence between road gradient and engine torque; Based on the relationship between road gradient and engine torque, the target engine torque corresponding to the gradient of the road where the hybrid vehicle is currently located is determined.

4. The method according to claim 2, characterized in that, Determining the target control parameters of the hybrid vehicle based on the slope type of the road where the hybrid vehicle is located includes: If the road where the hybrid vehicle is located has a steep downhill slope, then the engine torque of the hybrid vehicle is determined to be zero. The determined engine torque of the hybrid vehicle is used as the target control parameter for the hybrid vehicle.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Determine the motor regeneration torque of the hybrid vehicle in the cruise mode; The step of performing cruise control on the hybrid vehicle according to the target control parameters includes: The engine of the hybrid vehicle is controlled according to the target control parameters, and the motor of the hybrid vehicle is controlled according to the motor recovery torque of the hybrid vehicle in the cruise mode.

6. The method according to claim 5, characterized in that, Determining the motor regeneration torque of the hybrid vehicle in the cruise mode includes: Determine the speed difference between the current speed of the hybrid vehicle and the target speed, where the target speed is the desired speed set by the user when the hybrid vehicle enters cruise mode. The motor recovery torque of the hybrid vehicle in the cruise mode is determined based on the vehicle speed difference.

7. A cruise control device for a hybrid vehicle, characterized in that, The device includes: The acquisition unit is used to acquire the slope of the road where the hybrid vehicle is located after determining that the hybrid vehicle has entered cruise mode. The comparison unit 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; The control unit is configured to determine that the slope type of the road where the hybrid vehicle is located is normal slope if the comparison result is that the slope of the road where the hybrid vehicle is located is greater than a first slope threshold and less than a second slope threshold, wherein the first slope threshold is less than zero and the second slope threshold is greater than or equal to zero. Determine the speed difference between the current speed and the target speed of the hybrid vehicle, wherein the target speed is the desired speed set by the user when the hybrid vehicle enters cruise mode. If the speed difference is greater than or equal to a preset speed threshold, the engine torque of the hybrid vehicle is determined to be zero; if the speed difference is less than the preset speed threshold, the engine torque of the hybrid vehicle is determined to be the 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 the target control parameter of the hybrid vehicle, and cruise control of the hybrid vehicle is performed according to the target control parameter.

8. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the computer program is executed by the processor, it implements the method of any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.

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