Vehicle speed control method and related equipment

Abstract

The invention relates to a vehicle speed control method and related equipment, and the method comprises the steps: responding to a vehicle speed control instruction, and obtaining a real-time operation parameter and an expected vehicle speed of a vehicle; obtaining the request torque of the vehicle based on the real-time operation parameters and the expected vehicle speed; the real-time feedback torque of the vehicle is obtained; based on the real-time feedback torque and the request torque, the target output torque of the vehicle is obtained; and controlling the speed of the vehicle based on the target output torque to enable the vehicle to reach the expected speed. The problems that in the prior art, the braking mode of reducing the vehicle speed through friction force between a brake pad and wheels and finally stopping the vehicle depends on physical friction, and although the braking mode is effective, abrasion and energy consumption of the vehicle are increased to a certain degree are solved.

Description

Background Art

[0002] At present, the technology of the entire electric sightseeing car is still very traditional, and the vehicle's motor control chip (MCU) is often controlled directly by manually stepping on the accelerator pedal. That is, after stepping on the accelerator pedal, the motor control chip directly looks up the table to output torque drive according to the depth of the accelerator pedal. After releasing the accelerator pedal, the motor control chip stops the torque output, and the foot brake is stepped on to slow down and stop through the brake pads.

[0003] However, this braking method that reduces vehicle speed and eventually stops the vehicle through the friction between the brake pads and the wheels relies on physical friction. Although it is effective, it increases vehicle wear and energy consumption to a certain extent. Summary of the invention

[0004] In order to overcome the problem that the braking method in the prior art reduces the vehicle speed and eventually stops the vehicle by the friction between the brake pads and the wheels, which relies on physical friction and although it is effective, it increases the wear and energy consumption of the vehicle to a certain extent, the present application provides a vehicle speed control method and related equipment.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a vehicle speed control method, comprising:

[0006] Responding to the vehicle speed control instruction, obtaining the real-time operating parameters and the expected vehicle speed of the vehicle;

[0007] Based on the real-time operating parameters and the desired vehicle speed, a requested torque of the vehicle is obtained;

[0008] Get the real-time feedback torque of the vehicle;

[0009] Obtaining a target output torque of the vehicle based on the real-time feedback torque and the requested torque;

[0010] The vehicle speed is controlled based on the target output torque so that the vehicle reaches a desired speed.

[0011] In a second aspect, the present application also provides a vehicle speed control device, comprising:

[0012] A first acquisition module, for acquiring real-time operating parameters and a desired vehicle speed of the vehicle in response to a vehicle speed control instruction;

[0013] A first obtaining module, for obtaining a requested torque of the vehicle based on real-time operating parameters and a desired vehicle speed;

[0014] A second acquisition module, used for acquiring the real-time feedback torque of the vehicle;

[0015] A second obtaining module is used to obtain a target output torque of the vehicle based on the real-time feedback torque and the request torque;

[0016] The control module is used for controlling the speed of the vehicle based on the target output torque so that the vehicle reaches a desired speed.

[0017] In a third aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle speed control method.

[0018] In a fourth aspect, the present application further provides a vehicle, comprising:

[0019] Memory, for storing programs running on the processor;

[0020] A processor is used to execute a program to implement the steps of the vehicle speed control method according to any one of claims 1 to 7.

[0021] The beneficial effects of the present application are as follows: first, in response to the vehicle speed control instruction, the real-time operating parameters and the expected speed of the vehicle are obtained, and then based on the real-time operating parameters and the expected speed, the requested torque of the vehicle is obtained, and then the real-time feedback torque of the vehicle is obtained, and based on the real-time feedback torque and the requested torque, the target output torque of the vehicle is obtained, and finally the speed of the vehicle is controlled based on the target output torque so that the vehicle reaches the expected speed. In this way, the target output torque of the vehicle not only takes into account the influence of the real-time operating parameters and the expected speed of the vehicle, but also takes into account the influence of the real-time feedback torque of the vehicle in real time, so as to achieve real-time fine regulation of the output torque of the vehicle, and even when the vehicle is in a use scenario with large slope changes and large load changes, the speed of the vehicle can be accurately and stably controlled in time, so as to improve the control accuracy and stability. At the same time, when the vehicle is driving on a long downhill road, it only needs to step on the foot brake once to reach the expected speed in time, so as to reduce the number of times the brake pad is used, and extend the service life of the brake pad, so as to reduce the wear and energy consumption of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic flow chart of a vehicle speed control method according to an exemplary embodiment of the present application;

[0023] Figure 2 A schematic diagram of a preset motor torque characteristic diagram in an exemplary embodiment of the present application;

[0024] Figure 3 This is a flow chart of a vehicle speed control method provided by the application in an exemplary embodiment of the present application;

[0025] Figure 4The present invention is a schematic structural diagram of a vehicle speed control device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0026] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0027] In the related art, when a vehicle is in a usage scenario with a large slope change or a large load change, a traditional PID control algorithm is often used to control the vehicle's driving.

[0028] However, in scenarios with large slope changes and large load changes, the traditional PID control algorithm has poor control accuracy and stability for the vehicle's speed. At the same time, when the vehicle is traveling on a long downhill road, frequently stepping on the foot brake to control the speed will cause severe wear of the brake pads and reduce the service life of the brake pads.

[0029] In view of this, the present application provides a vehicle speed control method and related equipment to solve the above technical problems.

[0030] A vehicle speed control method is disclosed in an embodiment of the present application. The method is applied to a terminal device. In the present application scheme, the terminal device is used as the execution subject to illustrate the present application scheme. The terminal device is used to execute the steps of a vehicle speed control method.

[0031] See also Figure 1 , Figure 1 A vehicle speed control method is shown as an exemplary embodiment of the present application. Figure 1 As shown, the present application provides a vehicle speed control method, comprising:

[0032] Step S11, in response to the vehicle speed control instruction, obtaining the real-time operating parameters and the expected vehicle speed of the vehicle;

[0033] Step S12, obtaining a requested torque of the vehicle based on the real-time operating parameters and the expected vehicle speed;

[0034] Step S13, obtaining the real-time feedback torque of the vehicle;

[0035] Step S14, obtaining a target output torque of the vehicle based on the real-time feedback torque and the requested torque;

[0036] Step S15: controlling the vehicle speed based on the target output torque so that the vehicle reaches a desired vehicle speed.

[0037] A vehicle speed control method of this embodiment, first, in response to a vehicle speed control instruction, obtains the real-time operating parameters and the expected speed of the vehicle, then obtains the requested torque of the vehicle based on the real-time operating parameters and the expected speed, then obtains the real-time feedback torque of the vehicle, and obtains the target output torque of the vehicle based on the real-time feedback torque and the requested torque, and controls the speed of the vehicle based on the target output torque so that the vehicle reaches the expected speed. In this way, the target output torque of the vehicle not only takes into account the influence of the real-time operating parameters and the expected speed of the vehicle during the operation of the vehicle, but also takes into account the influence of the real-time feedback torque of the vehicle in real time, so as to achieve the real-time fine regulation of the output torque of the vehicle, and even when the vehicle is in a use scenario with large slope changes and large load changes, the vehicle speed can be accurately and stably controlled in time, thereby improving the control accuracy and stability. At the same time, when the vehicle is driving on a long downhill road, it only needs to step on the foot brake once to reach the expected speed in time, thereby reducing the number of times the brake pads are used and extending the service life of the brake pads, thereby reducing the wear and energy consumption of the vehicle.

[0038] In addition, compared with the traditional PID control algorithm or the feedforward PID control algorithm, the method of this embodiment not only achieves a more timely and smooth response, but also avoids the complex dynamic modeling process, thereby being able to timely adapt to the vehicle speed control in scenarios with large slope changes and large load changes.

[0039] In this embodiment, the real-time feedback torque of the vehicle is obtained from the real-time CAN message of the vehicle, and the real-time feedback torque represents the actual output torque of the vehicle at the current speed. The vehicle may be a sightseeing vehicle.

[0040] Optionally, the real-time operating parameters include the operating vehicle speed, the motor speed, and the real-time slope of the road environment in which the vehicle is located; based on the real-time operating parameters and the expected vehicle speed, the requested torque of the vehicle is obtained, including:

[0041] Based on the running vehicle speed, the expected vehicle speed and the real-time slope, the simulated accelerator pedal opening of the vehicle is obtained;

[0042] The vehicle's requested torque is obtained based on the simulated accelerator pedal opening and the motor speed.

[0043] In this embodiment, based on the real-time slope of the road environment in which the vehicle is located, it is possible to understand how much power the vehicle needs to reach the desired speed at the current running speed. Since the power of the vehicle can be directly controlled by stepping on the accelerator, the simulated accelerator pedal opening corresponding to the required power can be directly determined. Then, based on the simulated accelerator pedal opening and the current motor speed, the requested torque of the vehicle is obtained, and the amount of torque required to increase the desired speed of the vehicle at the current running speed and the current road environment can be understood. It is convenient to add the current real-time feedback torque to the requested torque to obtain the target output torque required for the desired speed of the vehicle at the current running speed and the current road environment, so as to achieve timely, accurate and stable control of the vehicle speed.

[0044] Optionally, based on the running vehicle speed, the expected vehicle speed and the real-time slope, the simulated accelerator pedal opening of the vehicle is obtained, including:

[0045] Calculate the speed difference between the running speed and the expected speed;

[0046] Find the P and I parameters corresponding to the real-time slope in the preset PID parameter table;

[0047] Based on the P parameter, I parameter and vehicle speed difference, the simulated accelerator pedal opening of the vehicle is calculated.

[0048] In this embodiment, the corresponding relationship between the real-time slope and the P parameter and I parameter in the PID control algorithm is pre-stored in the preset PID parameter table. Then, by directly looking up the P parameter and I parameter corresponding to the real-time slope in the preset PID parameter table, it is not necessary to perform actual simulation and verification every time to obtain the P parameter and I parameter corresponding to the real-time slope. The P parameter and I parameter corresponding to the real-time slope can be directly obtained by an adaptive table lookup method, thereby realizing the adaptation of the P parameter and I parameter based on the environment. Then, based on the P parameter, I parameter and vehicle speed difference, the simulated accelerator pedal opening of the vehicle is calculated, thereby improving the calculation efficiency of the simulated accelerator pedal opening, so that the speed of the subsequent vehicle can quickly converge to the desired speed, thereby improving the timeliness of the vehicle speed control.

[0049] The PID control algorithm includes a P parameter (Proportional Gain), an I parameter (Integral Time) and a D parameter (Derivative Time).

[0050] In this embodiment, the P parameter is used to adjust the response speed of the control system, and the I parameter is used to eliminate static errors. The larger the pitch angle corresponding to the real-time slope, the more timely the expected response is. In this case, the P parameter needs to be increased and the I parameter needs to be decreased. The smaller the pitch angle corresponding to the real-time slope, the less the oscillation frequency is expected to be reduced. In this case, the P parameter needs to be decreased and the I parameter needs to be increased to ensure smoother operation near the expected value.

[0051] In an exemplary embodiment, the preset PID parameter table is a one-dimensional table lookup module provided by simulink (visual simulation tool). For example, the preset PID parameter table is [1,2,3; 0.001,0.002,0.003], the first row (1,2,3) is the absolute value input of the pitch angle corresponding to the real-time slope, and the second row (0.001,0.002,0.003) is the P parameter output. Then when the absolute value of the pitch angle is 2.5, the P parameter = (2.5-2)*(0.003-0.002)+0.002, that is, the P parameter = 0.0025.

[0052] In an exemplary embodiment, the PID control algorithm uses a commonly used PID closed-loop control algorithm, and the output of the algorithm is generally the difference between the control target (referring to the desired vehicle speed of this application) and the current state (referring to the running vehicle speed of this application) feedback, so that the gap between the current state and the control target can be understood in real time, so that the control signal (referring to the target output torque of this application) can be adjusted by adjusting the P parameter, I parameter and D parameter, so that the vehicle speed in this embodiment can respond quickly and stably and reach the desired vehicle speed, so as to control the vehicle speed in time. The adjustment of the P parameter, I parameter and D parameter in this embodiment has an important impact on the performance and stability of the vehicle system.

[0053] Optionally, based on the P parameter, the I parameter and the vehicle speed difference, calculating the simulated accelerator pedal opening of the vehicle includes:

[0054] Calculate the proportional increment of the vehicle based on the P parameter and the vehicle speed difference;

[0055] Calculate the vehicle's integral accumulation based on the I parameter and the vehicle speed difference;

[0056] Obtaining the positive and negative signs of the integral accumulation amount and the vehicle speed difference; the positive and negative signs include the same positive and negative signs and the opposite positive and negative signs;

[0057] Based on the positive and negative signs, the proportional increment and the integral accumulation are calculated to obtain the simulated accelerator pedal opening of the vehicle.

[0058] In this embodiment, since the I parameter of the vehicle is always in a dynamic accumulation state, the accumulated integral of the I parameter of the vehicle up to the current moment can be known through the current I parameter and the speed difference, that is, the current accumulated integral = ∑(I n *speed_error n ), where I n Indicates the nth I parameter during vehicle operation, speed_error n It indicates the speed difference between the nth current speed and the nth expected speed during the operation of the vehicle. At the same time, based on the positive and negative signs between the integral accumulation amount and the speed difference, the driving state of the vehicle can be understood, and the driving state includes the acceleration driving state, the deceleration driving state, the acceleration-to-deceleration driving state, and the deceleration-to-acceleration driving state. That is: when the signs of the integral accumulation amount and the speed difference are both positive, it means that the vehicle is always in the acceleration driving state; when the signs of the integral accumulation amount and the speed difference are both negative, it means that the vehicle is always in the deceleration driving state; when the sign of the integral accumulation amount is positive and the sign of the speed difference is negative, it means that the vehicle suddenly needs to decelerate from accelerating driving; when the sign of the integral accumulation amount is negative and the sign of the speed difference is positive, it means that the vehicle suddenly needs to accelerate from decelerating driving.

[0059] In this embodiment, the product of the P parameter and the speed difference is used as the proportional increment of the vehicle, and when the positive and negative signs are the same, the sum of the proportional increment and the integral accumulation is used as the simulated accelerator pedal opening of the vehicle. Then, based on the positive and negative signs between the integral accumulation and the speed difference, the proportional increment and the integral accumulation are calculated to obtain the simulated accelerator pedal opening of the vehicle. The simulated accelerator pedal opening of the vehicle can be dynamically adjusted considering the positive and negative signs between the integral accumulation and the speed difference, so that the subsequent vehicle responds faster to the expected vehicle speed based on the simulated accelerator pedal opening, thereby improving the timeliness of the vehicle reaching the expected vehicle speed.

[0060] Optionally, based on the positive and negative signs, the proportional increment and the integral accumulation are calculated to obtain the simulated accelerator pedal opening of the vehicle, including:

[0061] When the positive and negative signs are the same, the sum of the proportional increment and the integral accumulation is calculated to obtain the simulated accelerator pedal opening of the vehicle;

[0062] When the positive and negative signs are opposite, the integral accumulation amount is cleared;

[0063] The integral accumulation amount is updated based on the I parameter and the vehicle speed difference to obtain a new integral accumulation amount;

[0064] The sum of the proportional increment and the new integral accumulation is calculated to obtain the simulated accelerator pedal opening of the vehicle.

[0065] In this embodiment, when the positive and negative signs are opposite, the integral accumulation is cleared to reduce the delay interference of the reverse I parameter on the vehicle, avoid the delay of the I parameter and the control direction of the current driving state being too large, and use the product of the current I parameter and the speed difference as the new integral accumulation to update the integral accumulation, and then use the sum of the proportional increment and the new integral accumulation as the simulated accelerator pedal opening of the vehicle. In this way, by clearing the integral accumulation, the vehicle is controlled based on the new integral accumulation corresponding to the current I parameter and the speed difference, so that the vehicle can be controlled in the same direction based on the I parameter and the current driving state in a timely manner, thereby reducing the control delay, so that the vehicle responds faster to the expected vehicle speed based on the simulated accelerator pedal opening, thereby improving the timeliness of the vehicle reaching the expected vehicle speed.

[0066] The simulated accelerator pedal opening is any value greater than or equal to 0% and less than or equal to 10%. Under the simulated accelerator pedal opening, the vehicle's PID control algorithm only needs to make a small adjustment to the vehicle to make the vehicle speed reach the desired speed, reducing the control amount, thereby speeding up the vehicle's response speed to the desired speed.

[0067] Optionally, based on the simulated accelerator pedal opening and the motor speed, the requested torque of the vehicle is obtained, including:

[0068] Find the maximum motor torque corresponding to the motor speed in the preset motor torque characteristic diagram;

[0069] The accelerator pedal opening is taken as the output percentage corresponding to the maximum motor torque;

[0070] The product of the maximum motor torque and the output percentage is calculated to obtain the vehicle's requested torque.

[0071] In this embodiment, by pre-establishing a preset motor torque characteristic diagram based on the relationship between the motor speed and the corresponding maximum motor torque, the maximum motor torque corresponding to the motor speed of the present application can be directly found in the preset motor torque characteristic diagram, thereby reducing the calculation time, and multiplying the output percentage corresponding to the maximum motor torque represented by the maximum motor torque and the accelerator pedal opening, thereby improving the efficiency of obtaining the requested torque of the vehicle, facilitating the subsequent calculation of the target output torque, and controlling the vehicle according to the target output torque to quickly converge to the desired vehicle speed, so as to control the vehicle speed in a timely and stable manner.

[0072] The preset motor torque characteristic diagram of this embodiment is as follows Figure 2 As shown, Figure 2In the figure, different types of curves are used to represent the relationship between the motor speed and the vehicle's maximum motor torque, motor output power, average motor phase current, average motor phase voltage, electronic control input bus current, electronic control input bus voltage, and system efficiency.

[0073] Optionally, based on the real-time feedback torque and the requested torque, the target output torque of the vehicle is obtained, including:

[0074] Calculate the product of the real-time feedback torque and the preset feedback coefficient to obtain the basic torque;

[0075] The sum of the base torque and the request torque is calculated to obtain the target output torque of the vehicle.

[0076] In this embodiment, the requested torque reflects the amount of torque that needs to be added to achieve the desired speed under the current running speed and the current road environment. By calculating the product between the real-time feedback torque and the preset feedback coefficient, and adding the basic torque to the requested torque as the target output torque of the vehicle, the vehicle can accurately adjust the output torque to the target output torque based on the desired speed in a timely manner, so that the vehicle speed reaches the desired speed in a timely and stable manner, thereby improving the control accuracy and stability. Among them, the feedback coefficient is 0.9 to improve the torque response of the vehicle.

[0077] This embodiment is based on the superposition of the real-time feedback torque and the torque amount that needs to be increased calculated by the PID parameters to jointly achieve fast, smooth and precise control of the vehicle speed. The corresponding calculation formula is: Torque_request = Torque_PID + Torque_Motor_feedback * 90%, where Torque_request represents the target output torque, Torque_PID represents the requested torque, Torque_Motor_feedback represents the real-time feedback torque, and 90% represents the preset feedback coefficient. In this way, the PID parameters only need to calculate a very small range adjustment amount to achieve the control of a large torque similar to a lever, so that the output of the target output torque is smoother and no step is generated, so that the vehicle can be more smoothly and sensitively accelerated and decelerated to reach the desired speed, thereby achieving a fast response and precise closed loop.

[0078] See also Figure 3 , Figure 3 In an exemplary embodiment of the present application, a flow chart of a vehicle speed control method provided by the application is shown as follows: Figure 3 As shown, the specific implementation steps include:

[0079] The real-time slope of the road environment where the vehicle is located is detected by using a slope measuring device, and the P parameter and I parameter corresponding to the real-time slope are found in the preset PID parameter table (PI_Map table). The speed difference (speed deviation) between the current running speed of the vehicle and the expected speed is calculated as the PID input of the feedback PID control algorithm of the PID module in the vehicle controller (VCU, Vehicle Control Unit) of the vehicle, and the PID control algorithm is used to calculate the simulated accelerator pedal opening (accelerator pedal opening percentage) of the vehicle based on the P parameter, I parameter and speed difference. The maximum motor torque corresponding to the current motor speed of the vehicle is found in the preset motor torque characteristic diagram, and the accelerator pedal opening is used as the output percentage corresponding to the maximum motor torque. The product of the maximum motor torque and the output percentage is calculated to obtain the requested torque of the vehicle. The current real-time feedback torque of the vehicle is obtained from the real-time CAN message of the vehicle. The preset feedback coefficient of the real-time feedback torque is 0.9, and the product of the real-time feedback torque and the preset feedback coefficient is calculated to obtain the basic torque, and the sum of the basic torque and the requested torque is calculated to obtain the target output torque (requested torque output) of the vehicle.

[0080] See also Figure 4 , Figure 4 A vehicle speed control device is shown as an exemplary embodiment of the present application, such as Figure 4 As shown, the present application provides a vehicle speed control device 400, comprising:

[0081] A first acquisition module 401 is used to acquire real-time operating parameters and expected vehicle speed of the vehicle in response to a vehicle speed control instruction;

[0082] A first obtaining module 402 is used to obtain a requested torque of the vehicle based on the real-time operating parameters and the expected vehicle speed;

[0083] The second acquisition module 403 is used to acquire the real-time feedback torque of the vehicle;

[0084] A second obtaining module 404 is used to obtain a target output torque of the vehicle based on the real-time feedback torque and the requested torque;

[0085] The control module 405 is used to control the speed of the vehicle based on the target output torque so that the vehicle reaches a desired speed.

[0086] A vehicle speed control device of this embodiment, first, in response to the vehicle speed control instruction, obtains the real-time operating parameters and the expected speed of the vehicle through the first acquisition module 401, then obtains the requested torque of the vehicle based on the real-time operating parameters and the expected speed using the first acquisition module 402, then obtains the real-time feedback torque of the vehicle using the second acquisition module 403, and obtains the target output torque of the vehicle based on the real-time feedback torque and the requested torque using the second acquisition module 404, and controls the speed of the vehicle based on the target output torque using the acquisition module 405, so that the vehicle reaches the expected speed. In this way, the target output torque of the vehicle not only considers the influence of the real-time operating parameters and the expected speed of the vehicle during the operation of the vehicle, but also considers the influence of the real-time feedback torque of the vehicle in real time, so as to achieve the real-time fine regulation of the output torque of the vehicle, and even when the vehicle is in the use scenario of large slope changes and large load changes, the vehicle speed can be accurately and stably controlled in time, so as to improve the control accuracy and stability, and at the same time, the vehicle can reach the expected speed in time by stepping on the foot brake once when driving on a long downhill road, so as to reduce the number of times the brake pad is used, and prolong the service life of the brake pad, so as to reduce the wear and energy consumption of the vehicle.

[0087] Optionally, the real-time operating parameters include the operating speed, the motor speed and the real-time slope of the road environment where the vehicle is located; the first obtaining module is specifically used for:

[0088] Based on the running vehicle speed, the expected vehicle speed and the real-time slope, the simulated accelerator pedal opening of the vehicle is obtained;

[0089] The vehicle's requested torque is obtained based on the simulated accelerator pedal opening and the motor speed.

[0090] Optionally, the first module is specifically used to:

[0091] Calculate the speed difference between the running speed and the expected speed;

[0092] Find the P and I parameters corresponding to the real-time slope in the preset PID parameter table;

[0093] Based on the P parameter, I parameter and vehicle speed difference, the simulated accelerator pedal opening of the vehicle is calculated.

[0094] Optionally, the first module is specifically used to:

[0095] Calculate the proportional increment of the vehicle based on the P parameter and the vehicle speed difference;

[0096] Calculate the vehicle's integral accumulation based on the I parameter and the vehicle speed difference;

[0097] Obtaining the positive and negative signs of the integral accumulation amount and the vehicle speed difference; the positive and negative signs include the same positive and negative signs and the opposite positive and negative signs;

[0098] Based on the positive and negative signs, the proportional increment and the integral accumulation are calculated to obtain the simulated accelerator pedal opening of the vehicle.

[0099] Optionally, the first module is specifically used to:

[0100] When the positive and negative signs are the same, the sum of the proportional increment and the integral accumulation is calculated to obtain the simulated accelerator pedal opening of the vehicle;

[0101] When the positive and negative signs are opposite, the integral accumulation amount is cleared;

[0102] The integral accumulation amount is updated based on the I parameter and the vehicle speed difference to obtain a new integral accumulation amount;

[0103] The sum of the proportional increment and the new integral accumulation is calculated to obtain the simulated accelerator pedal opening of the vehicle.

[0104] Optionally, the first module is specifically used to:

[0105] Find the maximum motor torque corresponding to the motor speed in the preset motor torque characteristic diagram;

[0106] The accelerator pedal opening is taken as the output percentage corresponding to the maximum motor torque;

[0107] The product of the maximum motor torque and the output percentage is calculated to obtain the vehicle's requested torque.

[0108] Optionally, the second obtaining module is specifically used for:

[0109] Calculate the product of the real-time feedback torque and the preset feedback coefficient to obtain the basic torque;

[0110] The sum of the base torque and the request torque is calculated to obtain the target output torque of the vehicle.

[0111] It should be noted that the vehicle speed control device provided in the above embodiment and the vehicle speed control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the vehicle speed control device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0112] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned vehicle speed control method are executed.

[0113] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0114] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0115] A vehicle in an embodiment of the present application includes:

[0116] Memory, for storing programs running on the processor;

[0117] The processor is used to execute the program to implement the steps of the above-mentioned vehicle speed control method.

[0118] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the apparatus, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two 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 box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, 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.

[0119] Those skilled in the art know that the present application can be implemented as a device, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0120] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0121] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle speed control method, characterized in that: include: Responding to the vehicle speed control instruction, obtaining the real-time operating parameters and the expected vehicle speed of the vehicle; deriving a requested torque of the vehicle based on the real-time operating parameter and the desired vehicle speed; Obtaining real-time feedback torque of the vehicle; Obtaining a target output torque of the vehicle based on the real-time feedback torque and the request torque; The vehicle is speed-controlled based on the target output torque so that the vehicle reaches the desired vehicle speed.

2. The method according to claim 1, characterized in that The real-time operating parameters include the operating vehicle speed, the motor speed, and the real-time slope of the road environment where the vehicle is located; and obtaining the requested torque of the vehicle based on the real-time operating parameters and the expected vehicle speed includes: Based on the running vehicle speed, the expected vehicle speed and the real-time slope, obtaining a simulated accelerator pedal opening of the vehicle; A requested torque of the vehicle is obtained based on the simulated accelerator pedal opening and the motor speed.

3. The method according to claim 2, characterized in that The obtaining of the simulated accelerator pedal opening of the vehicle based on the running vehicle speed, the expected vehicle speed and the real-time slope includes: calculating a vehicle speed difference between the operating vehicle speed and the expected vehicle speed; Find the P parameter and I parameter corresponding to the real-time slope in the preset PID parameter table; Based on the P parameter, the I parameter and the vehicle speed difference, a simulated accelerator pedal opening of the vehicle is calculated.

4. The method according to claim 3, characterized in that The calculating the simulated accelerator pedal opening of the vehicle based on the P parameter, the I parameter and the vehicle speed difference includes: Calculating a proportional increment of the vehicle based on the P parameter and the vehicle speed difference; Calculating an integral accumulation amount of the vehicle based on the I parameter and the vehicle speed difference; Obtaining the positive and negative signs of the integral accumulation amount and the vehicle speed difference; the positive and negative signs include the same positive and negative signs and opposite positive and negative signs; Based on the positive and negative signs, the proportional increment and the integral accumulation are calculated to obtain the simulated accelerator pedal opening of the vehicle.

5. The method according to claim 4, characterized in that The calculating of the proportional increment and the integral accumulation based on the positive and negative signs to obtain the simulated accelerator pedal opening of the vehicle includes: When the positive and negative signs are the same, calculating the sum of the proportional increment and the integral accumulation to obtain the simulated accelerator pedal opening of the vehicle; When the positive and negative signs are opposite, the integral accumulation amount is cleared; The integral accumulation amount is updated based on the I parameter and the vehicle speed difference to obtain a new integral accumulation amount; The sum of the proportional increment and the new integral accumulation is calculated to obtain the simulated accelerator pedal opening of the vehicle.

6. The method according to claim 2, characterized in that The step of obtaining the requested torque of the vehicle based on the simulated accelerator pedal opening and the motor speed includes: Find out the maximum motor torque corresponding to the motor speed in the preset motor torque characteristic diagram; Taking the accelerator pedal opening as the output percentage corresponding to the maximum motor torque; The product of the maximum motor torque and the output percentage is calculated to obtain the requested torque of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that: The step of obtaining the target output torque of the vehicle based on the real-time feedback torque and the request torque includes: Calculating the product of the real-time feedback torque and a preset feedback coefficient to obtain a basic torque; The sum of the basic torque and the request torque is calculated to obtain a target output torque of the vehicle.

8. A vehicle speed control device, characterized in that: include: A first acquisition module, for acquiring real-time operating parameters and a desired vehicle speed of the vehicle in response to a vehicle speed control instruction; A first obtaining module, configured to obtain a requested torque of the vehicle based on the real-time operating parameter and the expected vehicle speed; A second acquisition module, used for acquiring the real-time feedback torque of the vehicle; A second obtaining module, configured to obtain a target output torque of the vehicle based on the real-time feedback torque and the request torque; A control module is used for controlling the speed of the vehicle based on the target output torque so that the vehicle reaches the desired vehicle speed.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle-based speed control method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that: include: Memory, for storing programs running on the processor; A processor is used to execute the program to implement the steps of the vehicle speed control method as described in any one of claims 1 to 7.

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