A method, device, electronic device and medium for controlling vehicle automatic cruise control

Abstract

The present application provides a control method, device, electronic device, and medium for vehicle automatic cruise control. The control method includes: determining the target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear; determining the initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current vehicle handle opening; determining the target current of the vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current; determining the target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current vehicle handle opening; adjusting the current current of the vehicle travel pump based on the target current, and adjusting the current speed of the vehicle engine based on the target speed. This method not only enables the vehicle to cruise automatically under various road conditions, reduces driver intervention, but also improves driving comfort and safety.

Description

Technical Field

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

[0002] As agricultural modernization continues, the scale of agricultural production continues to expand, and farmland is also growing. Vehicle speed plays a crucial role in the quality of many agricultural operations, such as seeding, spraying, and cutting. For example, in seeding, a stable speed is crucial for ensuring uniform seed spacing. Traditionally, agricultural machinery relies on manual speed control by the driver.

[0003] However, it is difficult to maintain a constant speed when manually controlling the vehicle, especially during long driving periods or large-scale farmland operations. Driver fatigue and distraction can easily lead to speed fluctuations, affecting the quality of operations. In addition, manual operations have a slow response speed and cannot quickly adapt to changes in road conditions. For example, in complex terrain or sudden situations, operation delays may occur, increasing the risk of accidents. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a control method, device, electronic device and medium for vehicle automatic cruise, which not only realizes automatic cruise of the vehicle under various road conditions, reduces driver intervention, but also significantly improves driving comfort and safety.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling vehicle automatic cruise control, the method comprising:

[0007] Get the vehicle's body tilt angle;

[0008] determining a target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position;

[0009] Determine the initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current opening of the vehicle handle;

[0010] determining a target current of a vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current;

[0011] determining a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle;

[0012] Based on the target current, the current of the vehicle's travel pump is adjusted, and based on the target speed, the speed of the vehicle's engine is adjusted so that the vehicle's speed reaches the target speed.

[0013] Preferably, determining the target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position includes:

[0014] The product of the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear position is determined as the initial vehicle speed;

[0015] determining a correction ratio of the vehicle based on a preset angle range within which the vehicle body tilt angle is located;

[0016] The product of the initial vehicle speed and the angle coefficient is determined as the target vehicle speed of the vehicle.

[0017] Preferably, the determining the target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine and the current opening of the vehicle handle comprises:

[0018] Determining a target speed of the vehicle engine corresponding to the field mode based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle;

[0019] The target speed of the vehicle engine corresponding to the road mode is determined based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, the current opening of the vehicle handle and the current opening of the vehicle hand throttle.

[0020] Preferably, adjusting the current of the vehicle travel pump based on the target current includes:

[0021] determining a regulation deviation of the vehicle travel pump based on the target current, the current current of the vehicle travel pump, the supply voltage of the vehicle battery, the voltage offset of the output diode, the target current of the vehicle travel pump at a previous moment, and the target currents of the vehicle travel pump at two previous moments;

[0022] Based on the regulation deviation, the current of the vehicle travel pump is adjusted.

[0023] Preferably, the control method further includes:

[0024] When the opening of the vehicle solenoid valve is at its maximum and the current vehicle speed cannot reach the target vehicle speed, determining the initial vehicle engine speed when the current of the vehicle travel pump is at its maximum current state based on the target vehicle speed, a proportional coefficient between the vehicle engine speed and the hydraulic pump speed, the current displacement of the vehicle hydraulic pump, and the current displacement of the vehicle hydraulic motor;

[0025] The product of the preset adjustment margin parameter and the initial speed is determined as the target speed of the vehicle engine when the current of the vehicle travel pump is in the maximum current state.

[0026] Preferably, the control method further includes:

[0027] determining whether the vehicle is within a first predetermined range from the boundary of the target field;

[0028] If the vehicle is within a first preset range from the boundary of the target field, the vehicle is decelerated to a target speed, and a determination is made as to whether the target agricultural vehicle has reached the boundary of the target field;

[0029] If the target agricultural vehicle reaches the boundary of the target field, the vehicle turns.

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

[0031] An acquisition module is used to obtain the vehicle's body tilt angle;

[0032] a target vehicle speed determination module, which determines a target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position;

[0033] an initial current determination module, which determines the initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current opening of the vehicle handle;

[0034] a target current determination module, which determines a target current of a vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current;

[0035] a target speed determination module, which determines a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle;

[0036] The adjustment module adjusts the current of the vehicle's travel pump based on the target current, and adjusts the speed of the vehicle's engine based on the target speed, so that the vehicle's speed reaches the target speed.

[0037] Preferably, the target vehicle speed determination module is specifically configured to:

[0038] The product of the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear position is determined as the initial vehicle speed;

[0039] determining a correction ratio of the vehicle based on a preset angle range within which the vehicle body tilt angle is located;

[0040] The product of the initial vehicle speed and the angle coefficient is determined as the target vehicle speed of the vehicle.

[0041] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle automatic cruise control method described in the first aspect or any possible implementation of the first aspect.

[0042] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle automatic cruise control method described in the first aspect or any possible implementation method of the first aspect are executed.

[0043] The embodiments of the present application provide a control method, device, electronic device and medium for automatic cruise control of a vehicle. First, the vehicle body tilt angle is obtained, and the target vehicle speed is determined in combination with the current vehicle handle opening and the maximum vehicle speed corresponding to the transmission gear. Then, the initial current of the travel pump is determined based on the dead zone current of the vehicle travel valve, the maximum current required for driving and the handle opening. Subsequently, the target current of the travel pump is determined in combination with the target vehicle speed, the current vehicle speed and the initial current, and the target engine speed is determined based on the engine idle speed, the maximum speed and the handle opening. Finally, the travel pump current and the engine speed are adjusted based on the target current and the target speed, respectively, so that the vehicle speed reaches the target speed. In this way, not only is the automatic cruising of the vehicle achieved under various road conditions, the driver's intervention is reduced, but also the driving comfort and safety are significantly improved.

[0044] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 One of the flow charts of a method for controlling vehicle automatic cruise control provided by an embodiment of the present application is shown;

[0047] Figure 2A second flowchart of a method for controlling vehicle automatic cruise control provided by an embodiment of the present application is shown;

[0048] Figure 3 One of the structural schematic diagrams of a vehicle automatic cruise control device provided in an embodiment of the present application is shown;

[0049] Figure 4 A second structural diagram of a vehicle automatic cruise control device provided in an embodiment of the present application is shown;

[0050] Figure 5 The third structural diagram of a vehicle automatic cruise control device provided by an embodiment of the present application is shown;

[0051] Figure 6 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0053] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0054] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring automatic cruise control. The embodiments of the present application are not limited to specific application scenarios. Any solution using the vehicle automatic cruise control method and device provided by the embodiments of the present application is within the scope of protection of this application.

[0055] As agricultural modernization continues to advance, the scale of agricultural production continues to expand, and farmland is also growing in size. In many agricultural operations, such as sowing, spraying, and cutting, vehicle speed has a crucial impact on the quality of the operation. Taking sowing as an example, a stable vehicle speed is a key factor in ensuring uniform and consistent seeding spacing. Traditionally, agricultural machinery relies on manual speed control by the driver. However, manual speed control is difficult to maintain, especially during long journeys or operations on large farmland areas. Driver fatigue and distraction can easily lead to speed fluctuations, affecting the quality of the operation. Furthermore, manual operation has a slow response speed and cannot quickly adapt to changing road conditions. For example, in complex terrain or unexpected situations, operational delays may occur, increasing the risk of accidents.

[0056] To address the above-mentioned issues, the embodiments of the present application provide a method, device, electronic device, and medium for controlling vehicle automatic cruise control, which not only enables automatic cruise control of the vehicle under various road conditions, reduces driver intervention, but also significantly improves driving comfort and safety.

[0057] To facilitate understanding of the present application, the technical solutions provided in the present application are described in detail below in conjunction with specific embodiments.

[0058] See also Figure 1 , Figure 1 This is one of the flow charts of a vehicle automatic cruise control method provided in an embodiment of the present application.

[0059] In the embodiment of the present application, the driving speed of the vehicle is mainly determined by three key dimensions, namely the travel pump displacement, the engine speed and the driving road conditions. Among them, the engine speed is controlled by the hand throttle, and there is a linear relationship between the vehicle engine speed and the vehicle hand throttle; the displacement of the vehicle travel pump is determined by the travel valve current, and the travel pump displacement and the travel valve current form a linear function relationship. Driving road conditions are divided into three situations: flat road, uphill and downhill. In the present application, the vehicle hand throttle is directly connected to the vehicle control unit, and the vehicle travel pump is directly controlled by the vehicle control unit, so the vehicle control unit calculates and determines the vehicle driving speed.

[0060] like Figure 1 As shown in , the vehicle automatic cruise control method provided by the embodiment of the present application includes the following steps:

[0061] Step S101: Acquire the vehicle body tilt angle.

[0062] In this application, a camera is provided, and a gyroscope function is integrated in the camera. By calibrating and analyzing the gyroscope signal, the vehicle body tilt angle θ can be obtained. The gyroscope parameter analysis formula (1) can be used.

[0063]

[0064] Among them, W x 、W y and W z They are the gyro outputs in the X-axis, Y-axis and Z-axis directions, K gx , K gy and K gz are the scale factors for the X-axis, Y-axis, and Z-axis directions, S g is the installation error parameter between each axis. The gyroscope's scale factor and installation error are set at the factory, and the zero bias is preset to 0. After vehicle assembly is complete, the vehicle must be leveled. The gyroscope output measured at this time is recorded as the zero bias value. Subsequently, when the vehicle tilts, the actual gyroscope output is calculated and corrected accordingly to determine the vehicle's tilt angle. The current road condition is determined based on the vehicle's tilt angle.

[0065] Step S102 , determining a target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position.

[0066] Next, we will combine Figure 2 To illustrate how to determine the target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear.

[0067] See also Figure 2 , Figure 2 This is the second flowchart of a vehicle automatic cruise control method provided in an embodiment of the present application.

[0068] like Figure 2 As shown in FIG, regarding step S102, in a specific implementation, as an example, the following steps may be included:

[0069] Step S1021: The product of the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear is determined as the initial vehicle speed.

[0070] Here, since the vehicle engine speed and the opening of the vehicle solenoid valve are both linearly positively correlated with the opening of the vehicle handle, and in the case of a level road, the vehicle target speed can also be approximately considered to be linearly positively correlated with the handle opening. As an example, the vehicle's initial speed can be determined using formula (2).

[0071] V Target1 =V max ×P (2)

[0072] Among them, V Target1 is the initial speed of the vehicle, Vmax is the maximum speed corresponding to the current vehicle transmission gear, and P is the current vehicle handle opening. For example, in first gear, the corresponding maximum speed is 7 km / h, in second gear, the corresponding maximum speed is 15 km / h, and in third gear, the corresponding maximum speed is 40 km / h.

[0073] Step S1022: determining a correction ratio of the vehicle based on the preset angle range of the vehicle body tilt angle.

[0074] Here, in this application, as an example, assuming a flat road condition, when the vehicle body tilt angle is 0, the correction ratio is 0; assuming a downhill road condition, when the vehicle body tilt angle is within the preset angle range of less than 0° and greater than -15°, the correction ratio is 5%, and when the vehicle body tilt angle is within the preset angle range of less than -15° and greater than -30°, the correction ratio is 10%; assuming an uphill road condition, when the vehicle body tilt angle is within the preset angle range of greater than 0° and less than 15°, the correction ratio is -5%, and when the vehicle body tilt angle is within the preset angle range of greater than 15° and less than 30°, the correction ratio is -10%. The correction ratio is set based on the following principle: Due to the vehicle's large weight, the vehicle's own weight has a more significant impact on the driving speed when driving on a slope. Therefore, it is necessary to use a gyroscope to accurately calculate the slope angle. Based on the calculated angle value, the target speed is adjusted accordingly within an angle range of ±30°.

[0075] Step S1023: Determine the product of the initial vehicle speed and the angle coefficient as the target vehicle speed.

[0076] When the vehicle is traveling uphill, the actual speed will be lower than the theoretical speed; when the vehicle is traveling downhill, the opposite is true. To ensure the consistency of the adjustment process, the initial speed will be appropriately corrected when traveling on a slope. As an example, the target speed of the vehicle can be determined using formula (3).

[0077] V Target =V max ×P×(1+K) (3)

[0078] Among them, V Target is the target speed of the vehicle, and K is the correction ratio of the vehicle.

[0079] Step S103 : determining the initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current opening of the vehicle handle.

[0080] Here, the initial current is the initial current of the vehicle travel pump determined according to the opening degree of the vehicle handle. As an example, the target vehicle speed can be determined by formula (4).

[0081] I0=I d +(I max -I d )×P (4)

[0082] Among them, I0 is the initial current of the vehicle travel pump, I d is the dead zone current of the vehicle travel valve, I max The maximum current required for the vehicle to run.

[0083] Step S104 : determining a target current of the vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current.

[0084] The current vehicle speed is detected by a single Hall-effect speed sensor located at the transmission output port and connected to the vehicle control unit input pin.

[0085] As an example, the target current of the vehicle travel pump can be determined by formula (5).

[0086]

[0087] Among them, I Target is the target current of the vehicle travel pump, I Last The current of the vehicle travel pump at the previous moment is I Last Equal to the initial current, K p is the proportional coefficient, v Actual is the current vehicle speed, K i is the integral coefficient, k is the initial time, t is the current time, K d is the differential coefficient, v Actual-Last Indicates the vehicle speed at the last moment. Formula (5) is the outer loop: speed loop.

[0088] In this application, there is a system delay between the vehicle speed feedback and the target current setting of the vehicle travel pump. To ensure the accuracy and stability of the adjustment, it is set to calculate the target current of the vehicle travel pump every 0.1s.

[0089] Step S105 , determining a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle.

[0090] Here, based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle, the target speed of the vehicle engine corresponding to the field mode is determined. As an example, the target speed of the vehicle engine corresponding to the field mode can be determined by formula (6).

[0091] n1=n0+(n max -n0)×P (6)

[0092] Among them, n1 is the target speed of the vehicle engine corresponding to the field mode, n max is the maximum speed of the vehicle engine, and n0 is the idling speed of the vehicle engine.

[0093] Here, the target speed of the vehicle engine corresponding to the road mode is determined based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, the current vehicle handle opening, and the current vehicle hand throttle opening. As an example, the target speed of the vehicle engine corresponding to the road mode can be determined using formula (7).

[0094] n2=n0+(n max -n0)×P×P Throttle (7)

[0095] Where n2 is the target speed of the vehicle engine corresponding to the road mode, P Throttle The current vehicle hand throttle opening.

[0096] Step S106 , adjusting the current of the vehicle's travel pump based on the target current, and adjusting the speed of the vehicle's engine based on the target speed, so that the vehicle's speed reaches the target speed.

[0097] Here, the target current and the target speed are obtained by calculation, and according to actual feedback, serial feedback regulation is adopted to make the current vehicle speed reach the target speed.

[0098] Here, regarding adjusting the current of the vehicle travel pump based on the target current, in a specific implementation, as an example, the following steps are included:

[0099] First, a regulation deviation of the vehicle travel pump is determined based on the target current, the current current of the vehicle travel pump, the supply voltage of the vehicle battery, the voltage offset of the output diode, the target current of the vehicle travel pump at the previous moment, and the target currents of the vehicle travel pump at the previous two moments. Then, the current current of the vehicle travel pump is adjusted based on the regulation deviation.

[0100] Here, PID regulation control is adopted to ensure the consistency between the current of the vehicle travel pump and the target current. As an example, the regulation deviation of the vehicle travel pump can be determined by formula (8).

[0101]

[0102] Among them, R is the adjustment deviation of the vehicle driving pump, V i is the integral term, V d is the differential term, V p is the proportional term, U diode is the voltage offset of the output diode, U Battery is the supply voltage of the vehicle battery. Specifically, I Actual is the current of the vehicle travel pump, k d1 is the first differential coefficient, k d2 is the second differential coefficient, I Target-Last is the target current of the vehicle travel pump at the previous moment, I Target-Last-Last is the target current of the vehicle travel pump at the first two moments, V p =K p ×(I Target -I Actual ). Formula (8) is the inner loop: current loop. Here, by introducing two parameters, the supply voltage of the vehicle battery and the voltage offset of the output diode, the interference caused by the supply voltage on the actual travel pump current can be effectively reduced. Compared with the traditional ordinary PID control algorithm, when the supply voltage of the vehicle battery is in an unstable state, the introduction of the voltage offset of the output diode can more accurately calculate the maximum voltage actually available to the coil, thereby greatly reducing the instability of the control system and making the system operation more stable and reliable.

[0103] In this embodiment, since the opening of the vehicle solenoid valve and the opening of the vehicle handle are approximately equal, the value range of both is 0 to 1. In the current gear, the maximum speed that the vehicle can reach depends on the current speed of the vehicle engine. Therefore, when the opening of the vehicle solenoid valve is at its maximum and the current vehicle speed cannot reach the target speed, the cumulative time of adjusting the engine to adjust the current of the current vehicle travel pump is relatively long, resulting in excessive cumulative error in the current loop. In order to ensure that the generated cumulative error does not affect the current control after the speed adjustment, the integral term and differential term in the PID adjustment are cleared. At the same time, while maintaining the maximum current state of the vehicle travel pump, the engine speed is increased.

[0104] When the opening degree of the vehicle solenoid valve is at its maximum and the current vehicle speed cannot reach the target vehicle speed, the target speed of the vehicle engine when the current of the vehicle travel pump is at its maximum current state is determined by the following steps:

[0105] First, based on the target vehicle speed, the proportional coefficient between the vehicle engine speed and the hydraulic pump speed, the current displacement of the vehicle hydraulic pump, and the current displacement of the vehicle hydraulic motor, the initial vehicle engine speed when the vehicle travel pump current is at its maximum current state is determined. Here, since the current is at its maximum current state, the opening value of the vehicle solenoid valve is 1. As an example, the initial vehicle engine speed when the vehicle travel pump current is at its maximum current state can be determined using formula (9).

[0106] Here, as an example, the initial speed of the vehicle engine when the current of the vehicle travel pump is in the maximum current state can be determined by formula (9).

[0107]

[0108] Wherein, n3 is the initial speed of the vehicle engine when the current of the vehicle travel pump is at the maximum current state. v is the proportional coefficient between the vehicle engine speed and the hydraulic pump speed, q0 is the displacement of the current vehicle hydraulic pump, q m is the displacement of the current vehicle hydraulic motor, n is the current vehicle engine speed, and C is the opening of the current vehicle solenoid valve.

[0109] Then, the product of the preset adjustment margin parameter and the initial speed is determined as the target speed of the vehicle engine when the current of the vehicle travel pump is in the maximum current state. Here, in the present application, during the adjustment process, in order to ensure that the current of the vehicle travel pump after adjustment has a certain adjustment margin, 1.1×n3 is usually used. In the present application, the preset adjustment margin parameter is 1.1, which is not limited here. When making adjustments, in order to achieve the smoothness of the adjustment process, the strategy adopted is to adjust the vehicle engine speed by 21rpm within each communication step (duration is 20ms). At the same time, when the speed adjustment reaches 1.0×n3, in each subsequent communication step, the opening of the vehicle solenoid valve will be synchronously reduced in an equal proportion until it is reduced to 0.9.

[0110] In this embodiment, the control method further includes:

[0111] First, a determination is made as to whether the vehicle is within a first preset range from the boundary of the target field. If so, the vehicle is decelerated to a target speed and a determination is made as to whether the target agricultural vehicle has reached the boundary of the target field. If the target agricultural vehicle has reached the boundary of the target field, the vehicle turns. If the vehicle is not within the first preset range from the boundary of the target field or the target agricultural vehicle has not reached the boundary of the target field, the vehicle is driven at the target speed.

[0112] Here, cameras monitor the situation ahead of the vehicle and can be equipped with corresponding monitoring algorithms, including road condition monitoring and field monitoring algorithms. The road condition monitoring algorithm is primarily used while the vehicle is in motion, accurately detecting various road condition information, including vehicles and people on the road ahead, to provide timely and accurate road condition feedback. The field monitoring algorithm is tailored to the specific conditions of field operations. Based on the existing full-width algorithm, this algorithm extracts a portion specifically designed to identify field edges. In practical applications, cameras with a long field of view are primarily used to monitor the distance between the vehicle and the field boundary in real time. When the vehicle approaches the field boundary, the system promptly notifies the vehicle control unit to slow down in advance. Once the vehicle reaches the field boundary, the control unit is notified to stop its current operation and prepare to turn, thus ensuring safe and efficient field operations.

[0113] An embodiment of the present application provides a method for controlling vehicle automatic cruise control. Through the method, not only is automatic cruise of the vehicle achieved under various road conditions, reducing driver intervention, but also significantly improving driving comfort and safety.

[0114] Based on the same application concept, the embodiments of the present application also provide a vehicle automatic cruise control device corresponding to the vehicle automatic cruise control method provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the vehicle automatic cruise control method in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0115] See also Figure 3 , Figure 3 This is one of the structural schematic diagrams of a vehicle automatic cruise control device provided in an embodiment of the present application.

[0116] like Figure 3 As shown in FIG, the vehicle automatic cruise control device 310 includes:

[0117] An acquisition module 311 acquires a vehicle body tilt angle;

[0118] The target vehicle speed determination module 312 determines a target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position;

[0119] An initial current determination module 313 determines an initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current opening of the vehicle handle;

[0120] A target current determination module 314 determines a target current of a vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current;

[0121] The target speed determination module 315 determines a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle;

[0122] The adjustment module 316 adjusts the current of the vehicle's travel pump based on the target current, and adjusts the speed of the vehicle's engine based on the target speed, so that the vehicle's speed reaches the target speed.

[0123] Preferably, the target vehicle speed determination module 312 is specifically configured to:

[0124] The product of the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear position is determined as the initial vehicle speed;

[0125] determining a correction ratio of the vehicle based on a preset angle range within which the vehicle body tilt angle is located;

[0126] The product of the initial vehicle speed and the angle coefficient is determined as the target vehicle speed of the vehicle.

[0127] Preferably, the target speed determination module 315 is specifically configured to:

[0128] Determining a target speed of the vehicle engine corresponding to the field mode based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle;

[0129] The target speed of the vehicle engine corresponding to the road mode is determined based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, the current opening of the vehicle handle and the current opening of the vehicle hand throttle.

[0130] Preferably, when the target speed determination module 315 is used to adjust the current of the vehicle travel pump based on the target current, it is further used to:

[0131] determining a regulation deviation of the vehicle travel pump based on the target current, the current current of the vehicle travel pump, the supply voltage of the vehicle battery, the voltage offset of the output diode, the target current of the vehicle travel pump at a previous moment, and the target currents of the vehicle travel pump at two previous moments;

[0132] Based on the regulation deviation, the current of the vehicle travel pump is adjusted.

[0133] See also Figure 4 , Figure 4 This is a second structural diagram of a vehicle automatic cruise control device provided in an embodiment of the present application.

[0134] like Figure 4As shown in , preferably, the control device also includes:

[0135] The initial speed determination module 317 determines, when the vehicle solenoid valve is at its maximum opening and the current vehicle speed cannot reach the target vehicle speed, the initial speed of the vehicle engine when the current of the vehicle travel pump is at its maximum current state based on the target vehicle speed, the proportional coefficient between the vehicle engine speed and the hydraulic pump speed, the current displacement of the vehicle hydraulic pump, and the current displacement of the vehicle hydraulic motor;

[0136] The maximum target speed determination module 318 determines the product of the preset adjustment margin parameter and the initial speed as the target speed of the vehicle engine when the current of the vehicle travel pump is at the maximum current state.

[0137] See also Figure 5 , Figure 5 This is a third structural schematic diagram of a vehicle automatic cruise control device provided in an embodiment of the present application.

[0138] like Figure 5 As shown in , preferably, the control device also includes:

[0139] A first preset range determination module 319 determines whether the vehicle is within a first preset range from the boundary of the target field;

[0140] The boundary determination module 320 decelerates the vehicle to a target speed if the vehicle is within a first preset range from the boundary of the target field, and determines whether the target agricultural vehicle has reached the boundary of the target field;

[0141] The steering module 321 turns the vehicle if the target agricultural vehicle reaches the boundary of the target field.

[0142] An embodiment of the present application provides a vehicle automatic cruise control device, which not only realizes the automatic cruising of the vehicle under various road conditions and reduces the driver's intervention, but also significantly improves the driving comfort and safety.

[0143] See also Figure 6 , Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0144] like Figure 6 As shown in FIG, the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0145] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figure 1 and Figure 2 The specific implementation of the steps of the vehicle automatic cruise control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0146] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 and Figure 2 The specific implementation of the steps of the vehicle automatic cruise control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0147] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0148] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0149] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0150] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0151] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling vehicle automatic cruise control, characterized in that: The control method includes: Get the vehicle's body tilt angle; determining a target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position; Determine the initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current opening of the vehicle handle; determining a target current of a vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current; determining a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle; Based on the target current, adjusting the current of the vehicle's travel pump, and based on the target speed, adjusting the speed of the vehicle's engine, so that the vehicle's speed reaches the target speed; The adjusting the current of the vehicle travel pump based on the target current includes: determining a regulation deviation of the vehicle travel pump based on the target current, the current current of the vehicle travel pump, the supply voltage of the vehicle battery, the voltage offset of the output diode, the target current of the vehicle travel pump at a previous moment, and the target currents of the vehicle travel pump at two previous moments; Based on the regulation deviation, the current of the vehicle travel pump is adjusted.

2. The control method according to claim 1, characterized in that: The determining of the target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position includes: The product of the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear position is determined as the initial vehicle speed; determining a correction ratio of the vehicle based on a preset angle range within which the vehicle body tilt angle is located; The product of the initial vehicle speed and an angle coefficient is determined as a target vehicle speed of the vehicle; wherein the angle coefficient is the sum of the correction ratio and 1.

3. The control method according to claim 1, wherein: The method of determining a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle comprises: Determining a target speed of the vehicle engine corresponding to the field mode based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle; The target speed of the vehicle engine corresponding to the road mode is determined based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, the current opening of the vehicle handle and the current opening of the vehicle hand throttle.

4. The control method according to claim 1, wherein: The control method further includes: When the opening of the vehicle solenoid valve is at its maximum and the current vehicle speed cannot reach the target vehicle speed, determining the initial vehicle engine speed when the current of the vehicle travel pump is at its maximum current state based on the target vehicle speed, a proportional coefficient between the vehicle engine speed and the hydraulic pump speed, the current displacement of the vehicle hydraulic pump, and the current displacement of the vehicle hydraulic motor; The product of the preset adjustment margin parameter and the initial speed is determined as the target speed of the vehicle engine when the current of the vehicle travel pump is in the maximum current state.

5. The control method according to claim 1, characterized in that: The control method further includes: determining whether the vehicle is within a first predetermined range from the boundary of the target field; If the vehicle is within a first preset range from the boundary of the target field, the vehicle is decelerated to a target speed, and a determination is made as to whether the target agricultural vehicle has reached the boundary of the target field; If the target agricultural vehicle reaches the boundary of the target field, the vehicle turns.

6. A vehicle automatic cruise control device, characterized in that: The control device comprises: An acquisition module is used to obtain the vehicle's body tilt angle; a target vehicle speed determination module, which determines a target vehicle speed based on the vehicle body tilt angle, the current vehicle handle opening, and the maximum vehicle speed corresponding to the current vehicle transmission gear position; an initial current determination module, which determines the initial current of the vehicle travel pump based on the dead zone current of the vehicle travel valve, the maximum current required for vehicle travel, and the current opening of the vehicle handle; a target current determination module, which determines a target current of a vehicle travel pump based on the target vehicle speed, the current vehicle speed, and the initial current; a target speed determination module, which determines a target speed of the vehicle engine based on the idle speed of the vehicle engine, the maximum speed of the vehicle engine, and the current opening of the vehicle handle; an adjustment module, adapted to adjust the current of the vehicle's travel pump based on the target current, and to adjust the speed of the vehicle's engine based on the target speed, so that the vehicle's speed reaches the target speed; When the adjustment module is used to adjust the current of the vehicle travel pump based on the target current, the adjustment module is further specifically used to: determining a regulation deviation of the vehicle travel pump based on the target current, the current current of the vehicle travel pump, the supply voltage of the vehicle battery, the voltage offset of the output diode, the target current of the vehicle travel pump at a previous moment, and the target currents of the vehicle travel pump at two previous moments; Based on the regulation deviation, the current of the vehicle travel pump is adjusted.

7. The control device according to claim 6, characterized in that The target vehicle speed determination module is specifically used to: The product of the current vehicle handle opening and the maximum vehicle speed corresponding to the current vehicle transmission gear position is determined as the initial vehicle speed; determining a correction ratio of the vehicle based on a preset angle range within which the vehicle body tilt angle is located; The product of the initial vehicle speed and an angle coefficient is determined as a target vehicle speed of the vehicle; wherein the angle coefficient is the sum of the correction ratio and 1.

8. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the processor is running, the machine-readable instructions execute the steps of the vehicle automatic cruise control method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle automatic cruise control method according to any one of claims 1 to 5 are executed.

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