Vehicle longitudinal control method, device, equipment, storage medium and program product

Abstract

The invention provides a vehicle longitudinal control method and device, equipment, a storage medium and a program product. The method comprises the following steps: acquiring expected acceleration and gradient acceleration; according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, the expected torque is determined; and according to the expected torque, ramp longitudinal control is conducted on the vehicle. According to the method, the safety and comfort of the vehicle on the ramp can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle longitudinal control method, device, equipment, storage medium and program product. Background Art

[0002] In the Adaptive Cruise Control (ACC) system, precise longitudinal control can automatically adjust the vehicle's speed and distance between vehicles to adapt to changes in traffic conditions ahead and improve road traffic safety.

[0003] At present, vehicles equipped with ACC systems mainly rely on sensors such as radars and cameras to perceive the road and traffic conditions ahead in real time for longitudinal control. The ACC system calculates the current vehicle's acceleration based on the speed and distance of the vehicle ahead and sends it to the Vehicle Longitudinal Control (VLC) system. The VLC system adjusts the vehicle's speed in combination with the vehicle's own power system and braking system.

[0004] However, when the vehicle is on a slope, the above longitudinal control method may cause the vehicle to slide down the slope, making it difficult to ensure driving safety. Summary of the invention

[0005] The embodiments of the present application provide a vehicle longitudinal control method, device, equipment, storage medium and program product to solve the problem that the vehicle may slip on a slope due to the existing vehicle longitudinal control method.

[0006] In a first aspect, an embodiment of the present application provides a vehicle longitudinal control method, which is applied to a vehicle longitudinal control VLC system, comprising:

[0007] Get expected acceleration and slope acceleration;

[0008] Determining the desired torque based on the desired acceleration, the grade acceleration, the vehicle mass, and the wheel radius;

[0009] The vehicle is longitudinally controlled on the hill based on the desired torque.

[0010] In a possible implementation manner, the expected torque is determined according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, including:

[0011] When the vehicle speed is less than the speed threshold and the slope acceleration is greater than the first acceleration threshold, the first expected torque is determined according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, and the first acceleration threshold is a positive value;

[0012] Accordingly, according to the expected torque, the vehicle is longitudinally controlled on the hill, including:

[0013] The vehicle is controlled to stop on an uphill slope according to the first desired torque.

[0014] In a possible implementation manner, determining the first expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius includes:

[0015] According to the following formula, the first expected torque is determined;

[0016] First expected acceleration = (expected acceleration + slope acceleration) * vehicle mass * wheel radius.

[0017] In a possible implementation manner, after controlling the vehicle to stop uphill according to the first expected torque, the method further includes:

[0018] When it is detected that the vehicle speed is zero, a control signal is sent to the Electronic Stability Program (ESP) to enable the Electronic Stability Program to control the vehicle to remain stationary.

[0019] In a possible implementation manner, the expected torque is determined according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, including:

[0020] When a start request signal is received and the slope acceleration is less than a second acceleration threshold, a second expected torque is determined according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, and the second acceleration threshold is a negative value;

[0021] Accordingly, according to the expected torque, the vehicle is longitudinally controlled on the hill, including:

[0022] The vehicle is controlled to start downhill according to the second desired torque.

[0023] In a possible implementation manner, determining the second expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius includes:

[0024] According to the following formula, the second expected torque is determined;

[0025] The second expected acceleration = (expected acceleration - |slope acceleration|) * vehicle mass * wheel radius.

[0026] In a second aspect, an embodiment of the present application provides a vehicle longitudinal control device, comprising:

[0027] An acquisition module is used to obtain the expected acceleration and the slope acceleration;

[0028] A determination module, for determining a desired torque based on the desired acceleration, the gradient acceleration, the vehicle mass and the wheel radius;

[0029] The control module is used for performing longitudinal control of the vehicle on a hill according to the desired torque.

[0030] In a possible implementation manner, the determination module is specifically configured to determine the first expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius when the vehicle speed is less than the speed threshold and the slope acceleration is greater than the first acceleration threshold, and the first acceleration threshold is a positive value;

[0031] Accordingly, the control module is specifically configured to control the vehicle to stop on an uphill slope according to the first desired torque.

[0032] In a possible implementation manner, the determination module is specifically configured to determine the first expected torque according to the following formula;

[0033] First expected acceleration = (expected acceleration + slope acceleration) * vehicle mass * wheel radius.

[0034] In a possible implementation manner, the control module is further configured to send a control signal to a vehicle body electronic stability system when detecting that the vehicle speed is zero, so that the vehicle body electronic stability system controls the vehicle to remain stationary.

[0035] In a possible implementation manner, the determination module is specifically configured to determine the second expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius when the start request signal is received and the slope acceleration is less than the second acceleration threshold, and the second acceleration threshold is a negative value;

[0036] Accordingly, the control module is specifically configured to control the vehicle to start downhill according to the second desired torque.

[0037] In a possible implementation manner, the determination module is specifically configured to determine the second expected torque according to the following formula:

[0038] The second expected acceleration = (expected acceleration - |slope acceleration|) * vehicle mass * wheel radius.

[0039] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0040] Memory stores computer-executable instructions;

[0041] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0044] The vehicle longitudinal control method, device, equipment, storage medium and program product provided by the present application determine the expected torque at the wheel end according to the expected acceleration of the vehicle, the slope acceleration, the vehicle mass and the wheel radius, and perform longitudinal control of the wheel on the slope according to the expected torque. Since the expected acceleration is a control parameter of the vehicle on a flat road, when the vehicle is on a slope, the target acceleration is determined based on the expected acceleration combined with the slope acceleration, so that the expected torque can control the vehicle on the slope, reduce the risk of sliding down the slope, and improve the safety of the vehicle on the slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1 A schematic diagram of a vehicle longitudinal control scenario provided in this application;

[0047] Figure 2 A schematic flow chart of a vehicle longitudinal control method provided in this application;

[0048] Figure 3 A schematic structural diagram of a vehicle longitudinal control device provided in this application;

[0049] Figure 4 A schematic diagram of the structure of an electronic device provided in this application.

[0050] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0052] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0053] In modern automotive technology, the longitudinal control of the vehicle plays a vital role in improving driving safety, driving efficiency and riding comfort. Through intelligent longitudinal control, the vehicle can drive smoothly and safely in a variety of driving environments, which is of great significance to the development and application of autonomous driving technology.

[0054] At present, when a vehicle equipped with an ACC system performs longitudinal control, ACC usually combines the speed, acceleration and following distance of the vehicle in front to determine the target acceleration of the vehicle and send it to the VLC system. The VLC system adjusts the vehicle speed in combination with the power system or braking system to achieve more precise acceleration and deceleration control, ensuring that the vehicle maintains a safe distance from the vehicle in front while maintaining a stable driving speed.

[0055] However, the above method is mainly based on the longitudinal control of the vehicle on a horizontal road or a road with a small slope. With the continuous development of autonomous driving technology and the gradual expansion of application scenarios, road scenes with large slope fluctuations are gradually entering the scope of autonomous driving.

[0056] Existing longitudinal control methods based on horizontal roads often cannot guarantee the comfort and stability of the vehicle when facing complex working conditions such as starting on a slope and stopping on a slope. On a slope, the acceleration and deceleration of the vehicle will be affected by multiple factors such as gravity and friction, making it difficult for traditional longitudinal control strategies to accurately judge and adjust the vehicle's power output and braking force. This will not only reduce the riding comfort of passengers, but may also cause additional burdens on the vehicle's power system and braking system, and even cause safety hazards such as slipping.

[0057] Based on the above problems, the present application proposes a vehicle longitudinal control method, device, equipment, storage medium and program product, which are applied to a VLC system to perform longitudinal control on a vehicle traveling on a slope. In the method, on the basis of the longitudinal control of the vehicle on a horizontal road, the slope acceleration corresponding to the vehicle gravity component caused by the slope is further considered, thereby achieving precise longitudinal control of the vehicle.

[0058] Figure 1 A schematic diagram of a vertical control scenario provided by this application. Figure 1As shown in the figure, when a vehicle is driving on a slope, it will be affected by the gravity component caused by the slope, which will change the acceleration of the vehicle and further affect the speed and driving stability of the vehicle. Specifically, when going uphill, the vehicle needs more power to overcome the gravity component to maintain or increase the speed; when going downhill, the gravity component will help the vehicle accelerate, so appropriate braking is required to control the speed.

[0059] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0060] Figure 2 This is a flow chart of a vehicle longitudinal control method provided in this application. Figure 2 As shown, with the VLC system as the execution subject, the method of this embodiment includes the following steps:

[0061] S101, obtaining expected acceleration and slope acceleration.

[0062] In this embodiment, the expected acceleration is a key parameter in the longitudinal control process of driving on a horizontal road surface, and the VLC system can obtain the expected acceleration from the ACC system. Specifically, the ACC system detects the speed, acceleration and following distance between the front vehicle and the vehicle in real time through sensors such as radar or cameras, and obtains the current speed and acceleration of the vehicle. Based on the front vehicle data, the following distance strategy (such as time gap or distance gap) and the vehicle data, the ACC system calculates the expected acceleration through a preset algorithm. The expected acceleration is intended to maintain a safe distance from the front vehicle and smoothly adjust the speed of the vehicle. The ACC system can send the calculated expected acceleration to the VLC system through an on-board network, such as a controller area network (CAN) bus.

[0063] Slope acceleration is a parameter in the process of longitudinal control of driving on a slope, and the VLC system can obtain it through the inertial measurement unit (IMU). Specifically, the IMU measures the acceleration and angular velocity of the vehicle in real time through built-in sensors such as accelerometers and gyroscopes, processes the data of the accelerometer, and combines it with the current posture of the vehicle (such as pitch angle) to calculate the gravity acceleration component caused by the slope, that is, the slope acceleration. The IMU can also send the calculated slope acceleration to the VLC system through the vehicle network.

[0064] Optionally, the IMU can also determine the slope of the ramp where the vehicle is located based on the vehicle pitch angle, and determine the slope acceleration corresponding to the current slope based on the mapping relationship between the pre-calibrated slope, vehicle mass and slope acceleration. During the calibration process, more data groups can be determined by difference.

[0065] S102: Determine the expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius.

[0066] In this embodiment, the VLC system can obtain the vehicle mass and wheel radius through the vehicle network. The vehicle mass can be obtained through the vehicle's sensors, and the wheel radius is stored in the vehicle parameter database.

[0067] The VLC system considers the driving force required for the desired acceleration and the impact of the slope acceleration on the required driving force to obtain the target driving force. The driving force required for the desired acceleration is F=ma, where m is the vehicle mass and a is the desired acceleration. The slope acceleration will produce an additional resistance or assistance, and the driving force needs to be adjusted accordingly.

[0068] The VLC system considers the wheel radius and converts the target driving force into the expected torque. Specifically, the expected torque T = F × r, where r is the wheel radius.

[0069] S103: Perform longitudinal control on the vehicle on the slope according to the expected torque.

[0070] It can be understood that the VLC system is a torque control system that can output a torque control signal. In this embodiment, the VLC system sends the desired torque to the torque interface of the vehicle control unit (VCU), and the VCU transmits the torque information to the motor, thereby achieving longitudinal control of the vehicle.

[0071] In the vehicle longitudinal control method provided in this embodiment, the VLC system takes into account the influence of the vehicle's gravity component on the vehicle's driving force when the vehicle is on a slope, and on the basis of the expected acceleration determined based on driving on a horizontal road, the slope acceleration is also combined to jointly determine the vehicle's driving force on the slope, thereby calculating a more accurate expected wheel-end torque, improving the vehicle's driving stability and safety on the slope, and improving the driving experience.

[0072] In a possible implementation, step S102 is specifically implemented by determining the first expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius when the vehicle speed is less than the speed threshold and the slope acceleration is greater than the first acceleration threshold.

[0073] Among them, the first acceleration threshold is a positive value.

[0074] Accordingly, the specific implementation of step S103 is to control the vehicle to stop on an uphill slope according to the first desired torque.

[0075] In this embodiment, the first acceleration threshold is a positive value, and the slope acceleration is greater than the first acceleration threshold, indicating that the vehicle is in an uphill process, and the greater the slope, the greater the slope acceleration. The vehicle speed is less than the speed threshold, indicating that the vehicle speed is low, for example, the vehicle is in the process of following a vehicle.

[0076] Optionally, the VLC system determines the first desired torque according to the following formula.

[0077] First expected acceleration = (expected acceleration + slope acceleration) * vehicle mass * wheel radius.

[0078] When a vehicle is following a vehicle uphill, its gravity component hinders the vehicle from parking or moving forward. In order to park or follow the vehicle, the vehicle needs to overcome this gravity component, so more power needs to be provided. This increase in power demand corresponds to an increase in additional acceleration, which is the slope acceleration.

[0079] Determining the expected torque when the vehicle is parked uphill in the above manner can ensure that the vehicle is parked stably without sliding down the slope, thereby improving the ride comfort of the vehicle during slope driving.

[0080] In a possible implementation, after the VLC system executes step S103, when it is detected that the vehicle speed is zero, it may also send a control signal to the vehicle body electronic stability system so that the vehicle body electronic stability system controls the vehicle to remain stationary.

[0081] Specifically, after controlling the vehicle to stop on a hill, the VLC system will detect the wheel status. When the wheel remains stationary, the VLC system sends a control signal to ESP, which takes over and controls the vehicle to remain stationary. In other words, when the VLC system detects that the vehicle has stopped, it hands over the vehicle control to ESP, which keeps the vehicle stationary through hydraulic pressure, releasing the VLC system and VCU.

[0082] During this process, ESP can keep the vehicle stationary more stably and accurately through the hydraulic control system, effectively preventing the vehicle from accidentally sliding on uphill sections, thereby improving driving safety. After detecting that the vehicle has stopped, the VLC system can release its own control rights in a timely manner, which helps to reduce unnecessary system operations and energy consumption, and make more reasonable use of system resources. At the same time, the VCU can also be used for other vehicle control tasks after the VLC system releases control rights, improving the operating efficiency of the overall system.

[0083] In a possible implementation manner, step S102 is specifically implemented by determining the second expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius when a start request signal is received and the slope acceleration is less than the second acceleration threshold.

[0084] The second acceleration threshold is a negative value.

[0085] Correspondingly, the specific implementation of step S103 is to control the vehicle to start downhill according to the second expected torque.

[0086] In this embodiment, the start request signal is provided by the ACC system. When the second acceleration threshold is a negative value and the slope acceleration is less than the second acceleration threshold, it indicates that the vehicle is in a downhill state and the slope is greater than a preset slope threshold.

[0087] Optionally, the second desired torque is determined according to the following formula.

[0088] The second expected acceleration = (expected acceleration - |slope acceleration|) * vehicle mass * wheel radius.

[0089] When going downhill, the component of the vehicle's gravity generated along the slope direction will accelerate the vehicle's descent. In order to maintain or slow down this natural acceleration trend caused by the gravity component, the vehicle needs additional power to maintain the vehicle's stable descent. This additional power corresponds to additional acceleration, which is also known as slope acceleration.

[0090] Determining the expected torque when the vehicle starts downhill according to the above method can enable the vehicle to start quickly and avoid following the vehicle too closely or even rear-ending it, thereby improving the stability and safety of starting downhill and improving driving comfort.

[0091] Figure 3 A schematic diagram of the structure of a vehicle longitudinal control device provided in this application, such as Figure 3 As shown, the vehicle longitudinal control device 10 of this embodiment is used to implement the operation corresponding to the VLC system in any of the above method embodiments. The vehicle longitudinal control device 10 provided in this embodiment includes:

[0092] An acquisition module 11 is used to acquire expected acceleration and slope acceleration;

[0093] A determination module 12, for determining a desired torque according to the desired acceleration, the gradient acceleration, the vehicle mass and the wheel radius;

[0094] The control module 13 is used to perform longitudinal control on the vehicle on a hill according to the expected torque.

[0095] In a possible implementation manner, the determination module 12 is specifically configured to determine the first expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius when the vehicle speed is less than the speed threshold and the slope acceleration is greater than the first acceleration threshold, and the first acceleration threshold is a positive value;

[0096] Accordingly, the control module 13 is specifically configured to control the vehicle to stop on an uphill slope according to the first desired torque.

[0097] In a possible implementation manner, the determination module 12 is specifically configured to determine the first expected torque according to the following formula:

[0098] First expected acceleration = (expected acceleration + slope acceleration) * vehicle mass * wheel radius.

[0099] In a possible implementation manner, the control module 13 is further configured to send a control signal to a vehicle body electronic stability system when it is detected that the vehicle speed is zero, so that the vehicle body electronic stability system controls the vehicle to remain stationary.

[0100] In a possible implementation manner, the determination module 12 is specifically configured to determine the second expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius when the start request signal is received and the slope acceleration is less than the second acceleration threshold, and the second acceleration threshold is a negative value;

[0101] Accordingly, the control module 13 is specifically configured to control the vehicle to start downhill according to the second desired torque.

[0102] In a possible implementation manner, the determination module 12 is specifically configured to determine the second expected torque according to the following formula:

[0103] The second expected acceleration = (expected acceleration - |slope acceleration|) * vehicle mass * wheel radius.

[0104] The vehicle longitudinal control device 10 provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0105] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 4 As shown, the electronic device 20 provided in this embodiment includes: a memory 21 and at least one processor 22. Optionally, the device 20 also includes a communication component 23. The memory 21, the processor 22 and the communication component 23 are connected via a bus 24.

[0106] In a specific implementation process, at least one processor 22 executes the computer-executable instructions stored in the memory 21, so that at least one processor 22 executes the above method.

[0107] The specific implementation process of the processor 22 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0108] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0109] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0110] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0111] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0112] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0113] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0114] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0115] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as 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 an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0116] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in each embodiment of the present invention 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.

[0118] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0119] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0120] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle longitudinal control method, characterized in that: Applied to vehicle longitudinal control systems, including: Get expected acceleration and slope acceleration; Determining a desired torque based on the desired acceleration, the grade acceleration, the vehicle mass, and the wheel radius; The vehicle is longitudinally controlled on the hill according to the desired torque.

2. The method according to claim 1, characterized in that The determining of the expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius comprises: When the vehicle speed is less than the speed threshold and the slope acceleration is greater than the first acceleration threshold, a first expected torque is determined according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, and the first acceleration threshold is a positive value; Accordingly, the method of performing longitudinal control on the vehicle on a hill according to the expected torque includes: The vehicle is controlled to stop on an uphill slope according to the first desired torque.

3. The method according to claim 2, characterized in that The determining of the first expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius comprises: The first desired torque is determined according to the following formula; First expected acceleration = (expected acceleration + slope acceleration) * vehicle mass * wheel radius.

4. The method according to claim 2, characterized in that: After controlling the vehicle to stop uphill according to the first expected torque, the method further includes: When it is detected that the vehicle speed is zero, a control signal is sent to the vehicle body electronic stability system, so that the vehicle body electronic stability system controls the vehicle to remain stationary.

5. The method according to any one of claims 1 to 4, characterized in that: The determining of the expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius comprises: When a start request signal is received and the slope acceleration is less than a second acceleration threshold, a second expected torque is determined according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius, and the second acceleration threshold is a negative value; Accordingly, the method of performing longitudinal control on the vehicle on a hill according to the expected torque includes: The vehicle is controlled to start downhill according to the second desired torque.

6. The method according to claim 5, characterized in that The determining the second expected torque according to the expected acceleration, the slope acceleration, the vehicle mass and the wheel radius comprises: The second desired torque is determined according to the following formula; The second expected acceleration = (expected acceleration - |slope acceleration|) * vehicle mass * wheel radius.

7. A vehicle longitudinal control device, characterized in that: include: An acquisition module is used to obtain the expected acceleration and the slope acceleration; A determination module, configured to determine a desired torque according to the desired acceleration, the slope acceleration, the vehicle mass and the wheel radius; A control module is used for performing longitudinal control of the vehicle on a hill according to the desired torque.

8. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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