A vehicle control method, device, medium and vehicle based on adaptive cruise

Abstract

The application provides a vehicle control method and device based on adaptive cruise, a medium and a vehicle, and comprises the following steps: if it is determined that the vehicle is in a turning working condition, determining a feedforward torque coefficient according to a steering wheel angle and a vehicle speed in a current control period; determining a target feedforward torque according to the feedforward torque coefficient and an initial feedforward torque, the target feedforward torque being smaller than the initial feedforward torque; determining a target torque of the vehicle in the current control period according to the target feedforward torque, a proportional integral control torque and a ramp compensation control torque, and controlling the vehicle movement according to the target torque in the current control period; in this way, the influence of the steering wheel angle and the vehicle speed on the torque is considered, the corresponding feedforward torque coefficient is determined under different steering wheel angles and different vehicle speeds, the initial feedforward torque required for accelerating the vehicle is adjusted according to the feedforward torque coefficient, the adjusted target feedforward torque is smaller than or equal to the initial feedforward torque, so that the output torque of the vehicle is reduced in the turning working condition, and the stability of the vehicle yaw is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle adaptive cruise control, and particularly relates to a vehicle control method and device based on adaptive cruise, a medium and a vehicle. BACKGROUND

[0002] Under the adaptive cruise (ACC) function, a vehicle can control the torque output of a motor according to a target vehicle speed and a distance from a preceding vehicle, and quickly increase to a desired vehicle speed when the distance between the preceding vehicle and the vehicle is sufficient.

[0003] However, the ACC function still tries to increase to the desired vehicle speed as soon as possible in a turning condition, which affects the yaw stability of the vehicle during the speed-up process, and further affects the driving stability of the vehicle in the turning condition. SUMMARY

[0004] To solve or partially solve the technical problem that the yaw is unstable when the vehicle starts the adaptive cruise function and turns, and thus affects the driving stability of the vehicle in the turning condition, embodiments of the present application provide a vehicle control method and device based on adaptive cruise, a medium and a vehicle.

[0005] In a first aspect, the present application provides a vehicle control method based on adaptive cruise, the method comprising:

[0006] If it is determined that the vehicle is in a turning condition in a current control period, determining a feedforward torque coefficient according to a steering wheel angle and a vehicle speed of the vehicle in the current control period;

[0007] determining a target feedforward torque according to the feedforward torque coefficient and an initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque;

[0008] determining a target torque of the vehicle in the current control period according to the target feedforward torque, a proportional-integral control torque of the vehicle and a ramp compensation control torque of the vehicle;

[0009] controlling the movement of the vehicle according to the target torque of the vehicle in the current control period.

[0010] In the above solution, the feedforward torque coefficient is determined according to the steering wheel angle and the vehicle speed of the vehicle in the current control period, comprising:

[0011] determining the feedforward torque coefficient according to the steering wheel angle, the vehicle speed of the vehicle in the current control period and a pre-generated feedforward torque coefficient curve function; wherein,

[0012] The feedforward torque coefficient curve function is generated in advance according to a feedforward torque coefficient table, and a mapping relationship among a steering wheel angle, a vehicle speed, and the feedforward torque coefficient is pre-calibrated in the feedforward torque coefficient table.

[0013] In the above scheme, the target feedforward torque is determined according to the feedforward torque coefficient and the initial feedforward torque of the vehicle, and the target feedforward torque is determined according to the target feedforward torque, a proportional-integral control torque of the vehicle, and a ramp compensation control torque of the vehicle.

[0014] The product value of the initial feedforward torque and the feedforward torque coefficient is determined, and the product value is determined as the target feedforward torque.

[0015] In the above scheme, the target feedforward torque is determined according to the feedforward torque coefficient and the initial feedforward torque of the vehicle, and the target feedforward torque is determined according to the target feedforward torque, a proportional-integral control torque of the vehicle, and a ramp compensation control torque of the vehicle.

[0016] The torque sum value of the target feedforward torque, the proportional-integral control torque, and the ramp compensation control torque is determined.

[0017] It is judged whether the torque sum value is within a motor torque output range of the vehicle, and if so, the torque sum value is determined as the target torque of the vehicle in the current control cycle.

[0018] In the above scheme, after the vehicle motion is controlled according to the target torque of the vehicle in the current control cycle, the method further comprises:

[0019] If it is determined that the steering wheel angle of the vehicle in the next control cycle is less than the steering wheel angle of the vehicle in the current control cycle, it is judged whether the target acceleration of the vehicle is greater than a preset acceleration threshold, and if so, the initial torque of the vehicle in the next control cycle is determined.

[0020] A torque difference value is determined according to the initial torque of the vehicle in the next control cycle and the target torque of the vehicle in the current control cycle, and if it is determined that the absolute value of the torque difference value is greater than a preset torque threshold, the initial torque of the vehicle in the next control cycle is adjusted based on a preset torque limiting slope to obtain the target torque of the vehicle in the next control cycle.

[0021] The target torque of the vehicle in the next control cycle is determined as the final output torque of the vehicle in the next control cycle.

[0022] In the above scheme, if it is determined that the absolute value of the torque difference value is less than or equal to the preset torque threshold, the method further comprises:

[0023] The initial torque of the vehicle in the next control cycle is determined as the final output torque of the vehicle in the next control cycle.

[0024] In the above solution, the adjusting the initial torque of the vehicle in the next control period based on the preset torque limit slope to obtain the target torque of the vehicle in the next control period comprises:

[0025] determining a torque limit value according to the initial torque of the vehicle in the next control period and the torque limit slope;

[0026] determining a torque difference value between the initial torque of the vehicle in the next control period and the torque limit value as the target torque of the vehicle in the next control period.

[0027] In the second aspect of the present application, a vehicle control device based on adaptive cruise is provided, and the control device comprises:

[0028] a first determining unit configured to determine a feedforward torque coefficient according to a steering wheel angle and a vehicle speed of the vehicle in a current control period if the vehicle is determined to be in a turning working condition in the current control period;

[0029] a second determining unit configured to determine a target feedforward torque according to the feedforward torque coefficient and an initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque;

[0030] a third determining unit configured to determine a target torque of the vehicle in the current control period according to the target feedforward torque, a proportional-integral control torque of the vehicle and a ramp compensation control torque of the vehicle;

[0031] a control unit configured to control the movement of the vehicle according to the target torque of the vehicle in the current control period.

[0032] In the above solution, the first determining unit is configured to:

[0033] determine the feedforward torque coefficient according to the steering wheel angle, the vehicle speed and a pre-generated feedforward torque coefficient curve function of the vehicle in the current control period; wherein,

[0034] the feedforward torque coefficient table is pre-calibrated with a mapping relationship among the steering wheel angle, the vehicle speed and the feedforward torque coefficient; and the feedforward torque coefficient curve function is pre-generated according to the feedforward torque coefficient table.

[0035] In the above solution, the second determining unit is configured to:

[0036] determine a product value of the initial feedforward torque and the feedforward torque coefficient, and determine the product value as the target feedforward torque.

[0037] In the above solution, the third determining unit is configured to:

[0038] determining a torque sum value of the target feedforward torque, the proportional-integral control torque and the ramp compensation control torque;

[0039] judging whether the torque sum value is within a motor torque output range of the vehicle, and if so, determining the torque sum value as a target torque of the vehicle in the current control cycle.

[0040] In the above scheme, the third determining unit is further configured to:

[0041] if it is determined that the steering wheel angle of the vehicle in the next control cycle is less than the steering wheel angle of the vehicle in the current control cycle, judging whether a target acceleration of the vehicle is greater than a preset acceleration threshold, and if so, determining an initial torque of the vehicle in the next control cycle;

[0042] determining a torque difference value according to the initial torque of the vehicle in the next control cycle and the target torque of the vehicle in the current control cycle, and if it is determined that an absolute value of the torque difference value is greater than a preset torque threshold, adjusting the initial torque of the vehicle in the next control cycle based on a preset torque limiting slope to obtain a target torque of the vehicle in the next control cycle;

[0043] determining the target torque of the vehicle in the next control cycle as a final output torque of the vehicle in the next control cycle.

[0044] In the above scheme, the third determining unit is further configured to:

[0045] determining the initial torque of the vehicle in the next control cycle as the final output torque of the vehicle in the next control cycle.

[0046] In a third aspect, the present application provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to any one of the first aspect.

[0047] In a fourth aspect, the present application provides a vehicle comprising a memory, an on-board processor and a computer program stored on the memory and executable on the on-board processor, wherein the on-board processor, when executing the computer program, implements the steps of the method according to any one of the first aspect.

[0048] The application provides a vehicle control method and device based on adaptive cruise, a medium and a vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0049] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings provided herein are for illustrative purposes only and, therefore, should not be considered to be limiting in any way. Like reference characters in the drawings are denoted by like reference characters throughout the various figures. In the drawings:

[0050] Figure 1 Fig. 1 shows a flowchart of a vehicle control method based on adaptive cruise according to an embodiment of the application;

[0051] Figure 2 Fig. 3 shows a mapping diagram among steering wheel angle, vehicle speed and feedforward torque coefficient according to an embodiment of the application;

[0052] Figure 3 Fig. 5 shows a schematic diagram of the overall structure of a vehicle control device based on adaptive cruise according to an embodiment of the application. DETAILED DESCRIPTION

[0053] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thoroughly and completely understood, and will fully convey the scope of the present disclosure to those skilled in the art.

[0054] The present application provides a vehicle control method based on adaptive cruise, as shown in the figure, the method mainly comprises the following steps: Figure 1

[0055] S110, if it is determined that the vehicle is in a turning working condition in the current control period, a feedforward torque coefficient is determined according to the steering wheel angle and the vehicle speed of the vehicle in the current control period.

[0056] In the ACC state, the vehicle calculates the output torque of the vehicle based on a preset control period, so as to control the vehicle speed according to the output torque. The control period can be set according to actual needs, for example, it can be 10ms; that is, the vehicle calculates the output torque once every 10ms.

[0057] At present, when the vehicle is in the ACC state, if it is determined that the distance between the vehicle and the front vehicle is far enough, and the actual vehicle speed and the target vehicle speed are greatly different, the vehicle will perform an acceleration operation, hoping to quickly increase to the target speed, even in the working condition of a large turning angle, the same acceleration operation is performed, but in the turning working condition, if a large acceleration is performed, the yaw stability of the vehicle will be affected, thereby affecting the stability of driving. When the vehicle turns, the yaw angular velocity increases significantly, so in the present application, when it is determined that the yaw angular velocity of the current period is greater than the yaw angular velocity of the last period, it is determined that the vehicle is in a turning working condition.

[0058] Therefore, in order to improve the yaw stability of the vehicle, when it is determined that the vehicle is in a turning working condition, the present application adjusts the feedforward torque of the vehicle in combination with the steering wheel angle and the vehicle speed, and the feedforward torque is the theoretical torque required for vehicle acceleration.

[0059] Therefore, if it is determined that the vehicle is in a turning working condition in the current control period, a feedforward torque coefficient is determined according to the steering wheel angle and the vehicle speed of the vehicle in the current control period, which comprises:

[0060] The feedforward torque coefficient is determined according to the steering wheel angle, the vehicle speed in the current control period, and a pre-generated feedforward torque coefficient curve function; wherein,

[0061] The mapping relationship between the steering wheel angle, the vehicle speed, and the feedforward torque coefficient is pre-calibrated in the feedforward torque coefficient table; and the feedforward torque coefficient curve function is generated according to the feedforward torque coefficient table. ​

[0062] Wherein, the feedforward torque coefficient curve function can be understood as a mapping diagram (MAP) between the steering wheel angle, the vehicle speed and the feedforward torque coefficient, which can be referred to as shown in the following figure. Figure 2

[0063] Specifically, the steering wheel angle, the vehicle speed and the feedforward torque coefficient can be calibrated in advance to form a feedforward torque coefficient table, as shown in Table 1:

[0064] Table 1

[0065]

[0066] As can be seen from Table 1, only a small number of vehicle speeds and steering wheel angles are calibrated in the feedforward torque coefficient table. In order to cover all vehicle speeds and steering wheel angles, so that any combination of vehicle speed- steering wheel angle has a corresponding feedforward torque coefficient, the present application can use a linear interpolation function or a nonlinear interpolation function to perform interpolation processing on Table 1.

[0067] When performing interpolation, the points that need to be interpolated need to be determined first. These interpolation points are usually grid points uniformly distributed on the two-dimensional plane of vehicle speed and steering wheel angle. For each interpolation point, according to the vehicle speed and steering wheel angle corresponding to the interpolation point, find the nearest data point in Table 1, and estimate the torque compensation coefficient of the interpolation point using a nonlinear difference function or a linear interpolation function. The vehicle speed, steering wheel angle and feedforward torque coefficient of all interpolation points are arranged into a new data table. Based on the new data table, a mapping diagram between the steering wheel angle, the vehicle speed and the feedforward torque coefficient is generated using a drawing tool (such as Matlab).

[0068] Then, in the current control period, after obtaining the vehicle speed and the steering wheel angle of the vehicle in the current control period, the corresponding feedforward torque coefficient can be found in the MAP diagram based on the vehicle speed and the steering wheel angle of the vehicle in the current control period.

[0069] S111, determining a target feedforward torque according to the feedforward torque coefficient and an initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque.

[0070] The present application also needs to obtain the initial feedforward torque required for vehicle acceleration. The initial feedforward torque can be understood as the theoretical torque required for the vehicle to accelerate to the target speed, which can be calculated by the feedforward torque calculation module.

[0071] Then, a target feedforward torque is determined according to the feedforward torque coefficient and the initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque.

[0072] ​In an embodiment, the target feedforward torque is determined according to the feedforward torque coefficient and the initial feedforward torque of the vehicle, comprising:

[0073] The product value of the initial feedforward torque and the feedforward torque coefficient is determined as the target feedforward torque.

[0074] As shown in Table 1, the greater the steering wheel angle and the vehicle speed, the smaller the corresponding feedforward torque coefficient; the smaller the steering wheel angle and the vehicle speed, the greater the corresponding feedforward torque coefficient. That is, when the vehicle is in a condition of a large steering wheel angle and a high vehicle speed, no feedforward torque is applied to the vehicle, and when the steering wheel angle is small or the vehicle speed is low, the corresponding target feedforward torque is applied to the vehicle, thereby reducing the output torque of the vehicle in the turning condition and improving the stability of the vehicle yaw and the driving stability of the vehicle in the turning condition. When the steering wheel angle is less than or equal to a preset threshold (for example, 10°), the feedforward torque is generally directly applied.

[0075] For example, referring to Table 1, assuming that the steering wheel angle is 10° and the vehicle speed is 0-80 km / h, the feedforward torque coefficient is 1, and the target feedforward torque obtained at this time is consistent with the initial feedforward torque, allowing the vehicle to accelerate normally.

[0076] Assuming that the steering wheel angle is 60° (a large angle) and the vehicle speed is 50 km / h (a high speed), the feedforward torque coefficient is 0, and the target feedforward torque obtained at this time is 0, the vehicle is not allowed to apply the target feedforward torque in this case, and the vehicle will not accelerate.

[0077] Assuming that the steering wheel angle is 20° and the vehicle speed is 10 km / h, the feedforward torque coefficient is 0.8, and the target feedforward torque obtained at this time is equal to 0.8 times the initial feedforward torque, that is, a certain amount of target feedforward torque is allowed to be applied to the vehicle in this case, but the target feedforward torque is less than the initial feedforward torque, so the vehicle is allowed to accelerate slowly.

[0078] In an embodiment, the target feedforward torque is determined according to the feedforward torque coefficient and the initial feedforward torque of the vehicle, comprising:

[0079] After the target feedforward torque is determined, the proportional integral control torque of the proportional integral PI control module and the ramp compensation control torque of the ramp control module are obtained, and the target torque of the vehicle in the current control period is determined according to the target feedforward torque, the proportional integral control torque, and the ramp compensation control torque.

[0080] In an embodiment, the target feedforward torque is determined according to the feedforward torque coefficient and the initial feedforward torque of the vehicle, comprising:

[0081] determining a torque sum value of the target feedforward torque, the proportional integral control torque and the ramp compensation control torque;

[0082] judging whether the torque sum value is within a motor torque output range of the vehicle, and if so, determining the torque sum value as a target torque of the vehicle in a current control period;

[0083] if it is determined that the torque sum value exceeds a maximum value of the motor torque output range, determining the maximum value of the motor torque output range as the target torque of the vehicle in the current control period.

[0084] if it is determined that the torque sum value is less than a minimum value of the motor torque output range, determining the minimum value of the motor torque output range as the target torque of the vehicle in the current control period.

[0085] In this way, for the acceleration control problem of the vehicle in the ACC state in the turning condition, the steering wheel angle factor is innovatively added, and different feedforward torque coefficients are output under different vehicle speeds and different steering wheel angles, so as to ensure that no feedforward torque is applied to the vehicle when the steering wheel angle is large or the vehicle speed is high, and the corresponding target feedforward torque is applied to the vehicle when the steering wheel angle is small or the vehicle speed is low (to ensure slow acceleration of the vehicle), thereby improving the yaw stability of the vehicle.

[0086] S113, controlling the vehicle motion according to the target torque of the vehicle in the current control period.

[0087] After the target torque of the vehicle in the current control period is determined, the vehicle motion can be controlled according to the target torque of the vehicle in the current control period. That is, the target torque of the vehicle in the current control period can be determined as the final output torque of the vehicle in the current control period.

[0088] Further, after the vehicle turns, the steering wheel will be returned in the subsequent operation, but due to the continuous accumulation and increase of the integral value of the PI control module, when the vehicle returns to the direction (the steering wheel angle becomes small), the output torque will suddenly increase, thereby affecting the safety of the vehicle.

[0089] Therefore, after the vehicle motion is controlled according to the target torque of the vehicle in the current control period, the method further comprises:

[0090] if it is determined that the steering wheel angle of the vehicle in the next control period is less than the steering wheel angle of the vehicle in the current control period, judging whether the target acceleration of the vehicle is greater than a preset acceleration threshold, and if so, determining an initial torque of the vehicle in the next control period.

[0091] determining a torque difference value according to the initial torque of the vehicle in the next control period and the target torque of the vehicle in the current control period; if the absolute value of the determined torque difference value is greater than a preset torque threshold, adjusting the initial torque of the vehicle in the next control period based on a preset torque limiting slope to obtain the target torque of the vehicle in the next control period;

[0092] determining the target torque of the vehicle in the next control period as the final output torque of the vehicle in the next control period.

[0093] In an embodiment, if the absolute value of the determined torque difference value is less than or equal to the preset torque threshold, the method further comprises:

[0094] determining the initial torque of the vehicle in the next control period as the final output torque of the vehicle in the next control period.

[0095] In an embodiment, adjusting the initial torque of the vehicle in the next control period based on the preset torque limiting slope to obtain the target torque of the vehicle in the next control period comprises:

[0096] determining a torque limit value according to the initial torque of the vehicle in the next control period and the torque limiting slope;

[0097] determining a torque difference value between the initial torque of the vehicle in the next control period and the torque limit value as the target torque of the vehicle in the next control period.

[0098] Specifically, assuming that the steering wheel of the vehicle is in a return process in the next period, the steering wheel angle of the vehicle in the next control period will be less than the steering wheel angle of the vehicle in the current control period, and if the target acceleration of the vehicle is greater than a preset acceleration threshold (which can be 0, for example), the initial torque of the vehicle in the next control period is determined in the same way as the target torque of the vehicle in the previous control period.

[0099] determining a torque difference value between the initial torque of the vehicle in the next control period and the target torque of the vehicle in the current control period, and judging whether the torque difference value is greater than a preset torque threshold, if not, it means that the smooth transition of the steering wheel angle of the vehicle from large to small can be ensured.

[0100] If the torque difference value is greater than or equal to the preset torque threshold, the actual output torque of the vehicle in the next control period needs to be limited to ensure that the vehicle can smoothly transition from a large steering wheel angle to a small steering wheel angle. Then, a torque limit value is further determined according to the initial torque of the vehicle in the next control period and the torque limiting slope, and a difference between the initial torque of the vehicle in the next control period and the torque limit value is determined as the target torque of the vehicle in the next control period. The preset torque threshold can be determined according to the actual driving data of the vehicle, which can be 50 N.m, for example; the torque limiting slope can also be determined based on the actual situation of the vehicle, which is not limited here.

[0101] For example, assuming that the target torque of the vehicle in the current control cycle is 500 N.m, and the initial torque of the vehicle in the next control cycle is 560 N.m, the absolute value of the difference between the two is greater than 50 N.m, the initial torque of the vehicle in the next control cycle of 560 N.m needs to be limited.

[0102] Assuming that the determined torque limit value is 30 N.m, then 530 N.m obtained by subtracting the torque limit value from the initial torque of the vehicle in the next control cycle is directly output as the target torque of the vehicle in the next control cycle.

[0103] This is equivalent to reducing the torque growth rate, so as to ensure that the vehicle speed is more gentle when the vehicle is turning, prevent the problem of sudden change of vehicle speed caused by long-time large-angle steering or rapid steering, and thus improve the stability of the vehicle.

[0104] In the present application, when the vehicle is in the turning working condition in the ACC state, the present application simultaneously considers the influence of the steering wheel angle and the vehicle speed on the torque, determines the corresponding feedforward torque coefficient at different vehicle speeds and different steering wheel angles, adjusts the initial feedforward torque required for vehicle acceleration according to the feedforward torque coefficient, and the adjusted target feedforward torque is less than or equal to the initial feedforward torque, so as to ensure that the vehicle does not apply feedforward torque when the steering wheel angle is large or the vehicle speed is high, and the vehicle applies the corresponding target feedforward torque when the steering wheel angle is small or the vehicle speed is low, thereby reducing the output torque of the vehicle in the turning working condition and improving the stability of the vehicle yaw and the driving stability of the vehicle in the turning working condition.

[0105] Based on the same inventive concept as in the foregoing embodiments, the present embodiment also provides a vehicle control device based on adaptive cruise, as shown in Figure 3 The device comprises:

[0106] The first determination unit 31 is configured to determine the feedforward torque coefficient according to the steering wheel angle and the vehicle speed of the vehicle in the current control cycle if the vehicle is in the turning working condition in the current control cycle.

[0107] The second determination unit 32 is configured to determine the target feedforward torque according to the feedforward torque coefficient and the initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque.

[0108] The third determination unit 33 is configured to determine the target torque of the vehicle in the current control cycle according to the target feedforward torque, the proportional integral control torque of the vehicle, and the ramp compensation control torque of the vehicle.

[0109] A control unit 34 is configured to control the vehicle motion according to the target torque of the vehicle in the current control period.

[0110] The device for implementing the vehicle control method based on adaptive cruise control according to the embodiments of the present application is introduced. Based on the method introduced in the embodiments of the present application, the specific structure and deformation of the device can be understood by those skilled in the art, and thus will not be described here. Any device used in the method of the embodiments of the present application belongs to the scope of the present application.

[0111] Based on the same inventive concept as the foregoing embodiments, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method based on adaptive cruise control.

[0112] Based on the same inventive concept, the present application also provides a vehicle comprising a memory, an on-board processor, and a computer program stored on the memory and executable on the on-board processor, wherein the on-board processor executes the steps of the vehicle control method based on adaptive cruise control when executing the computer program.

[0113] Through one or more embodiments of the present application, the present application has the following beneficial effects or advantages:

[0114] The present application provides a vehicle control method, device, medium and vehicle based on adaptive cruise control. The method comprises: if it is determined that the vehicle is in a turning working condition in a current control period, determining a feedforward torque coefficient according to a steering wheel angle and a vehicle speed of the vehicle in the current control period; determining a target feedforward torque according to the feedforward torque coefficient and an initial feedforward torque of the vehicle, so that the target feedforward torque is less than the initial feedforward torque; determining a target torque of the vehicle in the current control period according to the target feedforward torque, a proportional-integral control torque of the vehicle, and a slope compensation control torque of the vehicle; and controlling the vehicle motion according to the target torque of the vehicle in the current control period. In this way, when the vehicle is in a turning working condition in an ACC state, the present application considers the influence of the steering wheel angle and the vehicle speed on the torque, determines the corresponding feedforward torque coefficient adaptively at different vehicle speeds and different steering wheel angles, adjusts the initial feedforward torque required for vehicle acceleration according to the feedforward torque coefficient, and the target feedforward torque after adjustment is less than or equal to the initial feedforward torque, so as to ensure that no feedforward torque is applied to the vehicle when the steering wheel angle is large or the vehicle speed is high, and the corresponding target feedforward torque is applied to the vehicle when the steering wheel angle is small or the vehicle speed is low, thereby reducing the output torque of the vehicle in the turning working condition and improving the stability of vehicle yaw and the driving stability of the vehicle in the turning working condition.

[0115] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the present disclosure. Therefore, the appended claims are intended to encompass all such variations and modifications as falling within the scope of the application.

[0116] The above descriptions are only the preferred embodiments of the application, not intended to limit the protection scope of the application. Any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A vehicle control method based on adaptive cruise control, characterized in that, The method includes: If it is determined that the vehicle is in a turning condition in the current control cycle, the feedforward torque coefficient is determined based on the vehicle's steering wheel angle and vehicle speed in the current control cycle. The target feedforward torque is determined based on the feedforward torque coefficient and the initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque. The target torque of the vehicle in the current control cycle is determined based on the target feedforward torque, the proportional-integral control torque of the vehicle, and the slope compensation control torque of the vehicle. The vehicle's movement is controlled according to the target torque of the vehicle in the current control cycle; wherein... The step of determining the feedforward torque coefficient based on the vehicle's steering wheel angle and vehicle speed in the current control cycle includes: The feedforward torque coefficient is determined based on the vehicle's steering wheel angle, vehicle speed, and a pre-generated feedforward torque coefficient curve function during the current control cycle; wherein... The feedforward torque coefficient curve function is pre-generated based on the feedforward torque coefficient table, which pre-calibrates the mapping relationship between steering wheel angle, vehicle speed, and the feedforward torque coefficient.

2. The method as described in claim 1, characterized in that, Determining the target feedforward torque based on the feedforward torque coefficient and the initial feedforward torque of the vehicle includes: The product of the initial feedforward torque and the feedforward torque coefficient is determined, and the product value is determined as the target feedforward torque.

3. The method as described in claim 1, characterized in that, Determining the target torque of the vehicle in the current control cycle based on the target feedforward torque, the vehicle's proportional-integral control torque, and the vehicle's hill-compensation control torque includes: Determine the torque and value of the target feedforward torque, the proportional-integral control torque, and the slope compensation control torque; Determine whether the sum of the torques is within the range of the motor torque output of the vehicle. If it is, then determine the sum of the torques as the target torque of the vehicle in the current control cycle.

4. The method as described in claim 1, characterized in that, After controlling the vehicle's movement according to the target torque of the vehicle in the current control cycle, the method further includes: If it is determined that the steering wheel angle of the vehicle in the next control cycle is less than the steering wheel angle of the vehicle in the current control cycle, then it is determined whether the target acceleration of the vehicle is greater than a preset acceleration threshold. If it is greater, then the initial torque of the vehicle in the next control cycle is determined. The torque difference is determined based on the initial torque of the vehicle in the next control cycle and the target torque of the vehicle in the current control cycle; If it is determined that the absolute value of the torque difference is greater than a preset torque threshold, the initial torque of the vehicle in the next control cycle is adjusted based on a preset torque limiting slope to obtain the target torque of the vehicle in the next control cycle. The target torque of the vehicle in the next control cycle is determined as the final output torque of the vehicle in the next control cycle.

5. The method as described in claim 4, characterized in that, If the absolute value of the torque difference is determined to be less than or equal to the preset torque threshold, the method further includes: The initial torque of the vehicle in the next control cycle is determined as the final output torque of the vehicle in the next control cycle.

6. The method as described in claim 4, characterized in that, The step of adjusting the initial torque of the vehicle in the next control cycle based on a preset torque limiting slope to obtain the target torque of the vehicle in the next control cycle includes: The torque limit is determined based on the initial torque of the vehicle in the next control cycle and the torque limit slope; The difference between the initial torque of the vehicle in the next control cycle and the torque limit is determined as the target torque of the vehicle in the next control cycle.

7. A vehicle control device based on adaptive cruise control, characterized in that, The device includes: The first determining unit is used to determine the feedforward torque coefficient based on the steering wheel angle and vehicle speed of the vehicle in the current control cycle if it is determined that the vehicle is in a turning condition in the current control cycle. The second determining unit is used to determine the target feedforward torque based on the feedforward torque coefficient and the initial feedforward torque of the vehicle; the target feedforward torque is less than or equal to the initial feedforward torque; The third determining unit is used to determine the target torque of the vehicle in the current control cycle based on the target feedforward torque, the proportional-integral control torque of the vehicle, and the slope compensation control torque of the vehicle. A control unit is configured to control the movement of the vehicle based on a target torque of the vehicle in the current control cycle; wherein, The first determining unit is used for: The feedforward torque coefficient is determined based on the vehicle's steering wheel angle, vehicle speed, and a pre-generated feedforward torque coefficient curve function during the current control cycle; wherein... The feedforward torque coefficient curve function is pre-generated based on the feedforward torque coefficient table, which pre-calibrates the mapping relationship between steering wheel angle, vehicle speed, and the feedforward torque coefficient.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-6.

9. A vehicle, comprising a memory, an on-board processor, and a computer program stored in the memory and executable on the on-board processor, characterized in that, When the vehicle-mounted processor executes the computer program, it implements the steps of the method according to any one of claims 1-6.

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