Cruise vehicle speed control method, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a cruise vehicle speed control method, electronic equipment, a storage medium and a program product. The method comprises the steps that when a cruise scene changes, the cruise vehicle speed, the current vehicle speed and road information are obtained, the vehicle working condition mode is determined according to the cruise vehicle speed, the current vehicle speed and the road information, and then when the vehicle working condition mode is a target mode, the corresponding target vehicle speed is determined according to the vehicle working condition mode; and controlling the actual vehicle speed to reach the target vehicle speed step by step. According to the method, in the target mode, the actual vehicle speed is controlled in a stepped mode to reach the target vehicle speed, it is ensured that the vehicle has enough power in the target modes, the situation that power is insufficient in the modes is avoided, and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle speed planning, and in particular to a cruise speed control method, electronic equipment, storage medium and program product. Background Art

[0002] Predictive cruise speed planning can dynamically adjust the vehicle speed based on map information and real-time road conditions to achieve a more fuel-efficient effect. By accelerating in advance when going uphill and decelerating in advance when going downhill, the vehicle's kinetic energy and potential energy are effectively utilized, reducing unnecessary fuel consumption.

[0003] In the prior art, predictive cruise speed planning methods iteratively calculate the optimal speed curve by designing evaluation functions, such as dynamic programming, intelligent optimization algorithms and other solution methods; or set different operating speeds according to different working conditions. Both methods are based on balancing fuel and speed to achieve speed planning.

[0004] However, the existing technology only focuses on fuel economy and does not consider driving smoothness and response speed, which causes drivers to feel that the vehicle power and speed are insufficient under certain conditions, affecting the driving experience. Summary of the invention

[0005] The embodiments of the present application provide a cruise speed control method, electronic device, storage medium and program product, which are used to achieve the target speed by step-by-step controlling the vehicle speed in some target modes, thereby ensuring the vehicle's power, avoiding insufficient power in the target mode, and improving the driving experience.

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

[0007] When the cruising scene changes, obtain the cruising speed, current speed and road information;

[0008] Determining a vehicle operating mode according to the cruising speed, the current speed and the road information;

[0009] When the vehicle operating mode is a target mode, a corresponding target speed is determined according to the vehicle operating mode, and the actual speed is controlled in a step-by-step manner to reach the target speed. The target mode includes: a first mode to a sixth mode. The first mode includes: a mode in which the road information is a flat road section and the current speed is less than a pre-calculated minimum target speed. The second mode includes: a mode in which the road information is a downhill section and the current speed is less than the minimum target speed and the target position speed is less than the cruising speed. The third mode includes: a mode in which the road information is a flat road section and the current speed is between the minimum target speed and the maximum target speed. mode, the fourth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is less than the minimum target vehicle speed, the fifth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed, the sixth mode includes: the mode in which the road information is invalid road information, the minimum target vehicle speed is the difference between the cruising speed and the first vehicle speed margin, the maximum target vehicle speed is the sum of the cruising speed and the second vehicle speed margin, the target position speed is the speed at which the vehicle maintains the current gear and glides to the target position, and the target position is the bottom of the slope or the farthest position of the current map.

[0010] In a possible implementation manner, determining the corresponding target vehicle speed according to the vehicle operating mode includes:

[0011] When the vehicle operating mode is one of the first mode, the second mode, or the sixth mode, taking the cruising speed as the target vehicle speed;

[0012] When the vehicle operating mode is the third mode, the difference between the cruising speed and the third speed margin is used as the target speed;

[0013] When the vehicle operating mode is the fourth mode or the fifth mode, the sum of the cruising vehicle speed and the fourth vehicle speed margin is used as the target vehicle speed.

[0014] In a possible implementation, it further includes:

[0015] At least one of the following target parameters is determined based on the target mode: the first vehicle speed margin, the second vehicle speed margin, the control strategy of the actual vehicle speed by the step-by-step control, the third vehicle speed margin, or the fourth vehicle speed margin, and the control strategy includes at least one of the following: the time interval between two adjacent adjustments of the current vehicle speed, and the corresponding amplitude of each adjustment.

[0016] In a possible implementation manner, after determining at least one of the following target parameters according to the target mode, the method further includes:

[0017] determining an adjustment speed of the step-type control according to the target mode, the adjustment speed indicating a target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed;

[0018] Determine the time consumption according to the target time and the number of adjustments;

[0019] The amplitude is determined according to the difference between the target vehicle speed and the current vehicle speed and the number of adjustments.

[0020] In a possible implementation, it further includes:

[0021] When the vehicle operating mode is a normal mode other than the target mode, construct an objective function, the objective function being used to evaluate the difference between the current vehicle speed and the cruising speed, and the engine torque of the vehicle, the normal mode comprising: a mode in which the road information is a downhill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed, or a mode in which the current vehicle speed is greater than or equal to the maximum target vehicle speed, or a mode in which the road information is a downhill section and the current vehicle speed is less than the minimum target vehicle speed, and the target position vehicle speed is greater than or equal to the cruising speed;

[0022] The current vehicle speed of the vehicle is controlled to reach the cruising speed based on the objective function.

[0023] In a possible implementation manner, the cruise scene changes, including at least one of the following:

[0024] The predictive cruise function is entered, the road information is changed from invalid road information to valid road information, and the cruising vehicle speed is changed.

[0025] In a second aspect, an embodiment of the present application provides a cruise speed control device, comprising:

[0026] The acquisition module is used to obtain the cruising speed, current speed and road information when the cruising scene changes;

[0027] A processing module, configured to determine a vehicle operating mode according to the cruising speed, the current speed and the road information;

[0028] The processing module is further used to determine the corresponding target vehicle speed according to the vehicle operating mode when the vehicle operating mode is the target mode, and step-by-step control the actual vehicle speed to reach the target vehicle speed. The target mode includes: the first mode to the sixth mode, the first mode includes: the road information is a flat road section, and the current vehicle speed is less than the pre-calculated minimum target vehicle speed mode, the second mode includes: the road information is a downhill section, the current vehicle speed is less than the minimum target vehicle speed, and the target position speed is less than the cruising speed mode, the third mode includes: the road information is a flat road section, and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed. The fourth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is less than the minimum target vehicle speed; the fifth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed; the sixth mode includes: the mode in which the road information is invalid road information; the minimum target vehicle speed is the difference between the cruising speed and the first vehicle speed margin; the maximum target vehicle speed is the sum of the cruising speed and the second vehicle speed margin; the target position speed is the speed at which the vehicle maintains the current gear and glides to the target position; the target position is the bottom of the slope or the farthest position of the current map.

[0029] In a cruise control device provided:

[0030] When the vehicle operating mode is one of the first mode, the second mode, or the sixth mode, a processing module is used to use the cruising speed as the target vehicle speed;

[0031] When the vehicle operating mode is the third mode, a processing module is used to use the difference between the cruising speed and the third speed margin as the target speed;

[0032] When the vehicle operating mode is the fourth mode or the fifth mode, the processing module is used to use the sum of the cruising speed and the fourth speed margin as the target speed.

[0033] In a cruise control device provided:

[0034] A processing module is used to determine at least one of the following target parameters according to the target mode: the first vehicle speed margin, the second vehicle speed margin, the control strategy of the actual vehicle speed by the step-by-step control, the third vehicle speed margin, or the fourth vehicle speed margin, wherein the control strategy includes at least one of the following: the time interval between two adjacent adjustments of the current vehicle speed, and the corresponding amplitude of each adjustment.

[0035] In a cruise control device provided:

[0036] a processing module, configured to determine an adjustment speed of the step-type control according to the target mode, wherein the adjustment speed indicates a target duration and a number of adjustments required to adjust from the current vehicle speed to the target vehicle speed;

[0037] A processing module, used for determining the time consumption according to the target time and the number of adjustments;

[0038] A processing module is used to determine the amplitude according to the difference between the target vehicle speed and the current vehicle speed, and the number of adjustments.

[0039] In a cruise control device provided:

[0040] a processing module, configured to construct an objective function when the vehicle operating mode is a normal mode other than the target mode, the objective function being used to evaluate the difference between the current vehicle speed and the cruising speed, and the engine torque of the vehicle, the normal mode comprising: a mode in which the road information is a downhill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed, or a mode in which the current vehicle speed is greater than or equal to the maximum target vehicle speed, or a mode in which the road information is a downhill section and the current vehicle speed is less than the minimum target vehicle speed, and the target position vehicle speed is greater than or equal to the cruising speed;

[0041] A processing module is used to control the current speed of the vehicle to reach the cruising speed based on the objective function.

[0042] In a cruise control device provided:

[0043] The processing module is used to determine whether the predictive cruise function is entered, whether the road information changes from invalid road information to valid road information, and whether the cruising speed changes.

[0044] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0045] The memory stores computer-executable instructions;

[0046] 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.

[0047] 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.

[0048] 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.

[0049] The embodiment of the present application provides a cruise speed control method, electronic device, storage medium and program product, which obtains the cruise speed, current speed and road information when the cruise scene changes, determines the vehicle working mode according to the cruise speed, current speed and road information, and then determines the corresponding target speed according to the vehicle working mode when the vehicle working mode is the target mode, and controls the actual speed to reach the target speed in a step-by-step manner. Compared with the prior art that only balances fuel and speed as the goal to plan the cruise speed, which results in the driver feeling that the vehicle power and speed are insufficient under certain working conditions, affecting the driving experience, the present application obtains the cruise speed, current speed and road information when the cruise scene changes, accurately determines the current working mode of the vehicle according to the cruise speed, current speed and road information, and then when the vehicle is in the target mode, controls the actual speed to reach the target speed in a step-by-step manner, ensuring that the vehicle has sufficient power in these working modes, avoiding the driver feeling that the vehicle power is insufficient under these working modes, and thus improving the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 A schematic diagram of a cruise speed control method provided in this application;

[0052] Figure 2 A schematic diagram of a flow chart of a first embodiment of a cruise speed control method provided by the present application;

[0053] Figure 3 A flow chart of a second embodiment of a cruise speed control method provided by the present application;

[0054] Figure 4 A schematic diagram of a flow chart of a cruise speed control method embodiment 3 provided in the present application;

[0055] Figure 5 A flowchart of a fourth embodiment of a cruise speed control method provided by the present application;

[0056] Figure 6 A flowchart of a cruise speed control method embodiment 5 provided in the present application;

[0057] Figure 7A schematic diagram of the structure of a cruise speed control device provided in this application;

[0058] Figure 8 A schematic diagram of the structure of the electronic device provided in this application.

[0059] 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

[0060] 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, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. 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.

[0061] It should be noted that 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, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0062] In the prior art, whether designing an evaluation function, using dynamic programming and intelligent optimization algorithms to solve the optimal speed curve, or setting different operating speeds according to different working conditions, the speed planning is achieved based on balancing fuel and speed, without considering driving smoothness and response speed, resulting in insufficient vehicle power and speed under some working conditions, which in turn affects the driving experience.

[0063] Based on this, the inventive concept of the present application is to provide a cruise speed control method, which is about how to provide sufficient power for the vehicle under certain working conditions to prevent the driver from feeling that the vehicle speed is insufficient. Therefore, by obtaining the cruise speed, current speed and road information, the current working mode of the vehicle can be accurately judged, different target speeds are designed for different working modes, and the current speed is controlled in a step-by-step manner to reach the target speed, thereby ensuring that the vehicle has sufficient power under these target road conditions and avoiding insufficient power.

[0064] Figure 1A schematic diagram of a cruise speed control method provided in this application, such as Figure 1 As shown, the specific application scenario of the present application is: when the cruising scene changes, the vehicle's own on-board system obtains the cruising speed, current speed and road information, and determines the vehicle operating mode based on the cruising speed, current speed and road information. When the vehicle operating mode is the target mode, the car cruise control system determines the corresponding target speed according to the vehicle operating mode, and controls the actual speed in a step-by-step manner to reach the target speed.

[0065] 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.

[0066] Figure 2 A schematic diagram of a flow chart of a cruise speed control method embodiment 1 provided in this application, such as Figure 2 As shown, the method comprises the following steps:

[0067] S201: When the cruising scene changes, obtain the cruising speed, current speed and road information.

[0068] In an embodiment of the present application, the cruising speed, current speed and road information are obtained when the cruising scene changes.

[0069] Preferably, the change in the cruise scene includes at least one of the following: entering the predictive cruise function, the road information changes from invalid road information to valid road information, and the cruise speed changes.

[0070] In the embodiment of the present application, for example, the change in the cruise scene includes at least one of the following: entering the predictive cruise function through the cruise button; the road information in the map information sent by the map device changes from invalid road information to valid road information, wherein the invalid road information refers to identifying a flat road as an uphill slope; changing the cruise speed through the cruise button.

[0071] S202: Determine a vehicle operating mode according to the cruising speed, the current speed and the road information.

[0072] In an embodiment of the present application, the vehicle operating mode is determined based on the cruising speed, the current speed and the road information.

[0073] S203: When the vehicle operating mode is the target mode, determine the corresponding target vehicle speed according to the vehicle operating mode, and control the actual vehicle speed in a step-by-step manner to reach the target vehicle speed.

[0074] In an embodiment of the present application, when the vehicle operating mode is a target mode, the corresponding target vehicle speed is determined according to the vehicle operating mode, and the actual vehicle speed is controlled in a step-by-step manner to reach the target vehicle speed.

[0075] The target mode includes: the first mode to the sixth mode. The first mode is: the road information is a flat road section, and the current vehicle speed is less than the pre-calculated minimum target vehicle speed; the second mode is: the road information is a downhill section, and the current vehicle speed is less than the minimum target vehicle speed, and the target position vehicle speed is less than the cruising speed; the third mode is: the road information is a flat road section, and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed; the fourth mode is: the road information is an uphill section, and the current vehicle speed is less than the minimum target vehicle speed; the fifth mode is: the road information is an uphill section, and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed; the sixth mode is: the road information is an invalid road information mode, the minimum target vehicle speed is the difference between the cruising vehicle speed and the first vehicle speed margin, the maximum target vehicle speed is the sum of the cruising vehicle speed and the second vehicle speed margin, the target position vehicle speed is the vehicle speed of the vehicle sliding to the target position while maintaining the current gear, and the target position is the bottom position of the slope or the farthest position of the current map.

[0076] In the embodiment of the present application, when the cruising scene changes, the cruising speed, the current speed and the road information are obtained, and the vehicle operating mode is determined according to the cruising speed, the current speed and the road information. Then, when the vehicle operating mode is the target mode, the corresponding target speed is determined according to the vehicle operating mode, and the actual speed is controlled in a step-by-step manner to reach the target speed. Compared with the prior art that only balances fuel and speed as the goal to plan the cruising speed, which results in the driver feeling that the vehicle power and speed are insufficient under certain working conditions, affecting the driving experience, the present application obtains the cruising speed, the current speed and the road information when the cruising scene changes, and accurately determines the current working mode of the vehicle according to the cruising speed, the current speed and the road information. Then, when the vehicle is in the target mode, the actual speed is controlled in a step-by-step manner to reach the target speed, ensuring that the vehicle has sufficient power in these working modes, avoiding the driver feeling that the vehicle power is insufficient in these working modes, and thus improving the driving experience.

[0077] Figure 3 A flow chart of a second embodiment of a cruise speed control method provided in this application, such as Figure 3 As shown in the above Figure 2 Based on the embodiment shown, a specific implementation method of determining the corresponding target vehicle speed according to the vehicle operating mode in step S203 is:

[0078] S301: When the vehicle operating mode is one of the first mode, the second mode, or the sixth mode, the cruising speed is used as the target vehicle speed.

[0079] In the embodiment of the present application, when the road information is a flat road section and the current vehicle speed is less than the pre-calculated minimum target speed, the vehicle is in the first mode. The pre-calculated minimum target speed is the difference between the cruising speed and the first speed margin, that is, when the current vehicle speed is less than the cruising speed by a certain degree, the cruising speed is used as the target speed.

[0080] When the road information is a downhill section, and the current vehicle speed is less than the pre-calculated minimum target speed, and the target position speed is less than the cruising speed, the vehicle is in the second mode, and the cruising speed is used as the target speed. The target position speed is the speed at which the vehicle maintains the current gear and glides to the target position, and the target position is the bottom of the slope or the farthest position of the current map, that is, the speed at which the vehicle maintains the current gear and glides to the bottom of the slope, or the speed at which the vehicle maintains the current gear and glides to the farthest end of the current map.

[0081] When the road information is invalid, the vehicle is in the sixth mode, and the cruising speed is used as the target speed. Invalid road information refers to missing map data or incorrect road attributes given by the map, for example, a flat road is identified as an uphill road.

[0082] S302: When the vehicle operating mode is the third mode, the difference between the cruising speed and the third speed margin is used as the target vehicle speed.

[0083] In the embodiment of the present application, when the road information is a flat road section and the current vehicle speed is between the minimum target speed and the maximum target speed, the vehicle is in the third mode, and the difference between the cruising speed and the third speed margin is used as the target speed. The maximum target speed is the sum of the cruising speed and the second speed margin.

[0084] S303: When the vehicle operating mode is the fourth mode or the fifth mode, the sum of the cruising speed and the fourth speed margin is used as the target vehicle speed.

[0085] In the embodiment of the present application, when the road information is an uphill section and the current vehicle speed is less than the minimum target speed, the vehicle is in the fourth mode, and the sum of the cruising speed and the fourth speed margin is used as the target speed. When the road information is an uphill section and the current vehicle speed is between the minimum target speed and the maximum target speed, the vehicle is in the fifth mode, and the sum of the cruising speed and the fourth speed margin is used as the target speed.

[0086] In the embodiment of the present application, when the vehicle operating mode is in the first mode, since the road is flat and the current vehicle speed is less than the pre-calculated minimum target speed, the current vehicle speed is low, then the cruising speed is set as the target speed, and when the current vehicle speed reaches the cruising speed, the speed control mode is exited to ensure that the vehicle does not exceed the speed limit. When the vehicle operating mode is in the second mode, the vehicle is downhill, but since the current vehicle speed is low and it is expected to reach the slope or the farthest end of the map, the current vehicle speed is still insufficient to reach the cruising speed, then the cruising speed is also set as the target speed, and when the current vehicle speed reaches the cruising speed, the speed control mode is exited to ensure that the vehicle does not exceed the speed limit. When the vehicle operating mode is in the sixth mode, since the road information is invalid road information, in order to ensure safety and maintain a certain driving speed, the cruising speed is used as the target speed, and when the current vehicle speed reaches the cruising speed, the speed control mode is exited. When the vehicle is in the third mode, since the road information is a flat road section and the current speed is near the cruising speed, when the speed reaches the difference between the cruising speed and the third speed margin, the speed control mode is exited to ensure that the cruising state is maintained with small speed fluctuations, reduce frequent acceleration and deceleration operations, and provide a smoother driving experience. When the vehicle is in the fourth and fifth modes, since the road information is an uphill section, the sum of the cruising speed and the fourth speed margin is used as the target speed to ensure that the vehicle has enough power to climb the slope and avoid frequent acceleration due to insufficient power during the climbing process.

[0087] Figure 4 A flow chart of a cruise speed control method embodiment 3 provided in this application is shown in FIG. Figure 4 As shown in the above Figure 3 Based on the illustrated embodiment, the method comprises the following steps:

[0088] S401: Determine at least one of the following target parameters according to the target mode: a first vehicle speed margin, a second vehicle speed margin, a step-by-step control strategy for the actual vehicle speed, a third vehicle speed margin, or a fourth vehicle speed margin, the control strategy including at least one of the following: a time interval between two adjacent adjustments of the current vehicle speed, and a corresponding amplitude for each adjustment.

[0089] In the embodiment of the present application, different target modes may correspond to different target parameters, and the first speed margin, the second speed margin, the step-by-step control strategy for the actual speed, the third speed margin, or the fourth speed margin may be determined according to the target mode. The control strategy includes: the time interval between two consecutive adjustments to the current speed, and the corresponding amplitude of each adjustment. For example, the control strategy is: the speed at the current time t is , then according to the corresponding amplitude of each adjustment, set the adjustment speed to ,in is the amplitude corresponding to each adjustment. If the actual vehicle speed is within the time interval between two consecutive adjustments of the current vehicle speed, In, accelerate to , reset the speed to , repeat the above process until the actual vehicle speed reaches the target speed.

[0090] In the embodiment of the present application, different target modes correspond to different target parameters, and the target parameters can be set according to actual needs. For example, different target parameters are determined according to different driving modes. In the comfortable driving mode, a larger value of the vehicle speed margin can be set to reduce the number of sudden acceleration or deceleration and improve ride comfort. In the control strategy, the time interval between two consecutive adjustments of the current vehicle speed is longer and the adjustment range is smaller to achieve smooth vehicle speed changes. In the sports driving mode, the vehicle speed margin can be set to a smaller value to accelerate or decelerate faster to feel the vehicle performance, and the time interval between two consecutive adjustments of the current vehicle speed in the control strategy is set to a short time and the adjustment range is set to a larger time to respond to faster driving needs. Different target parameters and control strategies correspond to different target modes to meet different needs of drivers.

[0091] Figure 5 A flow chart of a cruise speed control method embodiment 4 provided in this application is shown in FIG. Figure 5 As shown in the above Figure 4 Based on the embodiment shown, after determining at least one of the following target parameters according to the target mode, the method further includes:

[0092] S501: Determine an adjustment speed of the step-by-step control according to the target mode, where the adjustment speed indicates a target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed.

[0093] In an embodiment of the present application, the adjustment speed of the step control is determined according to the target mode. Different modes may correspond to different adjustment speeds. The adjustment speed indicates the target time and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed.

[0094] S502: Determine the time consumption according to the target duration and the number of adjustments.

[0095] In the embodiment of the present application, the time taken for each adjustment can be determined based on the target duration and the number of adjustments.

[0096] S503: Determine the amplitude according to the difference between the target vehicle speed and the current vehicle speed and the number of adjustments.

[0097] In the embodiment of the present application, the amplitude is obtained by dividing the difference between the target vehicle speed and the current vehicle speed by the number of adjustments.

[0098] In an embodiment of the present application, the adjustment speed of the step control is determined according to the target mode. The adjustment speed indicates the target time and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed. The time consumption is determined according to the target time and the number of adjustments. The amplitude is determined according to the difference between the target vehicle speed and the current vehicle speed, and the number of adjustments. Through multiple small adjustments, the vehicle speed change is smoother, reducing the driver's discomfort. Different target modes can correspond to different step control parameters, so that the vehicle can adapt to different driving needs and road conditions.

[0099] Figure 6 A flowchart of a cruise speed control method embodiment 5 provided in this application is shown in FIG. Figure 6 As shown in the above Figure 2 Based on the embodiment shown, it also includes:

[0100] S601: When the vehicle operating mode is a normal mode other than the target mode, construct an objective function, which is used to evaluate the difference between the current vehicle speed and the cruising speed, as well as the engine torque of the vehicle. The normal mode includes: a mode in which the road information is a downhill section and the current vehicle speed is between the minimum target speed and the maximum target speed, or a mode in which the current vehicle speed is greater than or equal to the maximum target speed, or a mode in which the road information is a downhill section and the current vehicle speed is less than the minimum target speed, and the target position speed is greater than or equal to the cruising speed.

[0101] In the embodiment of the present application, when the road information is a downhill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed, it belongs to the normal mode; or when the current vehicle speed is greater than or equal to the maximum target vehicle speed, it also belongs to the normal mode; or when the road information is a downhill section, the current vehicle speed is less than the minimum target vehicle speed, and the target position vehicle speed is greater than or equal to the cruising speed, it also belongs to the normal mode. When the vehicle operating mode belongs to the normal mode, an objective function is constructed, and the objective function is used to evaluate the difference between the current vehicle speed and the cruising speed, as well as the engine torque of the vehicle.

[0102] S602: Control the current speed of the vehicle to reach a cruising speed based on the objective function.

[0103] In an embodiment of the present application, the current speed of the vehicle is controlled to reach the cruising speed according to the objective function. For example, according to the dynamic programming algorithm, the optimal speed curve is planned in combination with the real-time state of the vehicle and the objective function so that the current speed reaches the cruising speed.

[0104] In an embodiment of the present application, when the vehicle operating mode is a normal mode other than the target mode, an objective function is constructed, and the objective function is used to evaluate the difference between the current vehicle speed and the cruising speed, as well as the engine torque of the vehicle. The normal mode includes: a mode in which the road information is a downhill section and the current vehicle speed is between the minimum target speed and the maximum target speed, or a mode in which the current vehicle speed is greater than or equal to the maximum target speed, or a mode in which the road information is a downhill section, the current vehicle speed is less than the minimum target speed, and the target position speed is greater than or equal to the cruising speed. Based on the objective function, the current vehicle speed of the vehicle is controlled to reach the cruising speed. By accurately controlling the vehicle speed to balance fuel consumption and vehicle speed, the vehicle speed is controlled to avoid unnecessary acceleration and deceleration, thereby effectively reducing fuel consumption.

[0105] Figure 7 A schematic diagram of the structure of a cruise speed control device provided in this application, such as Figure 7 As shown, the cruise speed control device 70 provided in this embodiment includes:

[0106] The acquisition module 701 is used to acquire the cruising speed, the current speed and the road information when the cruising scene changes; the processing module 702 is used to determine the vehicle operating mode according to the cruising speed, the current speed and the road information; the processing module 702 is also used to determine the corresponding target speed according to the vehicle operating mode when the vehicle operating mode is the target mode, and step-by-step control the actual speed to reach the target speed, the target mode includes: the first mode to the sixth mode, the first mode includes: the road information is a flat road section, and the current speed is less than the pre-calculated minimum target speed mode, the second mode includes: the road information is a downhill section, and the current speed is less than the minimum target speed, and the target position speed is less than the cruise speed. The first mode includes: the mode of the cruising speed, the second mode includes: the mode of the road information being a flat road section, and the current vehicle speed being between the minimum target speed and the maximum target speed, the third mode includes: the mode of the road information being an uphill section, and the current vehicle speed being less than the minimum target speed, the fifth mode includes: the mode of the road information being an uphill section, and the current vehicle speed being between the minimum target speed and the maximum target speed, the sixth mode includes: the mode of the road information being invalid road information, the minimum target speed being the difference between the cruising speed and the first speed margin, the maximum target speed being the sum of the cruising speed and the second speed margin, the target position speed being the speed of the vehicle maintaining the current gear and gliding to the target position, and the target position being the bottom of the slope or the farthest position of the current map.

[0107] The cruise speed control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0108] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 8 As shown, the electronic device 80 provided in this embodiment includes: at least one processor 801 and a memory 802. Optionally, the device 80 also includes a communication component 803. The processor 801, the memory 802 and the communication component 803 are connected via a bus 804.

[0109] In a specific implementation process, at least one processor 801 executes the computer-executable instructions stored in the memory 802, so that at least one processor 801 executes the above method.

[0110] The specific implementation process of the processor 801 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.

[0111] In the above embodiments, it should be understood that the processor can 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 can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0112] 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.

[0113] 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.

[0114] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0115] 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.

[0116] 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.

[0117] 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 a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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 cruise speed control method, characterized in that: include: When the cruising scene changes, obtain the cruising speed, current speed and road information; Determining a vehicle operating mode according to the cruising speed, the current speed and the road information; When the vehicle operating mode is a target mode, a corresponding target speed is determined according to the vehicle operating mode, and the actual speed is controlled in a step-by-step manner to reach the target speed. The target mode includes: a first mode to a sixth mode. The first mode includes: a mode in which the road information is a flat road section and the current speed is less than a pre-calculated minimum target speed. The second mode includes: a mode in which the road information is a downhill section and the current speed is less than the minimum target speed and the target position speed is less than the cruising speed. The third mode includes: a mode in which the road information is a flat road section and the current speed is between the minimum target speed and the maximum target speed. mode, the fourth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is less than the minimum target vehicle speed, the fifth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed, the sixth mode includes: the mode in which the road information is invalid road information, the minimum target vehicle speed is the difference between the cruising speed and the first vehicle speed margin, the maximum target vehicle speed is the sum of the cruising speed and the second vehicle speed margin, the target position speed is the speed at which the vehicle maintains the current gear and glides to the target position, and the target position is the bottom of the slope or the farthest position of the current map.

2. The method according to claim 1, characterized in that The determining the corresponding target vehicle speed according to the vehicle operating mode includes: When the vehicle operating mode is one of the first mode, the second mode, or the sixth mode, taking the cruising speed as the target vehicle speed; When the vehicle operating mode is the third mode, the difference between the cruising speed and the third speed margin is used as the target speed; When the vehicle operating mode is the fourth mode or the fifth mode, the sum of the cruising vehicle speed and the fourth vehicle speed margin is used as the target vehicle speed.

3. The method according to claim 2, characterized in that Also includes: At least one of the following target parameters is determined based on the target mode: the first vehicle speed margin, the second vehicle speed margin, the control strategy of the actual vehicle speed by the step-by-step control, the third vehicle speed margin, or the fourth vehicle speed margin, and the control strategy includes at least one of the following: the time interval between two adjacent adjustments of the current vehicle speed, and the corresponding amplitude of each adjustment.

4. The method according to claim 3, characterized in that After determining at least one of the following target parameters according to the target mode, the method further includes: determining an adjustment speed of the step-type control according to the target mode, the adjustment speed indicating a target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed; Determine the time consumption according to the target time and the number of adjustments; The amplitude is determined according to the difference between the target vehicle speed and the current vehicle speed and the number of adjustments.

5. The method according to claim 1, characterized in that Also includes: When the vehicle operating mode is a normal mode other than the target mode, construct an objective function, the objective function being used to evaluate the difference between the current vehicle speed and the cruising speed, and the engine torque of the vehicle, the normal mode comprising: a mode in which the road information is a downhill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed, or a mode in which the current vehicle speed is greater than or equal to the maximum target vehicle speed, or a mode in which the road information is a downhill section and the current vehicle speed is less than the minimum target vehicle speed, and the target position vehicle speed is greater than or equal to the cruising speed; The current vehicle speed of the vehicle is controlled to reach the cruising speed based on the objective function.

6. The method according to any one of claims 1 to 3, characterized in that The cruise scenario changes, including at least one of the following: The predictive cruise function is entered, the road information is changed from invalid road information to valid road information, and the cruising vehicle speed is changed.

7. A cruise speed control device, characterized in that: include: The acquisition module is used to obtain the cruising speed, current speed and road information when the cruising scene changes; A processing module, configured to determine a vehicle operating mode according to the cruising speed, the current speed and the road information; The processing module is further used to determine the corresponding target vehicle speed according to the vehicle operating mode when the vehicle operating mode is the target mode, and step-by-step control the actual vehicle speed to reach the target vehicle speed. The target mode includes: the first mode to the sixth mode, the first mode includes: the road information is a flat road section, and the current vehicle speed is less than the pre-calculated minimum target vehicle speed mode, the second mode includes: the road information is a downhill section, the current vehicle speed is less than the minimum target vehicle speed, and the target position speed is less than the cruising speed mode, the third mode includes: the road information is a flat road section, and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed. The fourth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is less than the minimum target vehicle speed; the fifth mode includes: the mode in which the road information is an uphill section and the current vehicle speed is between the minimum target vehicle speed and the maximum target vehicle speed; the sixth mode includes: the mode in which the road information is invalid road information; the minimum target vehicle speed is the difference between the cruising speed and the first vehicle speed margin; the maximum target vehicle speed is the sum of the cruising speed and the second vehicle speed margin; the target position speed is the speed at which the vehicle maintains the current gear and glides to the target position; the target position is the bottom of the slope or the farthest position of the current map.

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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