Cruise control methods, electronic devices, storage media and software products

Abstract

This application provides a cruise speed control method, electronic device, storage medium, and program product. The method includes: acquiring cruise speed, current speed, and road information when the cruise scenario changes; determining the vehicle operating mode based on the cruise speed, current speed, and road information; then, when the vehicle operating mode is a target mode, determining the corresponding target speed based on the vehicle operating mode, and controlling the actual speed in a stepped manner to reach the target speed. This method, in the target mode, ensures sufficient power for the vehicle in these target modes by controlling the actual speed in a stepped manner, avoiding insufficient power in these modes and improving the driving experience.

Description

Technical Field

[0001] This application relates to the field of vehicle speed planning, and more particularly to a cruise speed control method, electronic device, storage medium, and program product. Background Technology

[0002] Predictive cruise speed planning dynamically adjusts vehicle speed based on map information and real-time traffic conditions to achieve better fuel economy. By employing strategies such as accelerating in advance when going uphill and decelerating in advance when going downhill, it effectively utilizes the vehicle's kinetic and potential energy, reducing unnecessary fuel consumption.

[0003] In existing technologies, predictive cruise speed planning methods calculate the optimal speed curve iteratively by designing evaluation functions, such as dynamic programming or intelligent optimization algorithms; or by setting different operating speeds according to different operating conditions. Both methods are based on balancing fuel consumption and vehicle speed to achieve speed planning.

[0004] However, existing technologies only focus on fuel economy and do not take into account driving smoothness and responsiveness, which causes drivers to feel that the vehicle's power and speed are insufficient in some operating conditions, affecting the driving experience. Summary of the Invention

[0005] This application provides a cruise speed control method, electronic device, storage medium, and program product, which are used to achieve a target speed by step-by-step control of vehicle speed in certain target modes, thereby ensuring vehicle power, avoiding insufficient power in the target mode, and improving the driving experience.

[0006] In a first aspect, embodiments of this application provide a cruise speed control method, including:

[0007] When the cruise scenario changes, acquire cruise speed, current speed, and road information;

[0008] The vehicle operating mode is determined based on the cruise speed, the current speed, and the road information;

[0009] When the vehicle operating mode is the target mode, a corresponding target speed is determined based on the vehicle operating mode, and the actual vehicle 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 where the road information is a flat road section and the current vehicle speed is less than a pre-calculated minimum target speed. The second mode includes: a mode where the road information is a downhill road section, the current vehicle speed is less than the minimum target speed, and the vehicle speed at the target position is less than the cruising speed. The third mode includes: a mode where 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 fourth mode includes a mode where the road information is an uphill section and the current vehicle speed is less than the minimum target vehicle speed. The fifth mode includes a mode where 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 a mode where the road information is invalid road information. The minimum target vehicle speed is the difference between the cruise speed and the first speed margin. The maximum target vehicle speed is the sum of the cruise speed and the second speed margin. The target position speed is the speed at which the vehicle coasts to the target position while maintaining the current gear. The target position is the bottom of the slope or the farthest position on the current map.

[0010] In one possible implementation, determining the corresponding target vehicle speed based on the vehicle operating mode includes:

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

[0012] When the vehicle operating mode is the third mode, the difference between the cruise speed and the third speed margin is taken as the target speed.

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

[0014] In one possible implementation, it also includes:

[0015] Based on the target mode, at least one of the following target parameters is determined: the first vehicle speed margin, the second vehicle speed margin, the step control strategy for the actual vehicle speed, the third vehicle speed margin, or the fourth vehicle speed margin. The control strategy includes at least one of the following: the time interval between two consecutive adjustments to the current vehicle speed, and the corresponding adjustment magnitude for each adjustment.

[0016] In one possible implementation, after determining at least one of the following target parameters based on the target pattern, the method further includes:

[0017] The adjustment speed of the stepped control is determined according to the target mode, and the adjustment speed indicates the target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed;

[0018] The time consumption is determined based on the target duration and the number of adjustments.

[0019] The magnitude is determined based on the difference between the target vehicle speed and the current vehicle speed, as well as the number of adjustments.

[0020] In one possible implementation, it also includes:

[0021] When the vehicle operating mode is a normal mode other than the target mode, a target function is constructed. The target function is used to evaluate the difference between the current vehicle speed and the cruise speed, as well as the engine torque of the vehicle. The normal mode includes: a mode where 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 where the current vehicle speed is greater than or equal to the maximum target speed; or a mode where the road information is a downhill section and the current vehicle speed is less than the minimum target speed, and the target position vehicle speed is greater than or equal to the cruise speed.

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

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

[0024] Predictive cruise control is activated, the road information changes from invalid road information to valid road information, and the cruise speed changes.

[0025] Secondly, embodiments of this application provide a cruise speed control device, comprising:

[0026] The acquisition module is used to acquire cruise speed, current speed, and road information when the cruise scenario changes.

[0027] The processing module is used to determine the vehicle operating mode based on the cruise speed, the current speed, and the road information;

[0028] The processing module is further configured to, when the vehicle operating mode is a target mode, determine the corresponding target speed according to the vehicle operating mode, and control the actual vehicle speed in a stepwise manner to reach the target speed. The target mode includes: a first mode to a sixth mode. The first mode includes: a mode where the road information is a flat road section and the current vehicle speed is less than a pre-calculated minimum target speed. The second mode includes: a mode where the road information is a downhill road section and the current vehicle speed is less than the minimum target speed, and the target position vehicle speed is less than the cruising speed. The third mode includes: a mode where 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 speed range patterns are as follows: the fourth mode includes a mode where the road information is an uphill section and the current speed is less than the minimum target speed; the fifth mode includes a mode where the road information is an uphill section and the current speed is between the minimum target speed and the maximum target speed; the sixth mode includes a mode where the road information is invalid road information; the minimum target speed is the difference between the cruise speed and the first speed margin; the maximum target speed is the sum of the cruise speed and the second speed margin; the target position speed is the speed at which the vehicle coasts to the target position while maintaining the current gear; and the target position is the bottom of the slope or the farthest position on the current map.

[0029] In one provided cruise speed control device:

[0030] When the vehicle operating mode is one of the first mode, the second mode, or the sixth mode, the processing module is used to take the cruise speed as the target speed.

[0031] When the vehicle operating mode is the third mode, the processing module is used to take the difference between the cruise 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 take the sum of the cruise speed and the fourth speed margin as the target speed.

[0033] In one provided cruise speed control device:

[0034] The processing module is configured to determine at least one of the following target parameters based on the target mode: the first vehicle speed margin, the second vehicle speed margin, the control strategy of the stepped control on the actual vehicle speed, 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 consecutive adjustments of the current vehicle speed, and the corresponding magnitude of each adjustment.

[0035] In one provided cruise speed control device:

[0036] The processing module is configured to determine the adjustment speed of the stepped control according to the target mode, wherein the adjustment speed indicates the target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed;

[0037] The processing module is used to determine the time consumption based on the target duration and the number of adjustments.

[0038] The processing module is used to determine the magnitude based on the difference between the target vehicle speed and the current vehicle speed, as well as the number of adjustments.

[0039] In one provided cruise speed control device:

[0040] The processing module is configured to construct an objective function when the vehicle operating mode is a normal mode other than the target mode. 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 where 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 where the current vehicle speed is greater than or equal to the maximum target speed; or a mode where the road information is a downhill section and the current vehicle speed is less than the minimum target speed, and the target position vehicle speed is greater than or equal to the cruising speed.

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

[0042] In one provided cruise speed control device:

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

[0044] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0045] The memory stores computer-executed instructions;

[0046] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0047] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0048] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0049] This application provides a cruise speed control method, electronic device, storage medium, and program product. When the cruise scenario changes, it acquires the cruise speed, current speed, and road information. Based on these information, it determines the vehicle's operating mode. Then, when the vehicle's operating mode is the target mode, it determines the corresponding target speed and controls the actual speed in a step-by-step manner to reach the target speed. Compared to existing technologies that only balance fuel consumption and vehicle speed for cruise speed planning, which can lead to insufficient power and speed for the driver in certain conditions and negatively impact the driving experience, this application acquires the cruise speed, current speed, and road information when the cruise scenario changes. Based on these information, it accurately determines the vehicle's current operating mode. When the vehicle is in the target mode, it controls the actual speed in a step-by-step manner to reach the target speed, ensuring sufficient power for the vehicle in all operating modes and preventing the driver from feeling insufficient power, thereby improving the driving experience. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

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

[0052] Figure 2 A flowchart illustrating an embodiment of a cruise speed control method provided in this application;

[0053] Figure 3 A flowchart illustrating a second embodiment of a cruise speed control method provided in this application;

[0054] Figure 4 A flowchart illustrating a third embodiment of a cruise speed control method provided in this application;

[0055] Figure 5 A flowchart illustrating a fourth embodiment of a cruise speed control method provided in this application;

[0056] Figure 6 A flowchart illustrating a fifth embodiment of a cruise speed control method provided in this application;

[0057] Figure 7A schematic diagram 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 accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of the relevant data all comply with the relevant laws, regulations, and standards of the relevant countries and regions, have taken necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation access points for users to choose to authorize or refuse.

[0062] In existing technologies, whether by designing evaluation functions, using dynamic programming and intelligent optimization algorithms to solve for the optimal vehicle speed curve, or by setting different operating speeds according to different working conditions, vehicle speed planning is based on balancing fuel and vehicle speed. It does not take into account 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 this application is to provide a cruise speed control method to provide sufficient power to the vehicle under certain operating conditions and avoid the driver feeling that the vehicle speed is insufficient. Therefore, by acquiring cruise speed, current speed and road information, the current operating mode of the vehicle is accurately determined, different target speeds are designed for different operating 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 is shown below. Figure 1 As shown, the specific application scenario of this application is as follows: when the vehicle's own on-board system changes the cruise scenario, it obtains the cruise speed, current speed and road information, and determines the vehicle operating mode based on the cruise speed, current speed and road information. When the vehicle operating mode is the target mode, the vehicle cruise control system determines the corresponding target speed based on 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 this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0066] Figure 2 A flowchart illustrating an embodiment of a cruise speed control method provided in this application is shown below. Figure 2 As shown, the method includes the following steps:

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

[0068] In this embodiment of the application, cruise speed, current speed and road information are obtained when the cruise scenario changes.

[0069] Preferably, the change in the cruise scenario includes at least one of the following: entering predictive cruise function, road information changing from invalid road information to valid road information, or a change in cruise speed.

[0070] In this embodiment of the application, for example, the change of the cruise scenario includes at least one of the following: entering the predictive cruise function by pressing 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 invalid road information refers to identifying a flat road as an uphill slope; changing the cruise speed by pressing the cruise button.

[0071] S202: Determine the vehicle operating mode based on the cruise speed, current speed, and road information.

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

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

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

[0075] The target modes include: Mode 1 through Mode 6. Mode 1 is: the road information is a flat road section, and the current vehicle speed is less than the pre-calculated minimum target speed; Mode 2 is: the road information is a downhill road section, and the current vehicle speed is less than the minimum target speed, and the target position speed is less than the cruise speed; Mode 3 is: the road information is a flat road section, and the current vehicle speed is between the minimum and maximum target speeds; Mode 4 is: the road information is an uphill road section, and the current vehicle speed is less than the minimum target speed; Mode 5 is: the road information is an uphill road section, and the current vehicle speed is between the minimum and maximum target speeds; Mode 6 is: the road information is invalid road information, the minimum target speed is the difference between the cruise speed and the first speed margin, the maximum target speed is the sum of the cruise speed and the second speed margin, the target position speed is the speed at which the vehicle coasts to the target position while maintaining the current gear, and the target position is the bottom of the slope or the farthest position on the current map.

[0076] In this embodiment, when the cruise scenario changes, the cruise speed, current speed, and road information are acquired. Based on these information, the vehicle operating mode is determined. Then, when the vehicle operating mode is the target mode, the corresponding target speed is determined, and the actual speed is controlled in a step-by-step manner to reach the target speed. Compared to existing technologies that only consider balancing fuel consumption and vehicle speed as the target for cruise speed planning, which can lead to drivers feeling insufficient power and speed in certain operating conditions and affecting the driving experience, this application acquires the cruise speed, current speed, and road information when the cruise scenario changes. Based on these information, the current operating mode of the vehicle is accurately determined. 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 operating modes and preventing the driver from feeling that the vehicle is underpowered in these operating modes, thereby improving the driving experience.

[0077] Figure 3 A flowchart illustrating a second embodiment of a cruise speed control method provided in this application is shown below. Figure 3 As shown above, in the above Figure 2 Based on the illustrated embodiment, a specific implementation of step S203, which determines the corresponding target vehicle speed according to the vehicle operating mode, is as follows:

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

[0079] In this embodiment, when the road information is a flat road segment and the current vehicle speed is less than the pre-calculated minimum target vehicle speed, the vehicle is in the first mode. The pre-calculated minimum target vehicle speed is the difference between the cruise speed and a first speed margin; that is, when the current vehicle speed is less than the cruise speed by a certain amount, the cruise speed is used as the target speed.

[0080] When the road information indicates a downhill section, and the current vehicle speed is less than the pre-calculated minimum target speed, while the target location speed is less than the cruise speed, the vehicle enters the second mode. In this mode, the cruise speed is used as the target speed. The target location speed is the speed at which the vehicle maintains its current gear to coast to the target location, which is either the bottom of the slope or the farthest point on the current map.

[0081] When the road information is invalid, the vehicle enters the sixth mode, in which case the cruise speed is used as the target speed. Invalid road information refers to missing map data or incorrect road attributes provided by the map, such as identifying a flat road as an uphill slope.

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

[0083] In this embodiment, when the road information is a flat road segment and the current vehicle speed is between the minimum target speed and the maximum target speed, the vehicle is in the third mode. At this time, the difference between the cruise speed and the third speed margin is used as the target speed. The maximum target speed is the sum of the cruise speed and the second speed margin.

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

[0085] In this embodiment, 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 cruise 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 and maximum target speeds, the vehicle is in the fifth mode, and the sum of the cruise speed and the fourth speed margin is used as the target speed.

[0086] In this embodiment, when the vehicle is in the first driving mode, because the road is flat and the current speed is lower than the pre-calculated minimum target speed, the cruise speed is set as the target speed. When the current speed reaches the cruise speed, the speed control mode is exited to ensure the vehicle does not exceed the speed limit. When the vehicle is in the second driving mode, the vehicle is going downhill, but because the current speed is low and it is expected that the current speed will still be insufficient to reach the cruise speed when reaching the bottom of the slope or the farthest point on the map, the cruise speed is also set as the target speed. When the current speed reaches the cruise speed, the speed control mode is exited to ensure the vehicle does not exceed the speed limit. When the vehicle is in the sixth driving mode, because the road information is invalid, the cruise speed is set as the target speed to ensure safety and maintain a certain driving speed. When the current speed reaches the cruise speed, the speed control mode is exited. When the vehicle is in mode three, and the road is flat with the current speed near the cruise speed, the speed control mode exits when the speed reaches the difference between the cruise speed and the third speed margin. This ensures that the vehicle continues to maintain cruise control with minimal speed fluctuations, reducing frequent acceleration and deceleration and providing a smoother driving experience. When the vehicle is in modes four and five, and the road is uphill, the target speed is set by the sum of the cruise speed and the fourth speed margin. This ensures the vehicle has sufficient power to climb the hill and avoids frequent acceleration due to insufficient power during the ascent.

[0087] Figure 4 A flowchart illustrating a third embodiment of a cruise speed control method provided in this application is shown below. Figure 4 As shown above, in the above Figure 3 Based on the illustrated embodiment, the method includes the following steps:

[0088] S401: Determine at least one of the following target parameters based on the target mode: first speed margin, second speed margin, step control strategy for actual speed, third speed margin, or fourth speed margin. The control strategy includes at least one of the following: the time interval between two consecutive adjustments to the current speed, and the magnitude of each adjustment.

[0089] In this embodiment, different target modes can correspond to different target parameters. Based on the target mode, a first speed margin, a second speed margin, a step-by-step control strategy for the actual vehicle speed, a third speed margin, or a fourth speed margin are determined. The control strategy includes: the time interval between two consecutive adjustments to the current speed, and the magnitude of each adjustment. For example, the control strategy is: the vehicle speed at current time t is... Then, based on the corresponding adjustment range each time, the adjustment speed is set to [value]. ,in To determine the corresponding adjustment range each time, the actual vehicle speed is within the time interval between two consecutive adjustments to the current vehicle speed. In the middle, accelerate to Reset and adjust the vehicle speed to Repeat the above process until the actual vehicle speed reaches the target speed.

[0090] In this embodiment, different target modes correspond to different target parameters. These target parameters can be set according to actual needs. For example, different target parameters can be determined based on different driving modes. In a comfortable driving mode, a larger speed margin can be set to reduce the number of sudden accelerations or decelerations, improving ride comfort. Furthermore, the time interval between two consecutive speed adjustments in the control strategy is longer, and the adjustment range is smaller, to achieve smooth speed changes. In a sporty driving mode, a smaller speed margin can be set for faster acceleration or deceleration to experience vehicle performance. The time interval between two consecutive speed adjustments in the control strategy is set to shorter, and the adjustment range is set to larger, to respond to faster driving demands. Different target modes correspond to different target parameters and control strategies to meet the different needs of drivers.

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

[0092] S501: Determine the adjustment speed of the stepped control 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.

[0093] In this embodiment, the adjustment speed of the stepped control is determined according to the target mode. Different modes can 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 based on the target duration and the number of adjustments.

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

[0096] S503: Determine the range based on the difference between the target speed and the current speed, as well as the number of adjustments.

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

[0098] In this embodiment, the adjustment speed of the stepped control is determined according to the target mode. The adjustment speed indicates the target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed. The time consumption is determined based on the target duration and the number of adjustments. The magnitude is determined based on the difference between the target vehicle speed and the current vehicle speed, as well as the number of adjustments. Through multiple small adjustments, the vehicle speed change is made smoother, reducing driver discomfort. Different target modes can correspond to different stepped control parameters, enabling the vehicle to adapt to different driving needs and road conditions.

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

[0100] S601: When the vehicle operating mode is a normal mode other than the target mode, construct an objective function. The objective function is used to evaluate the difference between the current vehicle speed and the cruise speed, as well as the vehicle's engine torque. The normal mode includes: a mode where 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 where the current vehicle speed is greater than or equal to the maximum target speed; or a mode where the road information is a downhill section, the current vehicle speed is less than the minimum target speed, and the vehicle speed at the target location is greater than or equal to the cruise speed.

[0101] In this embodiment, when the road information is a downhill section and the current vehicle speed is between the minimum target speed and the maximum target speed, it is considered a normal mode; or when the current vehicle speed is greater than or equal to the maximum target speed, it is also considered a normal mode; or when the road information is a downhill section, the current vehicle speed is less than the minimum target speed, and the vehicle speed at the target location is greater than or equal to the cruising speed, it is also considered a normal mode. When the vehicle operating mode is in the normal mode, an objective function is constructed to evaluate the difference between the current vehicle speed and the cruising speed, as well as the vehicle's engine torque.

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

[0103] In this embodiment of the application, the vehicle's current speed 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 by combining the real-time state of the vehicle and the objective function so that the current speed reaches the cruising speed.

[0104] In this embodiment, when the vehicle operating mode is a normal mode other than the target mode, an objective function is constructed. The objective function is used to evaluate the difference between the current vehicle speed and the cruising speed, as well as the vehicle's engine torque. The normal mode includes: a mode where 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 where the current vehicle speed is greater than or equal to the maximum target speed; or a mode where the road information is a downhill section, the current vehicle speed is less than the minimum target speed, and the vehicle speed at the target location is greater than or equal to the cruising speed. Based on the objective function, the vehicle's current speed is controlled to reach the cruising speed. By precisely controlling the vehicle speed to balance fuel consumption and vehicle speed, unnecessary acceleration and deceleration are avoided, which can effectively reduce fuel consumption.

[0105] Figure 7 This application provides a schematic diagram of the structure of a cruise speed control device, as shown below. 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 cruise speed, current speed, and road information when the cruise scenario changes. The processing module 702 is used to determine the vehicle operating mode based on the cruise speed, the current speed, and the road information. The processing module 702 is also used to determine the corresponding target speed based on the vehicle operating mode when the vehicle operating mode is the target mode, and to control the actual speed in a stepwise manner to reach the target speed. The target modes include: a first mode to a sixth mode. The first mode includes: a mode where the road information is a flat road section and the current speed is less than the pre-calculated minimum target speed. The second mode includes: a mode where the road information is a downhill road section and the current speed is less than the minimum target speed, and the speed at the target position is less than the cruise speed. The vehicle speed modes are as follows: the third mode includes a flat road section and the current vehicle speed is between the minimum target speed and the maximum target speed; the fourth mode includes an uphill road section and the current vehicle speed is less than the minimum target speed; the fifth mode includes an uphill road section and the current vehicle speed is between the minimum target speed and the maximum target speed; and the sixth mode includes invalid road information. The minimum target speed is the difference between the cruise speed and the first speed margin. The maximum target speed is the sum of the cruise speed and the second speed margin. The target position speed is the speed at which the vehicle coasts to the target position while maintaining the current gear. The target position is the bottom of the slope or the farthest position on 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 here.

[0108] Figure 8 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 further includes a communication component 803. The processor 801, memory 802, and communication component 803 are connected via a bus 804.

[0109] In a specific implementation, at least one processor 801 executes computer execution instructions stored in memory 802, causing at least one processor 801 to perform the above-described method.

[0110] The specific implementation process of processor 801 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It 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 (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0112] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[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. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0114] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0115] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0116] The aforementioned 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0117] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0118] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0119] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0120] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0121] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0123] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling cruising speed, characterized in that, include: When the cruise scenario changes, obtain cruise speed, current speed and road information; The vehicle operating mode is determined based on the cruise speed, the current speed, and the road information; When the vehicle operating mode is the target mode, a corresponding target speed is determined based on the vehicle operating mode, and the actual vehicle 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 where the road information is a flat road section and the current vehicle speed is less than a pre-calculated minimum target speed. The second mode includes: a mode where the road information is a downhill road section, the current vehicle speed is less than the minimum target speed, and the vehicle speed at the target position is less than the cruising speed. The third mode includes: a mode where 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 fourth mode includes a mode where the road information is an uphill section and the current vehicle speed is less than the minimum target vehicle speed; the fifth mode includes a mode where 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 a mode where the road information is invalid road information; the minimum target vehicle speed is the difference between the cruise speed and the first speed margin; the maximum target vehicle speed is the sum of the cruise speed and the second speed margin; the target position speed is the speed at which the vehicle coasts to the target position while maintaining the current gear; and the target position is the bottom of the slope or the farthest position on the current map. When the vehicle operating mode is a normal mode other than the target mode, a target function is constructed. The target function is used to evaluate the difference between the current vehicle speed and the cruise speed, as well as the engine torque of the vehicle. The normal mode includes: a mode where 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 where the current vehicle speed is greater than or equal to the maximum target speed; or a mode where the road information is a downhill section and the current vehicle speed is less than the minimum target speed, and the target position vehicle speed is greater than or equal to the cruise speed. The vehicle's current speed is controlled to reach the cruising speed based on the objective function.

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

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

4. The method according to claim 3, characterized in that, After determining at least one of the following target parameters based on the target pattern, the method further includes: The adjustment speed of the stepped control is determined according to the target mode, and the adjustment speed indicates the target duration and number of adjustments required to adjust from the current vehicle speed to the target vehicle speed; The time consumption is determined based on the target duration and the number of adjustments. The magnitude is determined based on the difference between the target vehicle speed and the current vehicle speed, as well as the number of adjustments.

5. 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: Predictive cruise control is activated, the road information changes from invalid road information to valid road information, and the cruise speed changes.

6. A cruise speed control device, characterized in that, include: The acquisition module is used to acquire cruise speed, current speed, and road information when the cruise scenario changes. The processing module is used to determine the vehicle operating mode based on the cruise speed, the current speed, and the road information; The processing module is further configured to, when the vehicle operating mode is a target mode, determine the corresponding target speed according to the vehicle operating mode, and control the actual vehicle speed in a stepwise manner to reach the target speed. The target mode includes: a first mode to a sixth mode. The first mode includes: a mode where the road information is a flat road section and the current vehicle speed is less than a pre-calculated minimum target speed. The second mode includes: a mode where the road information is a downhill road section and the current vehicle speed is less than the minimum target speed, and the target position vehicle speed is less than the cruising speed. The third mode includes: a mode where 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 speed range patterns include: the fourth mode is where the road information is an uphill section and the current speed is less than the minimum target speed; the fifth mode is where the road information is an uphill section and the current speed is between the minimum target speed and the maximum target speed; the sixth mode is where the road information is invalid road information; the minimum target speed is the difference between the cruising speed and the first speed margin; the maximum target speed is the sum of the cruising speed and the second speed margin; the target position speed is the speed at which the vehicle coasts to the target position while maintaining the current gear; and the target position is the bottom of the slope or the farthest position on the current map. The processing module is further configured to: when the vehicle operating mode is a normal mode other than the target mode, construct a target function, the target function being used to evaluate the difference between the current vehicle speed and the cruise speed, and the engine torque of the vehicle, the normal mode including: a mode where 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 where the current vehicle speed is greater than or equal to the maximum target speed, or a mode where 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 cruise speed; and control the current vehicle speed of the vehicle to reach the cruise speed based on the target function.

7. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-5.

9. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

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