Vehicle control method and device, vehicle, storage medium and program product

Abstract

The invention provides a vehicle control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicles, the method is applied to a vehicle deployed with predictive adaptive cruise control PECC, and in the method, the average speed of the vehicle at a preset distance length is obtained; and according to the magnitude relation between the average speed of the vehicle at the preset distance length and the preset target speed, the torque of a vehicle engine is adjusted. Wherein the preset distance length comprises at least one of a first distance length before the current position of the vehicle, a second distance length after the current position, or the sum of the first distance length and the second distance length. According to the scheme, dynamic regulation and control over the torque of the vehicle engine are achieved, unnecessary speed increasing or speed reducing can be avoided, and oil consumption is reduced.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology, consumers have higher and higher requirements for the comfort and intelligence of vehicles. Against this background, the Predictive Economic Cruise Control (PECC) system was introduced.

[0003] PECC is able to predict road conditions, such as curves, uphills, downhills, etc., and based on these predictions, optimize the vehicle's speed curve to achieve smarter, more efficient and safer driving.

[0004] However, due to the limited distance planned by the PECC system, the characteristics of the road itself, and some restrictions in the planning process, it may happen that the torque corresponding to the vehicle speed planned by the PECC system is not within the economic torque range, resulting in excessive fuel consumption of the vehicle. Summary of the invention

[0005] The present application provides a vehicle control method, device, vehicle, storage medium and program product to achieve dynamic regulation of vehicle engine torque, thereby avoiding unnecessary speed increase or speed decrease and saving fuel consumption.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a vehicle, wherein the vehicle is equipped with a predictive adaptive cruise control (PECC) system, and the method includes:

[0007] Get the average speed of the vehicle over a preset distance;

[0008] Adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed;

[0009] The preset distance length includes any one of a first distance length before the current position of the vehicle, a second distance length after the current position, or a sum of the first distance length and the second distance length.

[0010] In an optional embodiment of the first aspect, the second distance length is the distance length between the position corresponding to the end of the uneconomic torque interval predicted by the PECC system and the current position of the vehicle.

[0011] In an optional embodiment of the first aspect, adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed includes:

[0012] If the average speed of the vehicle over the preset distance is greater than the preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, adjust the current torque of the vehicle engine; the first value is a positive value.

[0013] In an optional embodiment of the first aspect, if an average speed of the vehicle over a preset distance is greater than a preset target speed, and a difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, adjusting a current torque of the vehicle engine includes:

[0014] If the average speed of the vehicle over the preset distance is greater than the preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, and the current torque of the vehicle engine is in the first torque interval, setting the torque of the vehicle engine to 0;

[0015] The first torque interval is determined according to the current rotation speed of the vehicle engine, and the first torque interval is used to indicate the numerical range of the uneconomical torque corresponding to the current rotation speed.

[0016] In an optional embodiment of the first aspect, adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed includes:

[0017] If the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, adjust the current torque of the vehicle engine; the second value is a positive value.

[0018] In an optional embodiment of the first aspect, if the average speed of the vehicle over a preset distance is less than a preset target speed, and a difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, adjusting the current torque of the vehicle engine includes:

[0019] If the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, and the current torque of the vehicle engine is 0 or is in the first torque range, adjusting the torque of the vehicle engine to the second torque range;

[0020] The second torque interval is determined according to the current rotation speed of the vehicle engine, and the second torque interval is used to indicate the numerical range of the economic torque corresponding to the current rotation speed.

[0021] In an optional embodiment of the first aspect, adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed includes:

[0022] If the average speed of the vehicle over the preset distance is greater than the preset target speed, the torque of the vehicle engine is set to 0.

[0023] In a second aspect, an embodiment of the present application provides a vehicle control device, including:

[0024] An acquisition module is used to acquire an average speed of the vehicle over a preset distance;

[0025] A processing module, used for adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed;

[0026] The preset distance length includes any one of a first distance length before the current position of the vehicle, a second distance length after the current position, or a sum of the first distance length and the second distance length.

[0027] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a vehicle body and a vehicle controller; wherein the vehicle controller comprises a processor and a memory;

[0028] The memory stores computer-executable instructions;

[0029] The processor executes the computer-executable instructions stored in the memory to implement the method of the first aspect and each optional embodiment.

[0030] In a fourth aspect, an embodiment of the present application may provide a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method of the first aspect and each optional embodiment.

[0031] 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, is used to implement the method of the first aspect and each optional embodiment.

[0032] The vehicle control method, device, vehicle, storage medium and program product provided in the embodiments of the present application are applied to vehicles equipped with PECC. In the method, the torque of the vehicle engine is adjusted by obtaining the average speed of the vehicle at a preset distance length according to the relationship between the average speed of the vehicle at the preset distance length and the preset target speed. The preset distance length includes at least one of the first distance length before the current position of the vehicle, the second distance length after the current position, or the sum of the first distance length and the second distance length. In the above scheme, since the historical and future speed conditions of the vehicle and the current torque conditions of the vehicle are comprehensively considered, the dynamic regulation of the vehicle engine torque is realized, which can avoid unnecessary speed-up or speed-down and save fuel consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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.

[0034] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0037] Figure 4 A curve diagram of vehicle speed and torque on a distance axis provided in an embodiment of the present application;

[0038] Figure 5 Another curve diagram of vehicle speed and torque on a distance axis provided in an embodiment of the present application;

[0039] Figure 6 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0040] Figure 7 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application.

[0043] 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

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] Before introducing the embodiments of the present application, the application background of the embodiments of the present application is first explained:

[0046] Cruise Control System (CC) is a basic driver assistance system, which was originally introduced to solve the driver's fatigue and comfort problems during long-distance highway driving. The driver can set a desired cruising speed in advance, and CC will maintain the vehicle at the cruising speed without the driver having to continuously step on the accelerator pedal, effectively reducing the driver's burden and fatigue on the accelerator pedal.

[0047] However, the traditional CC system cannot adapt to the changes in the vehicle in front, which may cause the driver to be too close or too far away from the vehicle in front. In order to further improve driving safety, the Adaptive Cruise Control (ACC) was introduced. ACC uses sensors such as radar, laser or camera to sense the position and speed of the vehicle in front and automatically adjust the speed to maintain a safe distance. The introduction of ACC improves the reliability and performance of the driving assistance system and reduces the probability of collision between the driver and the vehicle in front.

[0048] Furthermore, ACC and CC have poor performance in energy conservation and environmental protection, especially fuel economy, and high fuel consumption. Based on this, the Predictive Economic Cruise Control (PECC) was introduced. PECC can predict road conditions, such as curves, uphills, downhills, etc. Based on these predictions, the vehicle speed and control strategy are adjusted in advance to achieve more intelligent, efficient and safe driving.

[0049] Specifically, PECC can use the Global Navigation Satellite System (GNSS) to achieve precise positioning. The positioning information obtained by GNSS is then matched with the Advanced Driving Assistance System (ADAS) map to determine the vehicle's position, and then obtain the road information ahead of the vehicle, such as the slope of the road, the curvature of the curve, etc. Finally, based on the road information ahead, the vehicle speed is optimized and the vehicle actuator system is coordinated to solve the problem of high fuel consumption of ACC.

[0050] Figure 1 A schematic diagram of the structure of a vehicle is shown. Figure 1As shown, the vehicle includes a positioning device, a predictive adaptive cruise control PECC system, a cruise control CC system and an engine. The PECC system is connected to the positioning device, the CC system and the engine respectively, and the CC system is connected to the engine. The aforementioned connection can be a wired or wireless connection.

[0051] The positioning device can obtain the map data of the vehicle's location from the map server and cache the map data locally so as to query the road information ahead of the vehicle locally.

[0052] The PECC system includes a PECC core module and a storage module. The PECC core module can obtain the vehicle position and road information ahead from the positioning device, and plan the vehicle speed based on the road information ahead of the vehicle. PECC can send the planned vehicle speed to the CC system. Usually, PECC only sends the planned next position or speed at the next moment, recorded as (x, v). The PECC core module can write the acquired or monitored data into the storage module, and the data includes vehicle position, road information, vehicle speed, engine torque, etc.

[0053] After receiving the vehicle speed at the next position or the next moment sent by the PECC system, the CC system determines the torque of the vehicle engine based on the vehicle speed and sends the torque to the engine to achieve torque control.

[0054] In some embodiments, the PECC system can also determine the torque of the vehicle engine at the next position or the next moment according to the vehicle speed planned by the PECC core module, and send the torque directly to the engine to achieve torque control.

[0055] In some embodiments, the vehicle also includes an ACC system ( Figure 1 (not shown), the ACC system can control the vehicle's braking device to achieve deceleration or parking based on the vehicle speed planned by PECC.

[0056] When a vehicle is equipped with both the CC system and the PECC system, due to the limited distance planned by the PECC system (PECC core module), the characteristics of the road itself, and some restrictions in the planning process, the engine torque corresponding to the vehicle speed planned by the PECC system may not be within the economic torque range, resulting in excessive fuel consumption of the vehicle.

[0057] It should be pointed out that the economic torque range is related to the engine speed. Different speeds correspond to different economic torque ranges. When the engine speed remains unchanged, compared with the engine using torque outside the economic torque range, the engine uses torque within the economic torque range (which may include the two end points of the economic torque range), which can save vehicle fuel consumption.

[0058] Based on the above technical problems, the technical concept of the present invention is as follows:

[0059] 1) Yes Figure 1 The PECC system shown is improved as follows: Figure 2 In addition to the PECC core module and the storage module, the PECC system also includes a torque control module. The torque control module is connected to the storage module. The torque control module can obtain data from the storage module and predict the torque and speed of the vehicle engine based on the data to control the engine torque change. For details, please refer to 2) and 3).

[0060] It should be pointed out that the PECC core module mainly plans the vehicle speed and torque corresponding to the road attributes based on the road information ahead of the vehicle. Unlike the PECC core module, the torque control module predicts the torque and speed by predicting the behavior of the CC system based on the data in the storage module (including the road information ahead of the vehicle, the current vehicle speed, the current torque, etc.).

[0061] 2) By comparing the historical average speed of the vehicle for a distance before the current position (e.g., the first distance length described below) with a preset target speed (e.g., the first speed described below), combined with the current torque of the vehicle engine, dynamic control of the vehicle engine torque is achieved. The economic torque range corresponding to different engine speeds is usually different. Therefore, the engine torque can be dynamically controlled in combination with the real-time speed of the vehicle engine to achieve the purpose of saving vehicle fuel consumption.

[0062] 3) By comparing the average speed of the vehicle over a distance from before the current position to after the current position (e.g., the third distance length described later) with a preset target speed (e.g., the third speed described later), combined with the current torque of the vehicle engine, dynamic control of the vehicle engine torque is achieved to achieve the purpose of saving vehicle fuel consumption.

[0063] The distance from the vehicle before the current position to the vehicle after the current position includes: a historical distance before the current position and a future distance after the current position.

[0064] The average speed of the vehicle over a distance from before the current position to after the current position can be understood as: the average of the speed of the vehicle on the historical driving section and the speed on the future driving section.

[0065] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0066] Figure 3A flow chart of a vehicle control method provided in an embodiment of the present application. The vehicle control method of this embodiment can be applied to any vehicle control device (corresponding to Figure 2 Torque control module shown), such as Figure 3 As shown, the vehicle control method can be implemented by the following steps:

[0067] S301. Obtain an average speed of a vehicle over a preset distance.

[0068] Examples of average speeds for preset distance lengths include the following:

[0069] In one example, the preset distance length includes a first distance length before the current position, that is, the first distance length is a historical distance.

[0070] In this example, the first distance length may be a fixed distance length. The vehicle control device may obtain the historical speed data of the vehicle from the storage module of the PECC system, and determine the average speed of the vehicle for the first distance length before the current position based on the historical speed data, for speed determination in subsequent steps.

[0071] In one example, the preset distance length includes a first distance length before the current position and a second distance length after the current position. The second distance length is a future distance. That is, the preset distance length is the sum of the first distance length and the second distance length.

[0072] In one example, the second distance length may be the distance length between a position corresponding to the end of the uneconomic torque interval of the torque data planned by the PECC core module of the PECC system and the current position of the vehicle.

[0073] The PECC core module plans the vehicle's torque data based on the road information ahead of the vehicle. Therefore, the end position of the uneconomical torque interval of the torque data planned by PECC based on different road information ahead of the vehicle is different, that is, the second distance length is not a fixed distance length.

[0074] The sum of the first distance length and the second distance length is referred to as the third distance length. In one example, the third distance length may be a fixed distance length. Since the second distance length is dynamically changing, the first distance length may be determined based on the third distance length and the second distance length. In this example, the first distance length is not a fixed distance length.

[0075] For example, Figure 4As shown, the vehicle control device can obtain the vehicle speed data (such as curve 1) and torque data (such as curve 2) before the current position from the storage module of the PECC system. The vehicle control device can obtain the vehicle speed data (such as curve 3) and torque data (such as curve 4) after the current position planned by the PECC core module from the PECC core module in the PECC system.

[0076] Figure 4 The position 1 shown is the current position, and the position 2 is the position corresponding to the end of the uneconomic torque interval of the torque data planned by the PECC core module. The vehicle control device can determine the second distance length based on the position 1 and the position 2, and the second distance length can be recorded as L2. Figure 4 L3 shown is a third distance length. The vehicle control device can determine a first distance length based on L2 and L3. The first distance length can be recorded as L1.

[0077] In this example, the vehicle control device first determines the average speed of the first distance length (i.e., the historical average speed) based on the historical speed data, and determines the average speed of the second distance length (i.e., the future average speed) based on the speed data of the vehicle at the second distance length planned by the PECC core module in the PECC system. Subsequently, the vehicle control device determines the average speed of the vehicle at the third distance length based on the average speed of the first distance length and the average speed of the second distance length, which is used for speed judgment in subsequent steps.

[0078] It should be pointed out that, considering that the historical speed data of the vehicle is more relevant, in this example, the first distance length is usually greater than the second distance length.

[0079] In one example, the second distance length may be the distance length between the position corresponding to the end of the uneconomic torque interval of the torque data predicted by the torque control module (which may correspond to the vehicle control device) of the PECC system and the current position of the vehicle.

[0080] The vehicle control device can predict the control strategy of the CC after the current position based on the road information ahead of the vehicle, and further predict the torque data of the vehicle engine (such as curve 5) and the speed data of the vehicle (such as curve 6) at a distance after the current position of the vehicle. Figure 5 shown.

[0081] In one example, the preset distance length includes a second distance length after the current position. The second distance length can refer to the previous example and will not be described in detail here.

[0082] S302: Adjust the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed.

[0083] S302 is described below through several optional implementations.

[0084] In optional implementation 1 of S302, if the average speed of the vehicle over the preset distance is greater than the preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, the current torque of the vehicle engine is adjusted, wherein the first value is a positive value.

[0085] In one example, taking the preset distance length as the first distance length and the preset target speed as the first speed as an example, if the average speed of the vehicle in the first distance length is greater than the first speed, and the difference between the average speed of the first distance length and the first speed is greater than or equal to the first value, it indicates that the historical average speed of the vehicle is too high, and the vehicle control device adjusts the torque of the vehicle engine.

[0086] In this example, the vehicle control device adjusts the torque of the vehicle engine when determining that the average speed of the vehicle over a historical distance (first distance length) before the current position is high.

[0087] Exemplarily, the first speed may be a vehicle speed set by a CC system. The average speed of the vehicle over the first distance is recorded as V(L1), the first speed is recorded as Vcc, and the first value is 1 kph (kilometer per hour). If V(L1)>Vcc, and V(L1)-Vcc≥1 kph, the vehicle control device may mark the vehicle speed as "higher speed", and the current torque of the vehicle engine may be controlled by the CC system, or the vehicle control device may directly control the current torque of the vehicle engine to reduce the vehicle speed.

[0088] In optional implementation mode 2 of S302, if the average speed of the vehicle over a preset distance is greater than a preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, and the current torque of the vehicle engine is in a first torque interval, the torque of the vehicle engine is set to 0. The first torque interval is determined according to the current speed of the vehicle engine, and the first torque interval is used to indicate the numerical range of the uneconomical torque corresponding to the current speed.

[0089] In one example, the first torque range may also be described as an uneconomical torque range.

[0090] In one example, taking the preset distance length as the first distance length and the preset target speed as the first speed as an example, if the average speed of the vehicle in the first distance length is greater than the first speed, and the difference between the average speed of the first distance length and the first speed is greater than or equal to the first value, and the current torque of the vehicle engine is in the first torque range, the torque of the vehicle engine is set to 0. For example, referring to Figure 6 , adjust the vehicle engine torque by following these steps:

[0091] S61. The vehicle control device obtains the current torque and current speed of the vehicle engine.

[0092] In one example, the vehicle control device can obtain the current torque and current speed of the vehicle engine from the storage module of the PECC system.

[0093] S62. The vehicle control device obtains an economic torque range (ie, a second torque range described below) corresponding to the current speed of the vehicle engine.

[0094] The vehicle control device may pre-store a data table, which includes economic torque ranges corresponding to different speeds of the vehicle engine. The vehicle control device may query the data table to obtain the economic torque range corresponding to the current speed of the vehicle engine, and further obtain the uneconomic torque range corresponding to the current speed of the vehicle engine (i.e., the first torque range described below).

[0095] S63. If the current torque of the vehicle engine is outside the economic torque range corresponding to the current speed (ie, the uneconomic torque range corresponding to the current speed), the vehicle control device sets the torque of the vehicle engine to 0.

[0096] The vehicle control device sets the torque of the vehicle engine to 0, which can also be described as: the vehicle control device resets the torque of the vehicle engine to zero.

[0097] Exemplarily, the vehicle control device sends a control instruction to the vehicle engine, where the control instruction is used to instruct the vehicle engine to set the torque to 0.

[0098] In this example, when the vehicle control device determines that the vehicle's historical average speed (i.e., the average speed over a first distance) exceeds a first speed (e.g., the vehicle speed set by the CC system) by too much, the vehicle control device can reduce the vehicle speed and fuel consumption by resetting the torque of the vehicle engine to zero.

[0099] In optional implementation 3 of S302, if the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, the current torque of the vehicle engine is adjusted, wherein the second value is a positive value.

[0100] In one example, taking the preset distance length as the first distance length and the preset target speed as the first speed as an example, if the average speed of the vehicle in the first distance length is less than the first speed, and the difference between the first speed and the average speed of the first distance length is greater than or equal to the second value, it indicates that the historical average speed of the vehicle is low, and the vehicle control device adjusts the torque of the vehicle engine.

[0101] In this example, the vehicle control device adjusts the torque of the vehicle engine when determining that the average speed of the vehicle for a historical distance (first distance length) before the current position is low.

[0102] Exemplarily, the second value is 1 kph. If V(L1)<Vcc, and Vcc-V(L1)>1 kph, the vehicle control device may mark the vehicle speed as "lower speed", and the current torque of the vehicle engine may be controlled by the CC system, or the vehicle control device may directly control the current torque of the vehicle engine to increase the vehicle speed.

[0103] In optional implementation mode 4 of S302, if the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to the second value, and the current torque of the vehicle engine is 0, the torque of the vehicle engine is adjusted to the second torque range. The second torque range is determined according to the current speed of the vehicle engine, and the second torque range is used to indicate the numerical range of the economic torque corresponding to the current speed.

[0104] In one example, the second torque range may also be described as an economic torque range.

[0105] In one example, taking the preset distance length as the first distance length and the preset target speed as the first speed as an example, if the average speed of the vehicle in the first distance length is less than the first speed, and the difference between the first speed and the average speed of the first distance length is greater than or equal to the second value, and the current torque of the vehicle engine is 0, the vehicle control device adjusts the torque of the vehicle engine to the second torque range. Exemplarily, referring to Figure 7 , adjust the vehicle engine torque by following these steps:

[0106] S71. The vehicle control device obtains the current torque and current speed of the vehicle engine.

[0107] S72. The vehicle control device obtains an economic torque range corresponding to the current speed of the vehicle engine.

[0108] S71 to S72 may refer to S61 to S62 and will not be described in detail here.

[0109] In one example, after S72, the following is executed:

[0110] S73a: If the current torque of the vehicle engine is 0, the vehicle control device adjusts the torque of the vehicle engine to an economic torque range corresponding to the current speed.

[0111] If the current torque of the vehicle engine is 0, the vehicle control device can send a control instruction to the vehicle engine. The control instruction carries a torque value in the economic torque range corresponding to the current speed. After receiving the control instruction, the vehicle engine sets the torque to the torque value indicated by the control instruction.

[0112] In this example, when the vehicle control device determines that the vehicle's historical average speed (i.e., the average speed of the first distance) is too much lower than the first speed (e.g., the vehicle speed set by the CC system), it can increase the torque of the vehicle's engine from the current torque of 0 to a certain economic torque, thereby increasing the vehicle speed while saving vehicle fuel consumption as much as possible.

[0113] In optional implementation mode 5 of S302, if the average speed of the vehicle over a preset distance is less than a preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, and the current torque of the vehicle engine is in a first torque range, the torque of the vehicle engine is adjusted to a second torque range.

[0114] In one example, taking the preset distance length as the first distance length and the preset target speed as the first speed as an example, if the average speed of the vehicle at the first distance length is less than the first speed, and the difference between the first speed and the average speed of the first distance length is greater than or equal to the second value, and the current torque of the vehicle engine is in the first torque range, the vehicle control device adjusts the torque of the vehicle engine to the second torque range.

[0115] For example, continue to refer to Figure 7 In one example, after S72, the following is executed:

[0116] S73b. If the current torque of the vehicle engine is outside the economic torque range corresponding to the current speed, the vehicle control device adjusts the torque of the vehicle engine to the economic torque range corresponding to the current speed.

[0117] If the current torque of the vehicle engine is outside the economic torque range corresponding to the current speed, the vehicle control device can send a control instruction to the vehicle engine, which carries a torque value in the economic torque range corresponding to the current speed. After receiving the control instruction, the vehicle engine sets the torque to the torque value indicated by the control instruction.

[0118] In this example, when the vehicle control device determines that the vehicle's historical average speed (i.e., the average speed of the first distance) is too much lower than the first speed (e.g., the vehicle speed set by the CC system), it can increase the torque of the vehicle's engine and adjust it from the current uneconomical torque to a certain economical torque, thereby saving vehicle fuel consumption as much as possible while increasing the vehicle speed.

[0119] In optional implementation mode 6 of S302, if the average speed of the vehicle over the preset distance is greater than the preset target speed, the vehicle control device sets the torque of the vehicle engine to 0.

[0120] In one example, taking the preset distance length as the first distance length and the preset target speed as the second speed as an example, if the average speed of the vehicle in the first distance length is greater than the second speed, the vehicle control device sets the torque of the vehicle engine to 0. The second speed is the preset maximum driving speed of the vehicle.

[0121] In this example, when the vehicle control device determines that the vehicle's historical average speed (the average speed of the first distance) exceeds the preset maximum driving speed, the vehicle control device directly sets the torque of the vehicle engine to 0 so as to reduce the vehicle speed as quickly as possible and ensure vehicle driving safety.

[0122] In one example, taking the preset distance length as the third distance length and the preset target speed as the third speed as an example, the vehicle control device determines the average speed of the vehicle at the third distance length. If the average speed of the vehicle at the third distance length is greater than the third speed, it indicates that the average speed of the vehicle at the third distance length is too high, and the vehicle control device may set the torque of the vehicle engine to 0 to reduce the vehicle speed. The third speed may be the speed set by the CC system.

[0123] In one example, taking the preset distance length as the second distance length and the preset target speed as the fourth speed as an example, the vehicle control device determines the average speed of the vehicle at the second distance length. If the average speed of the vehicle at the second distance length is greater than the fourth speed, it indicates that the average speed of the vehicle at the second distance length is too high, and the vehicle control device may set the torque of the vehicle engine to 0 to reduce the vehicle speed. The fourth speed may be the speed set by the CC system.

[0124] In optional implementation mode 7 of S302, if the average speed of the vehicle over a preset distance is less than a preset target speed, the vehicle control device adjusts the torque of the vehicle engine to a second torque range.

[0125] In one example, taking the preset distance length as the third distance length and the preset target speed as the third speed as an example, the vehicle control device determines the average speed of the vehicle at the third distance length. If the average speed of the vehicle at the third distance length is less than the third speed, it indicates that the average speed of the vehicle at the third distance length is low. The vehicle control device can increase the torque of the vehicle engine to the second torque range, thereby saving vehicle fuel consumption as much as possible while increasing the vehicle speed.

[0126] In one example, taking the preset distance length as the second distance length and the preset target speed as the fourth speed as an example, the vehicle control device determines the average speed of the vehicle at the second distance length. If the average speed of the vehicle at the second distance length is less than the fourth speed, it indicates that the average speed of the vehicle at the second distance length is low. The vehicle control device can increase the torque of the vehicle engine to the second torque range, thereby saving vehicle fuel consumption as much as possible while increasing the vehicle speed.

[0127] It should be noted that when the historical average speed of the vehicle (eg, the average speed of the vehicle at the first distance) is different, the speed data used by the vehicle control device when determining the average speed of the vehicle at the third distance is different.

[0128] How the vehicle control device determines the average speed of the vehicle over the third distance is described in detail below in two cases.

[0129] In one possible situation, when the vehicle's historical average speed is greater than the speed set by the CC system, the vehicle control device uses the vehicle's speed data at the first distance length (derived from the storage module of the PECC system) and the vehicle's speed data at the second distance length predicted by the vehicle control device when determining the vehicle's average speed at the third distance length. At this time, the vehicle control device will not use the vehicle's speed data at the second distance length planned by the PECC core module in the PECC system.

[0130] It should be noted that the CC system usually adjusts the engine torque based on the vehicle speed data at the second distance length planned by the PECC core module when the vehicle speed does not reach the speed set by the CC system, so that the vehicle speed reaches the speed set by the CC system. When the vehicle's historical average speed is greater than the speed set by the CC system, the CC system does not adjust the torque, so in this case the vehicle control device will not consider the vehicle speed data at the second distance length planned by the PECC core module.

[0131] This situation can be referred to Figure 5 In an example, the vehicle control device first determines the average speed of the vehicle at the first distance length based on the speed data of the vehicle at the first distance length, and determines the average speed of the vehicle at the second distance length based on the speed data of the vehicle at the second distance length predicted by the vehicle control device. Subsequently, the vehicle control device determines the average speed of the vehicle at the third distance length based on the average speed of the vehicle at the first distance length and the average speed of the vehicle at the second distance length. In one example, the vehicle control device averages the average speed of the vehicle at the first distance length and the average speed of the vehicle at the second distance length to obtain the average speed of the vehicle at the third distance length.

[0132] In another possible situation, when the vehicle's historical average speed is less than the speed set by the CC system, the vehicle control device uses the vehicle's speed data at the first distance length and the vehicle's speed data at the second distance length planned by the PECC core module in the PECC system when determining the vehicle's average speed at the third distance length.

[0133] It should be noted that when the historical average speed of the vehicle is less than the speed set by the CC system, the CC system can adjust the engine torque based on the speed data of the vehicle at the second distance length planned by the PECC core module, so that the vehicle speed reaches the speed set by the CC system. Therefore, in this case, the vehicle speed control device can combine the historical vehicle speed situation (i.e., the speed data of the vehicle at the first distance length) and the future vehicle speed situation (i.e., the speed data of the vehicle at the second distance length planned by the PECC core module) to determine the average speed of the vehicle at the third distance length.

[0134] This situation can be referred to Figure 4 In an example, the vehicle control device first determines the average speed of the vehicle at the first distance length based on the speed data of the vehicle at the first distance length, and determines the average speed of the vehicle at the second distance length based on the speed data of the vehicle at the second distance length planned by the PECC core module in the PECC system. Subsequently, the vehicle control device determines the average speed of the vehicle at the third distance length based on the average speed of the vehicle at the first distance length and the average speed of the vehicle at the second distance length. In one example, the vehicle control device averages the average speed of the vehicle at the first distance length and the average speed of the vehicle at the second distance length to obtain the average speed of the vehicle at the third distance length.

[0135] In some embodiments, if the absolute value of the difference between the average speed of the vehicle over a preset distance and the preset target speed is less than a third value, the engine maintains the current torque, that is, the vehicle control device does not adjust the engine torque. The third value is a positive value.

[0136] In one example, taking the preset distance length as the first distance length and the preset target speed as the first speed as an example, if the absolute value of the difference between the average speed of the first distance length of the vehicle and the first speed is less than the third value, it indicates that the historical average speed of the vehicle is within a reasonable speed range, and the vehicle control device does not adjust the torque of the vehicle engine, and the engine maintains the current torque. Exemplarily, the third value is 1kph, and if |V(L1)-Vcc|<1kph, the engine maintains the current torque.

[0137] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0138] Figure 8This is a schematic diagram of the structure of the vehicle control device provided in the embodiment of the present application. Figure 8 As shown, the vehicle control device 800 includes:

[0139] An acquisition module 801 is used to acquire an average speed of a vehicle over a preset distance;

[0140] The processing module 802 is used to adjust the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed;

[0141] The preset distance length includes any one of a first distance length before the current position of the vehicle, a second distance length after the current position, or a sum of the first distance length and the second distance length.

[0142] In an optional embodiment, the second distance length is the distance length between the position corresponding to the end of the uneconomic torque interval predicted by the PECC system and the current position of the vehicle.

[0143] In an optional embodiment, the processing module 802 is used to adjust the current torque of the vehicle engine if the average speed of the vehicle over a preset distance is greater than a preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value; the first value is a positive value.

[0144] In an optional embodiment, the processing module 802 is configured to set the torque of the vehicle engine to 0 if the average speed of the vehicle over a preset distance is greater than a preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, and the current torque of the vehicle engine is in a first torque range;

[0145] The first torque interval is determined according to the current rotation speed of the vehicle engine, and the first torque interval is used to indicate the numerical range of the uneconomical torque corresponding to the current rotation speed.

[0146] In an optional embodiment, the processing module 802 is used to adjust the current torque of the vehicle engine if the average speed of the vehicle over a preset distance is less than a preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value; the second value is a positive value.

[0147] In an optional embodiment, the processing module 802 is configured to adjust the torque of the vehicle engine to the second torque interval if the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to the second value, and the current torque of the vehicle engine is 0 or the current torque is in the first torque interval;

[0148] The second torque interval is determined according to the current rotation speed of the vehicle engine, and the second torque interval is used to indicate the numerical range of the economic torque corresponding to the current rotation speed.

[0149] In an optional embodiment, the processing module 802 is used to set the torque of the vehicle engine to 0 if the average speed of the vehicle over a preset distance is greater than a preset target speed.

[0150] The vehicle control device provided in the embodiments of the present application may be used to execute the vehicle control method in any of the above embodiments. The implementation principles and technical effects thereof are similar and will not be described in detail herein.

[0151] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements. They can also be implemented in the form of hardware. Some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0152] Fig. 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Fig. 9 As shown, the vehicle 90 may include: a vehicle body 91 and a vehicle controller 92. The vehicle controller includes a processor 921, a memory 922, and computer program instructions stored in the memory 922 and executable on the processor 921. When the processor 921 executes the computer program instructions, the vehicle control method provided in any of the above embodiments is implemented.

[0153] Optionally, the above-mentioned components of the vehicle 90 may be connected via a system bus.

[0154] The memory 922 may be a separate storage unit or a storage unit integrated in the processor. The number of processors may be one or more.

[0155] Optionally, the vehicle 90 may also include a communication interface for interacting with other devices.

[0156] It should be understood that the processor 921 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0157] The system bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage.

[0158] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The above-mentioned program can be stored in a readable memory. When the program is executed, the steps of the above-mentioned method embodiments are executed. The above-mentioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid state drive, magnetic tape, floppy disk, optical disc and any combination thereof.

[0159] The vehicle provided in the embodiment of the present application can be used to execute the vehicle control method provided in any of the above-mentioned method embodiments. The implementation principles and technical effects are similar and will not be repeated here.

[0160] 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 on a computer, the computer executes the above-mentioned vehicle control method.

[0161] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, 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.

[0162] Optionally, a 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. 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 (ASIC). The processor and the readable storage medium can also exist in the device as discrete components.

[0163] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the above-mentioned vehicle control method when executed by a processor.

[0164] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle is equipped with a predictive adaptive cruise control (PECC) system, and the method includes: Obtaining an average speed of the vehicle over a preset distance; adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over the preset distance and the preset target speed; The preset distance length includes any one of a first distance length before the current position of the vehicle, a second distance length after the current position, or a sum of the first distance length and the second distance length.

2. The method according to claim 1, characterized in that The second distance length is the distance length between the position corresponding to the end of the uneconomic torque interval predicted by the PECC system and the current position of the vehicle.

3. The method according to claim 1 or 2, characterized in that: The step of adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed includes: If the average speed of the vehicle over the preset distance is greater than the preset target speed, and the difference between the average speed over the preset distance and the preset target speed is greater than or equal to a first value, adjust the current torque of the vehicle engine; the first value is a positive value.

4. The method according to claim 3, characterized in that If the average speed of the vehicle over the preset distance is greater than the preset target speed, and the difference between the average speed of the preset distance and the preset target speed is greater than or equal to a first value, adjusting the current torque of the vehicle engine includes: If the average speed of the vehicle over the preset distance is greater than the preset target speed, and the difference between the average speed of the preset distance and the preset target speed is greater than or equal to the first value, and the current torque of the vehicle engine is in the first torque interval, setting the torque of the vehicle engine to 0; The first torque interval is determined according to a current rotation speed of the vehicle engine, and the first torque interval is used to indicate a numerical range of uneconomical torque corresponding to the current rotation speed.

5. The method according to claim 1 or 2, characterized in that: The step of adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed includes: If the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, adjust the current torque of the vehicle engine; the second value is a positive value.

6. The method according to claim 5, characterized in that If the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, adjusting the current torque of the vehicle engine includes: If the average speed of the vehicle over the preset distance is less than the preset target speed, and the difference between the preset target speed and the average speed over the preset distance is greater than or equal to a second value, and the current torque of the vehicle engine is 0 or is in the first torque range, adjusting the torque of the vehicle engine to the second torque range; The second torque interval is determined according to the current speed of the vehicle engine, and the second torque interval is used to indicate a numerical range of the economic torque corresponding to the current speed.

7. The method according to claim 1, characterized in that The step of adjusting the torque of the vehicle engine according to the relationship between the average speed of the vehicle over a preset distance and a preset target speed includes: If the average speed of the vehicle over the preset distance is greater than a preset target speed, the torque of the vehicle engine is set to 0.

8. A vehicle control device, characterized in that: include: An acquisition module is used to acquire an average speed of the vehicle over a preset distance; A processing module, configured to adjust the torque of the vehicle engine according to a relationship between an average speed of the vehicle over a preset distance and a preset target speed; The preset distance length includes any one of a first distance length before the current position of the vehicle, a second distance length after the current position, or a sum of the first distance length and the second distance length.

9. A vehicle, characterized in that: include: A vehicle body and a vehicle controller; Wherein, the vehicle controller includes a processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the vehicle control method according to any one of claims 1 to 7 when executed by a processor.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, it is used to implement the vehicle control method according to any one of claims 1 to 7.

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