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

Abstract

The application 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 provided with a predictive adaptive cruise control (PECC). In the method, the average speed of the vehicle in a preset distance length is obtained, and the torque of the engine of the vehicle is adjusted according to the size relationship between the average speed of the vehicle in the preset distance length and a preset target speed. The preset distance length includes 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. The above scheme realizes dynamic regulation of the torque of the engine of the vehicle, and unnecessary speed-up or speed-down can be avoided, thereby saving fuel consumption.

Description

Technical Field

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

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

[0003] PECC can predict road conditions, such as curves, uphill, and downhill, 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 range planned by the PECC system, the characteristics of the road itself, and some constraints in the planning process, the torque corresponding to the vehicle speed planned by the PECC system may not be within the economic torque range, resulting in excessive fuel consumption. Summary of the Invention

[0005] This application provides a vehicle control method, device, vehicle, storage medium, and program product that enables dynamic regulation of vehicle engine torque, avoiding unnecessary acceleration or deceleration and saving fuel consumption.

[0006] In a first aspect, embodiments of this application provide a vehicle control method applied to a vehicle equipped with a predictive adaptive cruise control (PECC) system. The method includes:

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

[0008] Adjust the vehicle engine torque based on the relationship between the vehicle's average speed over a preset distance and the preset target speed;

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

[0010] In one alternative embodiment of the first aspect, the second distance length is the distance between the position corresponding to the end of the uneconomical torque range 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 based on 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 a 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's engine; the first value is a positive value.

[0013] In an optional embodiment of the first aspect, 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, adjusting the current torque of the vehicle's engine includes:

[0014] If the average speed of the vehicle over a preset distance is greater than the preset target speed, and the difference between the average speed over a 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 range, the torque of the vehicle engine is set to 0.

[0015] The first torque range is determined based on the current engine speed of the vehicle. The first torque range is used to indicate the range of uneconomical torque values ​​corresponding to the current engine speed.

[0016] In an optional embodiment of the first aspect, adjusting the torque of the vehicle engine based on 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 a 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's 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 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's engine includes:

[0019] If the average speed of the vehicle over a 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 range, adjust the torque of the vehicle engine to the second torque range.

[0020] The second torque range is determined based on the current engine speed of the vehicle. The second torque range is used to indicate the range of economic torque values ​​corresponding to the current engine speed.

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

[0022] If the vehicle's average speed over a preset distance is greater than the preset target speed, the vehicle's engine torque will be set to 0.

[0023] Secondly, embodiments of this application provide a vehicle control device, including:

[0024] The acquisition module is used to acquire the average speed of the vehicle over a preset distance.

[0025] The processing module is used to adjust the torque of the vehicle engine based on the relationship between the average speed of the vehicle over a preset distance and the preset target speed.

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

[0027] Thirdly, embodiments of this application provide a vehicle, including: a vehicle body and a vehicle controller; wherein the vehicle controller includes a processor and a memory;

[0028] The memory stores computer-executed instructions;

[0029] The processor executes computer execution instructions stored in the memory to implement the methods of the first aspect and various alternative embodiments.

[0030] Fourthly, embodiments of this application may provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods of the first aspect and the various optional embodiments.

[0031] Fifthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is used to implement the methods of the first aspect and various optional embodiments.

[0032] The vehicle control method, device, vehicle, storage medium, and program product provided in this application embodiment are applied to vehicles equipped with PECC (Pre-Electronic Vehicle Control). In this method, the average speed of the vehicle over a preset distance is obtained, and the torque of the vehicle's engine is adjusted based on the relationship between the average speed over the preset distance and a preset target speed. The preset distance includes at least one of a first distance before the vehicle's current position, a second distance after the current position, or the sum of the first and second distances. This solution, by comprehensively considering the vehicle's historical and future speed conditions as well as its current torque, achieves dynamic control of the vehicle's engine torque, avoiding unnecessary acceleration or deceleration and saving fuel consumption. Attached Figure Description

[0033] 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.

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

[0035] Figure 2 This is a schematic diagram of another vehicle structure provided in an embodiment of this application;

[0036] Figure 3 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0037] Figure 4 A graph of vehicle speed and torque on the distance axis provided in an embodiment of this application;

[0038] Figure 5 Another graph of vehicle speed and torque on the distance axis provided in the embodiments of this application;

[0039] Figure 6 A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0040] Figure 7 A flowchart illustrating yet another vehicle control method provided in this application embodiment;

[0041] Figure 8 This is a schematic diagram of the structure of the vehicle control device provided in the embodiments of this application;

[0042] Figure 9 This is a schematic diagram of the structure of another vehicle provided in an embodiment of this application.

[0043] 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

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] Before introducing the embodiments of this application, the application background of the embodiments of this application will be explained first:

[0046] Cruise Control System (CC) is a basic driver assistance system originally introduced to address driver fatigue and comfort issues during long-distance highway driving. Drivers can preset a desired cruise speed, and CC will maintain the vehicle at that speed without requiring the driver to continuously press the accelerator pedal, effectively reducing the burden and fatigue on the driver's foot.

[0047] However, traditional cruise control (CC) systems cannot adapt to changes in the distance to the vehicle ahead, potentially resulting in the distance being too close or too far. To further improve driving safety, Adaptive Cruise Control (ACC) was introduced. ACC uses sensors such as radar, lasers, or cameras to sense the position and speed of the vehicle ahead and automatically adjusts the vehicle's speed to maintain a safe distance. The introduction of ACC improves the reliability and performance of driver assistance systems and reduces the probability of a collision between the driver and the vehicle ahead.

[0048] Furthermore, ACC and CC perform poorly in terms of energy conservation and environmental protection, especially fuel economy, resulting in high fuel consumption. Based on this, Predictive Economic Cruise Control (PECC) was introduced. PECC can predict road conditions, such as curves, uphill slopes, and downhill slopes, and adjust vehicle speed and control strategies in advance based on these predictions to achieve smarter, more efficient, and safer driving.

[0049] Specifically, PECC can utilize the Global Navigation Satellite System (GNSS) for precise positioning. The positioning information acquired by GNSS is then matched with the Advanced Driving Assistance System (ADAS) map to determine the vehicle's position and obtain road information ahead, such as road gradient and curve curvature. Finally, based on this road information, the vehicle speed is optimized and the vehicle's actuator systems are coordinated to address the high fuel consumption issue associated with ACC.

[0050] Figure 1 A schematic diagram of the structure of a vehicle is shown. (For example...) 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, while the CC system is connected to the engine. These connections can be wired or wireless.

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

[0052] The PECC system comprises a PECC core module and a storage module. The PECC core module acquires vehicle position and road information from the positioning device and plans the vehicle speed based on this information. The PECC can send the planned speed to the CC system; typically, it only sends the planned speed for the next position or the next moment, denoted as (x, v). The PECC core module writes the acquired or monitored data to the storage module; this data includes vehicle position, road information, vehicle speed, and engine torque.

[0053] After receiving the vehicle speed at the next position or next moment from 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 based on 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 based on the vehicle speed planned by PECC to achieve deceleration or stopping.

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

[0057] It should be noted that the economic torque range is related to engine speed. Different engine speeds correspond to different economic torque ranges. When the engine speed remains constant, using the torque within the economic torque range (which can include the two ends of the economic torque range) can save vehicle fuel consumption compared to using torque outside the economic torque range.

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

[0059] 1) To Figure 1 The PECC system shown is improved as follows: (Refer to...) Figure 2 In addition to the PECC core module and 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 vehicle engine torque and vehicle speed based on the data to control the engine torque changes. See 2) and 3) for details.

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

[0061] 2) By comparing the historical average speed of the vehicle over a distance prior to its current position (e.g., the first distance length described later) with a preset target speed (e.g., the first speed described later), and combining this with the current engine torque, dynamic control of the vehicle's engine torque can be achieved. Different engine speeds typically correspond to different economic torque ranges; therefore, by combining the real-time engine speed, dynamic control of engine torque can be achieved to save fuel consumption.

[0062] 3) By comparing the average speed of the vehicle over a distance from its current position to its current position (e.g., the third distance length described later) with a preset target speed (e.g., the third speed described later), and combining this with the current torque of the vehicle's engine, dynamic control of the vehicle's engine torque is achieved, thereby saving vehicle fuel consumption.

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

[0064] The average speed of a vehicle over a distance from its current position to its current position can be understood as the average of its speed on the historical road segment and its speed on the future road segment.

[0065] The technical solution of this application will now be described in detail 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 again in some embodiments.

[0066] Figure 3This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. The vehicle control method of this embodiment can be applied to any vehicle control device (which can correspond to...). Figure 2 The torque control module shown is as follows: Figure 3 As shown, this vehicle control method can be implemented through the following steps:

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

[0068] The average speed over a preset distance includes the following examples:

[0069] In one example, the preset distance length includes the 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 can be a fixed distance length. The vehicle control unit can obtain the vehicle's historical speed data from the PECC system's storage module, and based on the historical speed data, determine the vehicle's average speed over the first distance length before the current position, which is used 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 can be the distance between the position corresponding to the end of the uneconomical torque range 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. Therefore, the end position of the uneconomical torque range planned by PECC based on different road information ahead 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 called the third distance length. In one example, the third distance length can be a fixed distance length. Since the second distance length is dynamically changing, the first distance length can 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, such as Figure 4As shown, the vehicle control unit can obtain vehicle speed data (e.g., curve 1) and torque data (e.g., curve 2) prior to the current position from the storage module of the PECC system. The vehicle control unit can also obtain vehicle speed data (e.g., curve 3) and torque data (e.g., curve 4) after the current position planned by the PECC core module in the PECC system.

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

[0077] In this example, the vehicle control device first determines the average speed over a first distance length (i.e., the historical average speed) based on historical speed data, and then determines the average speed over a second distance length (i.e., the future average speed) based on the vehicle's speed data planned by the PECC core module in the PECC system. Subsequently, the vehicle control device determines the vehicle's average speed over a third distance length based on the average speeds of the first and second distance lengths, for use in speed determination in subsequent steps.

[0078] It should be noted that, considering the greater reference value of historical vehicle speed data, the first distance length is usually greater than the second distance length in this example.

[0079] In one example, the second distance length can be the distance between the position corresponding to the end of the uneconomical torque range 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 unit can predict the control strategy of the vehicle's center of gravity (CC) after its current position based on road information ahead. This allows it to predict engine torque data (e.g., curve 5) and vehicle speed data (e.g., curve 6) a certain distance after the current position. Figure 5 As shown.

[0081] In one example, the preset distance length includes a second distance length after the current position. The second distance length can be found in the previous example and will not be repeated 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 the preset target speed.

[0083] S302 will now be described through several optional implementation methods.

[0084] In optional implementation 1 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, the current torque of the vehicle engine is adjusted. The first value is a positive value.

[0085] In one example, taking a preset distance length as the first distance length and a preset target speed as the first speed as an example, if the average speed of the vehicle over the first distance length is greater than the first speed, and the difference between the average speed over 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 unit adjusts the vehicle engine torque when it determines that the average speed of the vehicle over a historical distance (first distance length) prior to its current position is too high.

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

[0088] In optional implementation 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 range, the torque of the vehicle engine is set to 0. The first torque range is determined based on the current engine speed and is used to indicate the numerical range of uneconomical torque corresponding to the current engine speed.

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

[0090] In one example, taking a preset distance length as the first distance length and a preset target speed as the first speed, if the vehicle's average speed over the first distance length is greater than the first speed, and the difference between the average speed over the first distance length and the first speed is greater than or equal to the first value, and the vehicle's engine current torque is in the first torque range, then the vehicle's engine torque is set to 0. For example, refer to... Figure 6 Adjust the vehicle's engine torque using the following steps:

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

[0092] In one example, the vehicle control unit 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 unit obtains the economic torque range corresponding to the current engine speed of the vehicle (i.e., the second torque range mentioned later).

[0094] The vehicle control unit can pre-store a data table, which includes the economic torque range corresponding to different engine speeds. By querying this data table, the vehicle control unit can obtain the economic torque range corresponding to the current engine speed, and further determine the uneconomic torque range corresponding to the current engine speed (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 (i.e., the uneconomic torque range corresponding to the current speed), the vehicle control device sets the torque of the vehicle engine to 0.

[0096] In this context, the vehicle control unit sets the torque of the vehicle engine to 0, which can also be described as: the vehicle control unit returns the torque of the vehicle engine to zero.

[0097] For example, the vehicle control unit sends control commands to the vehicle engine, instructing the vehicle engine to set the torque to 0.

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

[0099] In optional implementation 3 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, the current torque of the vehicle engine is adjusted. The second value is a positive value.

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

[0101] In this example, the vehicle control unit adjusts the vehicle engine torque when it determines that the average speed of the vehicle over a historical distance (first distance length) prior to its current position is low.

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

[0103] In optional implementation 4 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 0, the torque of the vehicle engine is adjusted to a second torque range. The second torque range is determined based on the current engine speed and indicates the range of economic torque values ​​corresponding to the current engine speed.

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

[0105] In one example, taking a preset distance length as the first distance length and a preset target speed as the first speed, if the vehicle's average speed over the first distance length is less than the first speed, and the difference between the first speed and the average speed over the first distance length is greater than or equal to a second value, and the current torque of the vehicle's engine is 0, the vehicle control device adjusts the vehicle's engine torque to the second torque range. For example, refer to... Figure 7 Adjust the vehicle's engine torque using the following steps:

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

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

[0108] S71 to S72 can be referred to as S61 to S62, and will not be repeated 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 the 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 command to the vehicle engine. This control command carries a torque value in the economic torque range corresponding to the current speed. After receiving the control command, the vehicle engine sets the torque to the torque value indicated by the control command.

[0112] In this example, when the vehicle control unit determines that the vehicle's historical average speed (i.e., the average speed over a first distance) is significantly lower than a first speed (e.g., the speed set by the CC system), it can increase the torque of the vehicle's engine, adjusting it from the current torque of 0 to a certain economical torque, thereby increasing the vehicle speed while minimizing fuel consumption.

[0113] In optional implementation 5 of S302, if the average speed of the vehicle over a 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 in the first torque range, the torque of the vehicle engine is adjusted to the second torque range.

[0114] In one example, taking a preset distance length as the first distance length and a preset target speed as the first speed as an example, if the average speed of the vehicle over the first distance length is less than the first speed, and the difference between the first speed and the average speed over the first distance length is greater than or equal to a 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 command to the vehicle engine. This control command carries a torque value of the economic torque range corresponding to the current speed. After receiving the control command, the vehicle engine sets the torque to the torque value indicated by the control command.

[0118] In this example, when the vehicle control unit determines that the vehicle's historical average speed (i.e., the average speed over a first distance) is significantly lower than a first speed (e.g., the speed set by the CC system), it can increase the torque of the vehicle's engine, adjusting it from the current uneconomical torque to a certain economical torque, thereby increasing the vehicle speed while minimizing fuel consumption.

[0119] In optional implementation 6 of S302, if the average speed of the vehicle over a 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 a preset distance length as the first distance length and a preset target speed as the second speed, if the average speed of the vehicle over the first distance length is greater than the second speed, the vehicle control device sets the torque of the vehicle's engine to 0. Here, 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 (average speed over a first distance) exceeds the preset maximum driving speed, the vehicle control device directly sets the vehicle engine torque to 0 to reduce the vehicle speed as quickly as possible and ensure vehicle driving safety.

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

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

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

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

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

[0127] It should be noted that when the vehicle's historical average speed (e.g., the average speed of the vehicle over the first distance) is different, the vehicle control unit will use different speed data to determine the average speed of the vehicle over the third distance.

[0128] The following sections will explain in detail how the vehicle control device determines the average speed of the vehicle over the third distance, under two different scenarios.

[0129] In one possible scenario, when the vehicle's historical average speed is greater than the speed set by the CC system, the vehicle control unit uses the vehicle's speed data for the first distance (from the PECC system's storage module) and the vehicle's predicted speed data for the second distance when determining the vehicle's average speed over the third distance. In this case, the vehicle control unit will not use the vehicle's speed data for the second distance planned by the PECC core module in the PECC system.

[0130] It should be noted that the CC system typically adjusts engine torque based on the vehicle's speed data over the second distance, planned by the PECC core module, when the vehicle speed is below the CC system's set speed, in order to reach the CC system's set speed. When the vehicle's historical average speed is greater than the CC system's set speed, the CC system does not adjust torque; therefore, in this case, the vehicle control unit will not consider the vehicle's speed data over the second distance planned by the PECC core module.

[0131] This situation can be referred to. Figure 5 For example, the vehicle control unit first determines the vehicle's average speed over a first distance length based on the vehicle's speed data, and then determines the vehicle's average speed over a second distance length based on the vehicle control unit's predicted speed data. Subsequently, the vehicle control unit determines the vehicle's average speed over a third distance length based on the average speeds over the first and second distance lengths. In one example, the vehicle control unit averages the vehicle's average speed over the first and second distance lengths to obtain the average speed over the third distance length.

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

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

[0134] This situation can be referred to. Figure 4 For example, the vehicle control unit first determines the vehicle's average speed over a first distance length based on the vehicle's speed data, and then determines the vehicle's average speed over a second distance length based on the vehicle's speed data planned by the PECC core module in the PECC system. Subsequently, the vehicle control unit determines the vehicle's average speed over a third distance length based on the average speeds over the first and second distance lengths. In one example, the vehicle control unit averages the vehicle's average speeds over the first and second distance lengths to obtain the average speed over the third distance length.

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

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

[0137] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

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

[0139] The acquisition module 801 is used to acquire the average speed of the vehicle over a preset distance.

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

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

[0142] In one alternative embodiment, the second distance length is the distance between the position corresponding to the end of the uneconomical torque range predicted by the PECC system and the current position of the vehicle.

[0143] In one optional embodiment, the processing module 802 is configured 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 one 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 range is determined based on the current engine speed of the vehicle. The first torque range is used to indicate the range of uneconomical torque values ​​corresponding to the current engine speed.

[0146] In one optional embodiment, the processing module 802 is configured 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 one optional embodiment, the processing module 802 is configured to adjust the torque of the vehicle engine to a second torque range 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 0 or the current torque is in a first torque range.

[0148] The second torque range is determined based on the current engine speed of the vehicle. The second torque range is used to indicate the range of economic torque values ​​corresponding to the current engine speed.

[0149] In one 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.

[0150] The vehicle control device provided in this application embodiment can be used to execute the vehicle control method in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0151] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software through processing element calls, or entirely in hardware. Alternatively, some modules can be implemented through processing element calls in software, while others are implemented in hardware. Moreover, these modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through the integrated logic circuits in the hardware of the processor element or through software instructions.

[0152] Figure 9 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Figure 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, it implements the vehicle control method provided in any of the foregoing embodiments.

[0153] Optionally, the various devices mentioned above in the vehicle 90 can be connected via a system bus.

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

[0155] Optionally, 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 (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 application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0157] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

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

[0159] The vehicle provided in this application embodiment can be used to execute the vehicle control method provided in any of the above method embodiments. The implementation principle and technical effect are similar, and will not be repeated here.

[0160] This application provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are executed on a computer, the computer performs the aforementioned vehicle control method.

[0161] The aforementioned computer-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, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, 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.

[0162] Optionally, a readable storage medium can be coupled to a processor, enabling the processor to read information from 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 reside in application-specific integrated circuits (ASICs). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0163] This application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the vehicle control method described above.

[0164] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, Applied to a vehicle equipped with a predictive adaptive cruise control (PECC) system, the method includes: The system acquires the average speed of the vehicle over a preset distance; wherein the preset distance includes any one of a first distance before the vehicle's current position, a second distance after the current position, or the sum of the first distance and the second distance; the second distance is the distance between the position corresponding to the end of the uneconomical torque range predicted by the PECC system and the vehicle's current position; when the preset distance includes the second distance and the average speed of the first distance is greater than the preset target speed, the average speed of the second distance is determined by the speed data of the second distance predicted by the vehicle control device; when the preset distance includes the second distance and the average speed of the first distance is less than the preset target speed, the average speed of the second distance is determined by the speed data of the second distance planned by the PECC core module in the PECC system; the preset target speed is the vehicle speed set by the cruise control system. Based on the relationship between the vehicle's average speed over a preset distance and a preset target speed, and in conjunction with the vehicle's current engine speed and current torque, the vehicle's engine torque is adjusted; wherein, when the vehicle's average speed over the preset distance is higher than the preset target speed and the current torque is in an uneconomical range, the vehicle's engine torque is set to 0; when the vehicle's average speed over the preset distance is lower than the preset target speed and the current torque is 0 or in an uneconomical range, the vehicle's engine torque is set to an economical torque range corresponding to the current engine speed.

2. The method according to claim 1, characterized in that, The steps for adjusting the torque of the vehicle engine include: 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 current torque is maintained, where the third value is positive. 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 a first torque range, the torque of the vehicle engine is set to 0; the first value is a positive value, and the first torque range is determined based on the current speed of the vehicle engine and is used to indicate the numerical range of uneconomical torque corresponding to the current speed. 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 the current torque is in the first torque range, the torque of the vehicle engine is adjusted to the second torque range; the second torque range is the economic torque range corresponding to the current speed, and all torque values ​​in the first torque range are less than the minimum torque value in the second torque range.

3. A vehicle control device applied to a vehicle, said vehicle being equipped with a predictive adaptive cruise control (PECC) system, characterized in that, include: The acquisition module is used to acquire the average speed of the vehicle over a preset distance; wherein, the preset distance includes any one of a first distance before the vehicle's current position, a second distance after the current position, or the sum of the first distance and the second distance; the second distance is the distance between the position corresponding to the end of the uneconomical torque range predicted by the PECC system and the vehicle's current position; when the preset distance includes the second distance and the average speed of the first distance is greater than the preset target speed, the average speed of the second distance is determined by the speed data of the second distance predicted by the vehicle control device; when the preset distance includes the second distance and the average speed of the first distance is less than the preset target speed, the average speed of the second distance is determined by the speed data of the second distance planned by the PECC core module in the PECC system; the preset target speed is the vehicle speed set by the cruise control system. The processing module is used to adjust the torque of the vehicle engine based on the relationship between the average speed of the vehicle over a preset distance and the preset target speed, combined with the current speed and torque of the vehicle engine; wherein, when the average speed of the vehicle over the preset distance is higher than the preset target speed and the current torque is in the uneconomical range, the torque of the vehicle engine is set to 0; when the average speed of the vehicle over the preset distance is lower than the preset target speed and the current torque is 0 or in the uneconomical range, the torque of the vehicle engine is set to the economical torque range corresponding to the current speed.

4. A vehicle, characterized in that, include: The vehicle body and vehicle controller; The vehicle controller includes a processor and a memory; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the vehicle control method as described in claim 1 or 2.

5. 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 vehicle control method as described in claim 1 or 2.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it is used to implement the vehicle control method as described in claim 1 or 2.

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