A torque control method, device, vehicle and storage medium for a constant speed cruise mode

Abstract

This application provides a torque control method, device, vehicle, and storage medium for cruise control mode. The method includes: first, determining the cruise torque when switching to cruise control mode; then, filtering the cruise torque to obtain a filtered cruise torque; and finally, using the filtered cruise torque to control the motor's torque output. It can be understood that filtering the cruise torque during cruise control mode switching and using the filtered cruise torque to control the motor's torque output allows for smoother changes in the motor's output torque, reducing vehicle jerking and improving the user's driving experience to some extent.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically to a torque control method, device, vehicle, and storage medium for cruise control mode. Background Technology

[0002] Cruise control is a system that uses electronic control technology to maintain a constant speed automatically, eliminating the need for the user to control the accelerator pedal and reducing unnecessary speed changes. When speed adjustments are needed, the cruise control system typically adjusts the speed automatically by switching cruise control modes. Cruise control modes usually include constant speed mode, acceleration mode, and deceleration mode. Users can switch between cruise control modes according to their driving needs, reducing unnecessary accelerator pedal operation, alleviating driving fatigue, and saving fuel.

[0003] Currently, when switching between cruise control modes, changes in acceleration can cause fluctuations in the motor's output torque, leading to unstable vehicle power and affecting the user's driving experience. For example, when switching from constant speed mode to acceleration mode, changes in acceleration may cause the motor's output torque to change too quickly, resulting in torque fluctuations and causing a jerking sensation, thus impacting the user's driving experience.

[0004] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be regarded as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This application provides a torque control method, device, vehicle, and storage medium for cruise control mode, in order to solve the problem that fluctuations in the output torque of the motor may be caused by changes in acceleration, which may lead to a jerking sensation in the vehicle and affect the user's driving experience.

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

[0007] When switching to cruise control mode, determine the cruise control torque;

[0008] The cruise torque is filtered to obtain the filtered cruise torque.

[0009] The filtered constant speed cruise torque control motor's torque output is used.

[0010] In this embodiment, during the cruise control mode switching process, the cruise control torque fluctuates significantly. By filtering the cruise control torque, the fluctuation range of the motor's output torque can be controlled, making the change in the motor's output torque from before to after the switch smoother, thereby enabling a smooth transition in vehicle speed and improving the user's driving experience.

[0011] In one possible implementation, filtering the cruise torque to obtain the filtered cruise torque includes:

[0012] If the current time is within a preset first time interval, the cruise torque is filtered to obtain the filtered cruise torque. The starting point of the first time interval is the moment when the cruise mode is switched to.

[0013] In this embodiment, when the cruise control mode is switched, the cruise control torque may fluctuate significantly. By filtering the cruise control torque for a period of time after the cruise control mode switch, the problem of large fluctuations in the motor's output torque can be mitigated, allowing the vehicle speed to transition smoothly during this period and thus improving the user's driving experience.

[0014] In one possible implementation, the method further includes:

[0015] If the current time is not within the preset first time interval, the torque output of the constant speed cruise torque control motor is used.

[0016] In this embodiment, after switching to cruise control mode for a period of time, the cruise control torque is in a stable state of change. Without continuing to filter the cruise control torque, the vehicle may not experience jerking. At the same time, it can save computation and processing power and improve the device response speed.

[0017] In one possible implementation, determining the cruise torque when switching to cruise control mode includes:

[0018] When switching from the first cruise control mode to the second cruise control mode, the cruise control torque is determined.

[0019] In this embodiment, switching between cruise control modes may cause the cruise control torque to change too rapidly. When switching to cruise control mode, the cruise control torque can first be determined; then, the cruise control torque is filtered, and the filtered cruise control torque is used to control the motor's torque output, which can make the change in the motor's output torque more gradual.

[0020] In one possible implementation, the first cruise control mode and the second cruise control mode are any two of the following: constant speed mode, acceleration mode, and deceleration mode.

[0021] In one possible implementation, determining the cruise torque when switching to cruise control mode includes:

[0022] When switching from non-cruise mode to cruise mode, determine the cruise torque.

[0023] In this embodiment, when switching from a non-cruise cruise mode to a cruise control mode, the cruise torque may change too rapidly. When switching from a non-cruise cruise mode to a cruise control mode, the cruise torque can first be determined; then, the cruise torque can be filtered, and the filtered cruise torque can be used to control the motor's torque output, resulting in a smoother change in the motor's output torque.

[0024] In one possible implementation, determining the cruise torque includes:

[0025] The first torque is calculated based on acceleration resistance and road condition resistance;

[0026] Obtain the second torque, which is the torque required by the user;

[0027] Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the speed difference;

[0028] If the speed difference is less than or equal to a preset speed difference threshold, then the first torque is determined to be the cruise torque.

[0029] If the speed difference is greater than the preset speed difference threshold, then the second torque is determined to be the cruise torque.

[0030] In this embodiment, when the actual vehicle speed is far from the target speed, the torque output of the motor is controlled by the user's required torque, which can quickly increase the vehicle speed to the target speed and improve the user's driving experience.

[0031] In one possible implementation, calculating the difference between the actual vehicle speed and the target vehicle speed to obtain the speed difference includes:

[0032] Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the initial vehicle speed difference;

[0033] The initial vehicle speed difference is filtered to obtain the vehicle speed difference.

[0034] In this application, the difference between the actual vehicle speed and the target vehicle speed is the initial vehicle speed difference. By filtering the initial vehicle speed difference, the change in the vehicle speed difference can be made smoother.

[0035] In one possible implementation, filtering the initial vehicle speed difference to obtain the vehicle speed difference includes:

[0036] If the current time is within the preset second time interval, the initial vehicle speed difference is filtered to obtain the vehicle speed difference;

[0037] If the current time is not within the preset second time interval, then the initial speed difference is determined to be a speed difference.

[0038] The starting point of the second timing period is the moment when the cruise control mode is switched to.

[0039] In this embodiment, when switching to cruise control mode, the vehicle speed difference may change too rapidly. Filtering the initial vehicle speed difference over a certain period can make the changes in the vehicle speed difference smoother. After switching to cruise control mode for a period of time, the vehicle speed difference is in a stable state, and filtering the initial vehicle speed difference is no longer required, which can save computational and processing load and improve the device response speed.

[0040] In one possible implementation, determining the second torque as the cruise torque if the vehicle speed difference is greater than the preset vehicle speed difference threshold includes:

[0041] If the cruise control mode is the target cruise control mode and the speed difference is greater than the preset speed difference threshold, then the second torque is determined to be the cruise control torque.

[0042] In one possible implementation, the target cruise control mode is an acceleration mode or a deceleration mode.

[0043] In this embodiment, when switching to acceleration or deceleration mode, and the actual vehicle speed is far from the target speed, the torque output of the motor is controlled by the user's required torque, which can quickly increase the vehicle speed to the target speed and improve the user's driving experience.

[0044] Secondly, embodiments of this application provide a torque control device for cruise control mode, comprising:

[0045] The torque determination module is used to determine the cruise torque when switching to cruise control mode;

[0046] A torque filtering module is used to filter the cruise torque to obtain the filtered cruise torque.

[0047] The torque control module is used to control the torque output of the motor using the filtered cruise torque.

[0048] Thirdly, embodiments of this application provide a vehicle, including: a vehicle controller, the vehicle controller being configured to perform the method described in any one of the first aspects.

[0049] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the first aspects.

[0050] It is understood that the torque control device for cruise control mode provided in the second aspect, the vehicle provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are used to execute the method provided in this application. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram illustrating the triggering of cruise control function according to an embodiment of this application.

[0053] Figure 2 This is a schematic diagram of an application scenario provided by an embodiment of this application.

[0054] Figure 3 This is a schematic diagram illustrating the control of vehicle speed during cruise control, as provided in an embodiment of this application.

[0055] Figure 4 This is a flowchart illustrating a torque control method for cruise control mode provided in an embodiment of this application.

[0056] Figure 5 This is a schematic diagram of a cruise torque filtering process provided in an embodiment of this application.

[0057] Figure 6 This is a schematic flowchart of another torque control method for cruise control mode provided in an embodiment of this application.

[0058] Figure 7 This is a schematic diagram illustrating the calculation of pre-controlled torque, provided as an embodiment of this application.

[0059] Figure 8 This is a schematic flowchart of another torque control method for cruise control mode provided in an embodiment of this application.

[0060] Figure 9 This is a schematic structural diagram of a torque control device for a constant speed cruise mode provided by an embodiment of the present application. Specific embodiments

[0061] In order to better understand the technical solution of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0062] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts belong to the scope of protection of the present application.

[0063] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0064] It should be understood that the term " / and / or" used herein is only a relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after. <(

[0065] The constant speed cruise system is a system that uses electronic control technology to keep the vehicle running at a constant speed automatically. The user does not need to control the accelerator pedal to stabilize the vehicle speed, reducing unnecessary vehicle speed changes. When the vehicle speed needs to be adjusted, the constant speed cruise system generally adjusts the vehicle speed automatically by switching the constant speed cruise mode. The constant speed cruise mode usually includes a constant speed mode, an acceleration mode and a deceleration mode. In practical applications, the user can trigger the constant speed cruise function and switch the constant speed cruise mode according to driving needs.

[0066] See Figure 1 , which is a schematic diagram of triggering the constant speed cruise function provided by an embodiment of the present application. As Figure 1As shown, cruise control systems typically have three ways to trigger the cruise control function. Triggering methods one and two are both triggered via steering wheel switches, which usually include a Res / + switch, a Set / - switch, an On / Off switch, and a Cancel switch. The Res / + switch can be used to restore the previously set cruise speed or accelerate; the Set / - switch can be used to set the current vehicle speed to the cruise speed or decelerate; the On / Off switch is used to turn cruise control on or off; and the Cancel switch is used to cancel the current cruise control setting. However, the transmission paths of the trigger signals to the vehicle controller differ between the two triggering methods. Specifically, the trigger signal for cruise control triggered by triggering method one is directly transmitted to the vehicle controller. The trigger signal for cruise control triggered by triggering method two is first transmitted to the brake control system / body control system, and then the brake control system / body control system forwards the trigger signal to the vehicle controller. Triggering method three is triggered via a column shifter switch, which usually includes an On / Off switch. The trigger signal for cruise control triggered by the column shifter switch is first transmitted to the gear control system, and then the gear control system forwards the trigger signal to the vehicle controller.

[0067] ABS / ESC / EBS / MCU / BMS are used to detect and maintain vehicle status. The vehicle controller and each system are equipped with a CAN network for network communication. When the user triggers the cruise control function through any triggering method, the vehicle controller can receive relevant signals via the CAN bus to achieve cruise control.

[0068] The following section provides illustrative examples of specific application scenarios. (See also...) Figure 2 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 2 As shown, vehicle 100 includes a cruise control system 101 and a vehicle controller 102. The cruise control system 101 is also equipped with a cruise control switch. When the user switches to cruise control mode using the cruise control switch, the vehicle controller 102 receives relevant commands and signals and calculates the torque output of the corresponding cruise control torque control motor, ensuring the vehicle maintains a target speed. The target speed is the desired vehicle speed preset by the user based on driving needs.

[0069] Currently, when switching between cruise control modes, changes in acceleration can cause fluctuations in the motor's output torque, leading to unstable vehicle power and affecting the user's driving experience. For example, when switching from constant speed mode to acceleration mode, changes in acceleration may cause the motor's output torque to change too quickly, resulting in torque fluctuations and causing a jerking sensation, thus impacting the user's driving experience.

[0070] To address the aforementioned issues, this embodiment first determines the cruise torque when the vehicle switches to cruise control mode; then, it filters the cruise torque to obtain a filtered cruise torque; finally, it uses the filtered cruise torque to control the motor's torque output. In other words, filtering the cruise torque when switching cruise control modes and using the filtered cruise torque to control the motor's torque output makes the motor's output torque change more smoothly, reducing vehicle jerking and improving the user's driving experience to some extent.

[0071] Specifically, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0072] Before detailing the specific implementation, the speed control process of the cruise control system will be introduced. (See [link to relevant documentation]). Figure 3 This is a schematic diagram illustrating the control of cruise control speed according to an embodiment of this application. First, the target speed of the vehicle is determined; second, the actual speed of the vehicle is measured and compared with the target speed to obtain the speed difference; then, based on the speed difference, PID control is used to calculate the control information for the actual speed, and the actual speed of the vehicle is adjusted in conjunction with the cruise control torque; finally, the above steps are repeated continuously to make the actual speed of the vehicle approach the target speed.

[0073] See Figure 4 This is a schematic flowchart illustrating a torque control method for cruise control mode provided in an embodiment of this application. This method can be applied to... Figure 1 In the application scenarios shown, such as Figure 4 As shown, it mainly includes the following steps.

[0074] Step S201: When switching to cruise control mode, determine the cruise control torque.

[0075] Before switching to cruise control mode, the cruise control function needs to be activated. Activation requires the following conditions: the vehicle is drivable and in drive; the speedometer reading is within the cruise control speed range; the brake pedal is not pressed; and the seatbelt is fastened. In practice, you can determine if the cruise control function is activated by checking if the cruise control icon is displayed on the instrument panel.

[0076] When cruise control is activated, switching between cruise control modes may cause the motor's output torque to change too quickly, which may result in a jerking sensation in the vehicle and affect the user's driving experience.

[0077] In one possible implementation, the cruise torque is determined when switching from the first cruise control mode to the second cruise control mode.

[0078] The first cruise control mode and the second cruise control mode are any two of the following: constant speed mode, acceleration mode, and deceleration mode.

[0079] In this embodiment, the vehicle can be switched to acceleration or deceleration mode using the Res / + or Set / - switch described above. Specifically, a long press of the Res / + switch continuously increases the target vehicle speed, while a short press increases the target vehicle speed sequentially; similarly, a long press of the Set / - switch continuously decreases the target vehicle speed, while a short press decreases the target vehicle speed sequentially. No button operation on the Res / + or Set / - switch results in a constant speed mode by default.

[0080] For ease of explanation, the cruise control switch button time is used to represent the time from when the user presses the cruise control switch to when the user releases the cruise control switch.

[0081] To determine a more accurate cruise control switch operation signal, the cruise control switch button press duration can be acquired, and the operation mode of the cruise control switch can be determined based on the cruise control switch button press duration and a preset time threshold. Specifically, if the cruise control switch button press duration is less than a preset first time threshold, the button press operation of the cruise control switch can be considered invalid; if the cruise control switch button press duration is greater than or equal to the preset first time threshold and less than a preset second time threshold, the cruise control switch can be considered to have been short-pressed; if the cruise control switch button press duration is greater than or equal to the preset third time threshold, the cruise control switch can be considered to have been long-pressed; if the cruise control switch button press duration is greater than or equal to the preset third time threshold, the button press operation of the cruise control switch can be considered to be stuck or short-circuited.

[0082] In this embodiment, when switching to cruise control mode, the cruise torque can be determined first; then the cruise torque is filtered, and the filtered cruise torque is used to control the motor's torque output, which makes the change in the motor's output torque smoother.

[0083] In practical applications, when switching from non-cruise mode to cruise control mode, the output torque of the motor may change too quickly, which may cause the vehicle to jerk and affect the user's driving experience.

[0084] In one possible implementation, the cruise torque is determined when switching from non-cruise mode to cruise mode.

[0085] In this embodiment, when switching from non-cruise cruise mode to cruise mode, the cruise torque can be determined first; then the cruise torque can be filtered, and the filtered cruise torque can be used to control the motor's torque output, making the motor's output torque change more smoothly.

[0086] Step S202: Filter the cruise torque to obtain the filtered cruise torque.

[0087] See Figure 5 This is a schematic diagram illustrating a cruise control torque filtering process provided in an embodiment of this application. 'a' represents the motor's output torque before switching to cruise control mode, and 'f' represents the motor's output torque after switching to cruise control mode, i.e., the cruise control torque. Before filtering the cruise control torque, the motor's output torque immediately changes from 'a' to 'f'. After filtering the cruise control torque, the motor's output torque slowly changes from 'a' to 'f'.

[0088] Specifically, the filtered cruise torque can be obtained by selecting the average or median value of the motor's output torque up to the current moment. For example... Figure 5 As shown, the output torque of the motor at time t2 (i.e., the filtered constant speed cruise torque) is obtained based on the torque output by the motor before time t1; similarly, the output torque of the motor at time t3 is obtained based on the torque output by the motor before time t2; and so on. This application will not elaborate further here.

[0089] In this embodiment of the application, by filtering the cruise torque, the output torque of the motor can change more smoothly, which can reduce the jerking of the whole vehicle and improve the user's riding experience to a certain extent.

[0090] However, after switching to cruise control mode for a period of time, the cruise control torque may be in a stable state of change. If the cruise control torque is filtered again afterward, the filtering effect may not be obvious.

[0091] Therefore, in one possible implementation, if the current time is within a preset first timing period, the cruise torque is filtered to obtain the filtered cruise torque; if the current time is not within the preset first timing period, the cruise torque is used to control the torque output of the motor.

[0092] The first timing period begins at the moment of switching to cruise control mode. That is, from the moment cruise control mode is switched, the cruise torque is filtered. This filtering continues for a specified period while in cruise control mode, and the filtered cruise torque is used to control the motor's torque output. After a certain period of filtering, the filtering of the cruise torque stops.

[0093] In this embodiment, filtering the cruise control torque for a period of time after switching to cruise control mode can mitigate the problem of large fluctuations in the motor's output torque, thereby enabling a smooth transition in vehicle speed during this period and improving the user's driving experience. After switching to cruise control mode for a period of time, the cruise control torque remains stable, and discontinuing the filtering of the cruise control torque may not cause any jerking in the vehicle, while also saving computational and processing resources and improving device response speed.

[0094] Step S203: Use the filtered constant speed cruise torque to control the torque output of the motor.

[0095] In this embodiment, during the cruise control mode switching process, the cruise control torque fluctuates significantly. By filtering the cruise control torque, the fluctuation range of the motor's output torque can be controlled, making the change in the motor's output torque from before to after the switch smoother, thereby enabling a smooth transition in vehicle speed and improving the user's driving experience.

[0096] In practical applications, users may have a strong need to accelerate or decelerate. For example, when a user wants to overtake, if the actual vehicle speed is far from the target speed, the user may need to frequently press buttons to accelerate the vehicle, affecting the driving experience and making it impossible to overtake quickly.

[0097] See Figure 6 This is a flowchart illustrating another torque control method for cruise control provided in this application. Figure 6 As shown, the method is in Figure 4 Based on this, when switching to cruise control mode, step S201 specifically includes the following steps.

[0098] Step S2011: Calculate the first torque based on acceleration resistance and road condition resistance.

[0099] In practical applications, vehicles are hindered by acceleration resistance and road surface resistance during operation. Therefore, vehicles need sufficient driving force to overcome these resistances and propel them forward. Currently, sensors can detect the pre-controlled torque required by the vehicle, but this may increase costs.

[0100] In one possible implementation, the acceleration drag is determined based on the vehicle's mass and acceleration.

[0101] Before determining the vehicle's acceleration resistance, the acceleration corresponding to the user's button operation on the cruise control switch can be obtained, which can provide the vehicle with a more reasonable acceleration.

[0102] Specifically, the correspondence between the user's button operation on the cruise control switch and the acceleration can be preset. For example, when the user presses and holds the Res / + switch, the acceleration is acceleration A1; when the user presses the Res / + switch briefly, the acceleration is acceleration A2; and so on. This application will not elaborate further here.

[0103] In this embodiment, a preset correspondence between user button operations on the cruise control switch and acceleration can be stored in a relevant storage module. When the vehicle controller receives a button operation signal from the user, it quickly retrieves the acceleration corresponding to the user's button operation from the relevant storage module.

[0104] Road resistance typically includes slope resistance, rolling resistance, air resistance, and internal resistance. Slope resistance refers to the force generated by the road gradient when a vehicle is traveling on an incline; it can be determined based on the vehicle's load and the road gradient. Rolling resistance refers to the force that resists the vehicle's forward movement generated by the contact between the tires and the road surface. Internal resistance refers to the frictional force generated by the pistons, crankshaft, and other components within the engine during vehicle operation.

[0105] In one possible implementation, the first torque can be determined based on acceleration resistance, ramp resistance, rolling resistance, air resistance, and internal resistance.

[0106] In practical applications, as mentioned above, the actual vehicle speed can be adjusted towards the target speed through a combination of cruise control torque and PID control. To adjust the vehicle speed more precisely, in one possible implementation, the first torque (i.e., the pre-controlled torque) can be determined based on acceleration resistance, gradient resistance, rolling resistance, air resistance, internal resistance, and torque coefficient.

[0107] The torque coefficient is used to increase the proportion of PID control of vehicle speed. For example, when the torque coefficient is 0.8, the proportion of PID control of vehicle speed is 0.2; when the torque coefficient is 0.7, the proportion of PID control of vehicle speed is 0.3; and so on. This application will not elaborate further.

[0108] See Figure 7 This diagram illustrates a method for calculating the pre-controlled torque according to an embodiment of this application. First, the acceleration resistance, ramp resistance, rolling resistance, air resistance, and internal resistance can be added together to determine the resistance sum; then, the resistance sum is multiplied by the torque coefficient to determine the first torque (i.e., the pre-controlled torque).

[0109] In this embodiment, the torque coefficient can be used to increase the proportion of PID control, and the vehicle speed can be controlled more precisely by combining cruise torque and PID control.

[0110] Step S2012: Obtain the second torque, which is the torque required by the user.

[0111] User-demanded torque refers to the output torque that the user provides to the motor through the accelerator and brake pedals. When the user presses the accelerator and brake pedals, it can be assumed that the user expects rapid acceleration and deceleration.

[0112] In this embodiment, when the vehicle controller receives signals from the user pressing the accelerator and brake pedals, it determines the user's required torque through a relevant processing module.

[0113] Step S2013: Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the speed difference.

[0114] In this embodiment, the first torque and the second torque can be switched according to the vehicle speed difference to provide more comfortable power to the vehicle and improve the user's driving experience.

[0115] However, since the actual vehicle speed changes in real time, the speed difference also changes with each change in actual speed. When the actual vehicle speed fluctuates significantly, the speed difference will also fluctuate significantly, potentially leading to frequent switching between the first and second torque, causing the vehicle to jerk and affecting the driving experience. Furthermore, as mentioned above, PID control is related to the speed difference; large fluctuations in the speed difference may result in an unstable speed transition.

[0116] Therefore, in one possible implementation, the difference between the actual vehicle speed and the target vehicle speed is calculated to obtain the initial vehicle speed difference; the initial vehicle speed difference is then filtered to obtain the final vehicle speed difference.

[0117] In this application, filtering the initial vehicle speed difference can make the change in vehicle speed difference smoother.

[0118] However, after switching to cruise control mode for a period of time, the vehicle speed difference is in a stable state of change. If the initial vehicle speed difference is still filtered, it may cause the device to respond slowly.

[0119] Therefore, in one possible implementation, if the current time is within a preset second time interval, the initial vehicle speed difference is filtered to obtain the vehicle speed difference; if the current time is not within the preset second time interval, the initial vehicle speed difference is determined as the vehicle speed difference.

[0120] In this embodiment, the starting point of the second timing period is the moment of switching to cruise control mode. For a period after switching to cruise control mode, filtering the initial vehicle speed difference can make the change in speed difference smoother. After a period of time in cruise control mode, the vehicle speed difference is in a stable state, and filtering is no longer required, saving computational and processing resources and improving device response speed.

[0121] Step S2014: If the vehicle speed difference is less than or equal to a preset vehicle speed difference threshold, then the first torque is determined to be the cruise torque; if the vehicle speed difference is greater than the preset vehicle speed difference threshold, then the second torque is determined to be the cruise torque.

[0122] In this embodiment, when the actual vehicle speed is far from the target speed, the torque output of the motor is controlled by the user's required torque, which can quickly increase the vehicle speed to the target speed and improve the user's driving experience.

[0123] In another possible implementation, if the cruise control mode is the target cruise control mode and the speed difference is greater than a preset speed difference threshold, then the second torque is determined to be the cruise control torque. The target cruise control mode is either an acceleration mode or a deceleration mode.

[0124] In this embodiment of the application, if the cruise control mode is the target cruise control mode and the vehicle speed difference is greater than the preset vehicle speed difference threshold, the second torque can be more accurately determined as the cruise control torque.

[0125] In this embodiment, during the cruise control mode switching process, the cruise control torque fluctuates significantly. By filtering the cruise control torque, the fluctuation range of the motor's output torque can be controlled, making the change in the motor's output torque from before to after the switch smoother, thereby enabling a smooth transition in vehicle speed and improving the user's driving experience.

[0126] See Figure 8 This is a flowchart illustrating another torque control method for cruise control provided in this application embodiment. The method mainly includes the following steps.

[0127] Step S301: Activate cruise control function.

[0128] Step S302: Enter constant speed mode.

[0129] Step S303: The user presses the button to operate the cruise control switch.

[0130] Step S304: Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the initial vehicle speed difference.

[0131] Step S305: Determine whether the current time is within the second timing period. If the current time is within the second timing period, proceed to step S306; otherwise, proceed to step S307.

[0132] Step S306: Filter the initial vehicle speed difference to obtain the vehicle speed difference.

[0133] Step S307: Determine the initial vehicle speed difference as the vehicle speed difference.

[0134] Step S308: Determine the speed difference and acceleration.

[0135] Step S309: Determine whether to switch to acceleration mode. If not to switch to acceleration mode, proceed to step S310; otherwise, proceed to step S311.

[0136] Step S310: Determine whether to switch to deceleration mode; if not to switch to deceleration mode, proceed to step S315; otherwise, proceed to step S311.

[0137] Step S311: Determine whether the vehicle speed difference is greater than a preset vehicle speed difference threshold. If the vehicle speed difference is greater than the preset vehicle speed difference threshold, proceed to step S312; otherwise, proceed to step S315.

[0138] Step S312: Determine whether the current time is within the first time interval. If the current time is within the first time interval, proceed to step S313; otherwise, proceed to step S314.

[0139] Step S313: Filter the second torque to obtain the filtered second torque.

[0140] Step S314: Use the second torque control motor to control the torque output.

[0141] Step S315: Determine whether the current time is within the first time interval. If the current time is within the first time interval, proceed to step S316; otherwise, proceed to step S317.

[0142] Step S316: Filter the first torque to obtain the filtered first torque.

[0143] Step S317: Use the first torque control motor to control the torque output.

[0144] For details regarding the specific content involved in the implementation examples of this application, please refer to the description in the above-described embodiments. For the sake of brevity, these details will not be repeated here.

[0145] Corresponding to the above method embodiments, this application also provides a torque control device for cruise control mode. Specifically, see... Figure 9 This is a schematic diagram of the structure of a torque control device for cruise control mode provided in an embodiment of this application. Figure 9 As shown, the torque control device 400 for cruise control mode includes: a torque determination module 401, a torque filtering module 402, and a torque control module 403. Specifically, the torque determination module 401 is used to determine the cruise torque when switching to cruise control mode; the torque filtering module 402 is used to filter the cruise torque to obtain the filtered cruise torque; and the torque control module 403 is used to control the torque output of the motor using the filtered cruise torque.

[0146] For details regarding the specific content involved in the embodiments of this application, please refer to the description of the above method embodiments. For the sake of brevity, these details will not be repeated here.

[0147] Corresponding to the above method embodiments, this application also provides a vehicle, including:

[0148] The vehicle controller is configured to perform the methods described in the above-described method embodiments.

[0149] For details regarding the specific content involved in the implementation of this application, please refer to the description in the above method embodiments. For the sake of brevity, these details will not be repeated here.

[0150] Corresponding to the above embodiments, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, wherein when the program runs, it can control the device where the computer-readable storage medium is located to execute some or all of the steps in the above method embodiments. In specific implementation, the computer-readable storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0151] Corresponding to the above embodiments, this application also provides a computer program product containing executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.

[0152] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0153] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0154] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0155] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0156] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A torque control method for a constant speed cruise mode, characterized by, Comprising: When switching to the constant speed cruise mode, determining a constant speed cruise torque; Filtering the constant speed cruise torque to obtain a filtered constant speed cruise torque; Using the filtered constant speed cruise torque to control the torque output of the motor; The determination of the constant speed cruise torque comprises: Calculating a first torque according to the acceleration resistance and the road condition resistance; Obtaining a second torque, which is a user demand torque; Calculating the difference between the actual vehicle speed and the target vehicle speed to obtain a vehicle speed difference; If the vehicle speed difference is less than or equal to a preset vehicle speed difference threshold, determining the first torque as the constant speed cruise torque; If the vehicle speed difference is greater than the preset vehicle speed difference threshold, determining the second torque as the constant speed cruise torque; The calculation of the difference between the actual vehicle speed and the target vehicle speed to obtain a vehicle speed difference comprises: Calculating the difference between the actual vehicle speed and the target vehicle speed to obtain an initial vehicle speed difference; Filtering the initial vehicle speed difference to obtain a vehicle speed difference; The filtering of the initial vehicle speed difference to obtain a vehicle speed difference comprises: If the current time is within a preset second timing time, filtering the initial vehicle speed difference to obtain a vehicle speed difference; If the current time is not within the preset second timing time, determining the initial vehicle speed difference as the vehicle speed difference; The starting point of the second timing time is the time when switching to the constant speed cruise mode.

2. The method of claim 1, wherein, The filtering of the constant speed cruise torque to obtain a filtered constant speed cruise torque comprises: If the current time is within a preset first timing time, filtering the constant speed cruise torque to obtain a filtered constant speed cruise torque, and the starting point of the first timing time is the time when switching to the constant speed cruise mode.

3. The method of claim 2, wherein, Further comprising: If the current time is not within the preset first timing time, using the constant speed cruise torque to control the torque output of the motor.

4. The method of claim 1, wherein, The determination of the constant speed cruise torque when switching to the constant speed cruise mode comprises: When switching from a first constant speed cruise mode to a second constant speed cruise mode, determining a constant speed cruise torque.

5. The method of claim 4, wherein, The first constant speed cruise mode and the second constant speed cruise mode are any two of the uniform speed mode, the acceleration mode and the deceleration mode.

6. The method of claim 1, wherein, The determination of the constant speed cruise torque when switching to the constant speed cruise mode comprises: When switching from a non-constant speed cruise mode to a constant speed cruise mode, determining a constant speed cruise torque.

7. The method of claim 1, wherein, The determination of the constant speed cruise torque when the vehicle speed difference is greater than the preset vehicle speed difference threshold comprises: If the constant speed cruise mode is a target constant speed cruise mode and the vehicle speed difference is greater than the preset vehicle speed difference threshold, determining the second torque as the constant speed cruise torque.

8. The method of claim 7, wherein, The target constant speed cruise mode is the acceleration mode or the deceleration mode.

9. A torque control device for a constant speed cruise mode, characterized by Comprising: A torque determination module, configured to determine a constant speed cruise torque when switching to a constant speed cruise mode; A torque filtering module, configured to filter the constant speed cruise torque to obtain a filtered constant speed cruise torque; A torque control module, configured to use the filtered constant speed cruise torque to control the torque output of the motor; The determination of the constant speed cruise torque comprises: Calculating a first torque according to the acceleration resistance and the road condition resistance; Obtaining a second torque, which is a user demand torque; a difference between the actual vehicle speed and the target vehicle speed is calculated to obtain a vehicle speed difference; if the vehicle speed difference is less than or equal to a preset vehicle speed difference threshold, the first torque is determined as a constant speed cruise torque; if the vehicle speed difference is greater than the preset vehicle speed difference threshold, the second torque is determined as the constant speed cruise torque; the calculating of the difference between the actual vehicle speed and the target vehicle speed to obtain the vehicle speed difference comprises: a difference between the actual vehicle speed and the target vehicle speed is calculated to obtain an initial vehicle speed difference; the initial vehicle speed difference is filtered to obtain the vehicle speed difference; the filtering of the initial vehicle speed difference to obtain the vehicle speed difference comprises: if a current time is within a preset second timing time, the initial vehicle speed difference is filtered to obtain the vehicle speed difference; if the current time is not within the preset second timing time, the initial vehicle speed difference is determined as the vehicle speed difference; a starting point of the second timing time is a time when the constant speed cruise mode is switched to.

10. A vehicle characterized by comprising: comprise: a vehicle control unit configured to execute the method of any one of claims 1 to 8.

11. A computer readable storage medium, characterized in that, the computer readable storage medium stores a computer program, when the computer program is executed by a processor, the method of any one of claims 1 to 8 is realized.

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