Vehicle control method and system, storage medium and program product

Abstract

The invention provides a vehicle control method and system, a storage medium and a program product, and relates to the technical field of automatic driving control. The method comprises the steps that a predictive unit sends road state information to a gear demand unit, so that the gear demand unit generates an on-gear demand instruction according to the road state information and sends the on-gear demand instruction to the predictive unit; the predictive unit generates a predicted gear according to the road state information and the vehicle state information; the predictive unit determines a target gear according to the on-gear demand instruction and the predicted gear, and sends the target gear to the gearbox controller; and the gearbox controller controls the gearbox according to the target gear. According to the method, the target gear of the vehicle is determined by comprehensively judging the working requirements of the accessories, the auxiliary braking system and the power system of the vehicle and making a decision in a unified mode, the negative influence of the vehicle accessories on the power performance of the vehicle is relieved, normal starting and running of the vehicle accessories are guaranteed, and the safety of the vehicle is guaranteed.

Description

Technical Field

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

[0002] In modern traffic systems, autonomous driving control functions optimize vehicle distances and reduce traffic congestion through precise vehicle control, thereby improving road traffic efficiency.

[0003] In the prior art, a control unit of a vehicle obtains road status information and vehicle status information in real time to calculate a predicted gear position of the vehicle and controls the vehicle accordingly.

[0004] However, in the existing vehicle control method, due to the existence of vehicle accessories, the dynamic performance of the vehicle is affected, the fuel consumption of the vehicle is high, and when the vehicle is in neutral, some accessories of the vehicle cannot be opened normally. Summary of the invention

[0005] The present application provides a vehicle control method, system, storage medium and program product, which are used to determine the final target gear of the vehicle by comprehensively judging the working requirements of the vehicle's accessories, auxiliary braking system and power system, making unified decisions, so as to reduce the negative impact of the vehicle accessories on the vehicle's power performance, effectively reduce the vehicle's fuel consumption, and ensure the normal opening and operation of the vehicle accessories, thereby ensuring the safety of the vehicle.

[0006] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0007] The predictive unit sends the road state information to the gear demand unit, so that the gear demand unit generates a gear demand instruction according to the road state information, and sends the gear demand instruction to the predictive unit, the gear demand unit includes: an accessory control unit and an auxiliary brake unit, the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working;

[0008] The predictive unit generates a predicted gear position based on the road state information and the vehicle state information;

[0009] The predictive unit determines a target gear position according to the in-gear demand instruction and the predicted gear position, and sends the target gear position to the transmission controller;

[0010] The transmission controller controls the transmission according to the target gear position.

[0011] In a possible design, determining the target gear position according to the in-gear demand instruction and the predicted gear position includes:

[0012] Obtaining the gear position instruction sent by the auxiliary brake unit;

[0013] According to the priority of the in-gear demand instruction and the priority of the predicted gear, the target gear is selected from the gear instructions and the predicted gear. The priority of the in-gear demand instruction of the auxiliary braking unit is higher than the priority of the in-gear demand instruction of the accessory control unit, and the priority of the in-gear demand instruction of the accessory control unit is higher than the priority of the predicted gear.

[0014] In a possible design, according to the priority of the in-gear demand instruction and the priority of the predicted gear, selecting the target gear from the gear instruction and the predicted gear includes:

[0015] If the in-gear demand instruction of the auxiliary brake unit indicates that a gear is required, extracting the target gear from the gear instruction of the auxiliary brake unit;

[0016] If the in-gear demand instruction of the auxiliary brake unit indicates that the gear is not required, and the in-gear demand instruction of the accessory control unit indicates that the gear is required, and the predicted gear position is not neutral, the predicted gear position is used as the target gear position;

[0017] If the in-gear demand instruction of the auxiliary brake unit indicates that the gear is not required, and the in-gear demand instruction of the accessory control unit indicates that the gear is required, and the predicted gear is neutral, any gear other than the predicted gear is used as the target gear;

[0018] If the in-gear demand instruction of the auxiliary brake unit indicates that the gear is not required, and the in-gear demand instruction of the accessory control unit indicates that the gear is not required, the predicted gear position is used as the target gear position.

[0019] In one possible design, the method further includes:

[0020] The predictive unit determines the vehicle operating mode according to the cruise state information, the road state information, and the actual vehicle speed, and sends a torque control instruction carrying the vehicle operating mode to the cruise unit;

[0021] The cruise unit outputs the target torque according to the torque control command.

[0022] In a possible design, the vehicle operating mode is determined according to the cruise state information, the road state information, and the actual vehicle speed, including:

[0023] determining whether the vehicle operating mode is a cruise off mode or an initial cruise mode according to the cruise state information;

[0024] Determine whether the vehicle working mode is a flat road mode, a pre-uphill mode, an uphill mode, or a braking mode according to the road state information;

[0025] Determine whether the vehicle operating mode is the coasting mode based on the actual vehicle speed and road condition information.

[0026] In a possible design, outputting a target torque according to a torque control command includes:

[0027] When the vehicle operating mode is the cruise off mode or the coasting mode, the output target torque is 0;

[0028] When the vehicle working mode is the first cruise mode, outputting a target torque that enables the actual vehicle speed to reach a preset vehicle speed within a first preset time period;

[0029] When the vehicle working mode is the flat road mode, outputting a target torque that causes the actual vehicle speed to reach a preset vehicle speed within a second preset time, the second preset time being greater than or equal to the first preset time;

[0030] When the vehicle working mode is the pre-uphill mode, the target torque is outputted so that the actual vehicle speed reaches a vehicle speed higher than the preset vehicle speed;

[0031] When the vehicle operation mode is the uphill mode, the torque control parameter is reduced, and a target torque is output according to the torque control parameter so that the actual vehicle speed reaches the pre-calculated target vehicle speed.

[0032] In a possible design, the gear demand unit generates a gear demand instruction according to the road state information, including:

[0033] The accessory control unit determines whether the vehicle is in an uphill stage according to the road state information, and whether the control parameters corresponding to the accessory are within a safe range;

[0034] When the vehicle is in an uphill phase and the control parameters are within a safe range, the accessory control unit generates a gear demand instruction carrying first indication information, where the first indication information is used to indicate that a gear is not required.

[0035] In one possible design, the method further includes:

[0036] When the accessory is an air compressor, the control parameter is the amount of air stored in the air compressor, and the safety range is when the air volume is greater than or equal to the preset air volume;

[0037] When the accessory is a generator, the control parameter is the amount of electricity stored in the battery, and the safety range is when the amount of electricity is greater than or equal to the preset amount of electricity;

[0038] When the accessory is a fan, the control parameter is the engine water temperature, and the safety range is that the engine water temperature is less than or equal to the preset water temperature.

[0039] In one possible design, the method further includes:

[0040] When the accessory is an air compressor or a generator, if the vehicle is in a downhill phase, and / or the control parameter is outside a safe range, the accessory control unit generates a gear demand instruction carrying second indication information, where the second indication information is used to indicate that a gear needs to be in gear;

[0041] When the accessory is a fan, when the vehicle is in a downhill stage and the engine water temperature is greater than or equal to the preset water temperature, the gliding time required for the vehicle to glide through the current slope section is calculated based on the road state information and the vehicle's driving speed, and the free heat dissipation time required for the engine water temperature to drop to the preset water temperature is calculated;

[0042] When the free cooling time is less than the coasting time, generating an in-gear demand instruction carrying the first indication information;

[0043] When the free cooling time is greater than or equal to the coasting time, an in-gear demand instruction carrying the second indication information is generated.

[0044] In one possible design, the predictive unit, the accessory control unit, the cruise unit and the auxiliary brake unit are integrated into the same controller.

[0045] In a second aspect, the present application provides a vehicle control system, the system comprising: a predictive unit, a gear demand unit, and a transmission controller;

[0046] Wherein, the predictive unit is used to send road state information to the gear demand unit;

[0047] The gear demand unit is used to generate a gear demand instruction according to the road state information, and send the gear demand instruction to the predictive unit. The gear demand unit includes: an accessory control unit and an auxiliary brake unit. The accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working;

[0048] The predictive unit is used to generate a predicted gear position according to the road state information and the vehicle state information;

[0049] The predictive unit is used to determine the target gear position according to the in-gear demand instruction and the predicted gear position, and send the target gear position to the transmission controller;

[0050] The transmission controller is used to control the transmission according to the target gear.

[0051] In a third aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement a vehicle control method according to the invention content of the first aspect.

[0052] In a fourth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement a vehicle control method according to the invention content of the first aspect.

[0053] The present application provides a vehicle control method, system, storage medium and program product, the method comprising: first, a predictive unit sends road state information to a gear demand unit, so that the gear demand unit generates a gear demand instruction according to the road state information, and sends the gear demand instruction to the predictive unit, the gear demand unit comprises: an accessory control unit and an auxiliary braking unit, the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working; then, the predictive unit generates a predicted gear according to the road state information and the vehicle state information; then, the predictive unit determines a target gear according to the gear demand instruction and the predicted gear, and sends the target gear to a transmission controller; finally, the transmission controller controls the transmission according to the target gear. The following technical effects are achieved: the gear demand unit determines whether the controlled accessories and auxiliary braking system require the vehicle to be in gear based on the road status information sent by the predictive unit, and controls the corresponding accessories to stop working when the road status information indicates that the vehicle is in an uphill stage, thereby avoiding the accessories working at the same time when the vehicle is going uphill and affecting the vehicle's power performance, thereby improving the vehicle's power performance and improving the vehicle's fuel economy; the predictive unit makes a comprehensive judgment based on the predicted gear and the gear demand instruction sent by the gear demand unit, and finally determines the appropriate target gear, which can avoid the vehicle from entering the neutral driving mode when the accessories need to be started and the vehicle is in a downhill stage, thereby ensuring that each accessory can still be started and work normally, ensuring the safety of the vehicle, and thus improving the overall performance and energy efficiency of the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0056] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 1 ;

[0057] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 2 ;

[0058] Figure 3 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 3 ;

[0059] Figure 4 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 4 . DETAILED DESCRIPTION

[0060] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0061] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will appreciate that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more.

[0062] It should be noted that the "at..." in the embodiments of the present application can be the instant when a certain situation occurs, or can be a period of time after a certain situation occurs, and the embodiments of the present application do not specifically limit this. In addition, the vehicle control method provided in the embodiments of the present application is only used as an example, and a vehicle control method can also include more or less content.

[0063] In order to clearly describe the technical solutions of the embodiments of the present application, some terms and technologies involved in the embodiments of the present application are briefly introduced below:

[0064] Dynamic Programming (DP) algorithm: is an algorithmic strategy for solving optimization problems. It solves complex problems by breaking them down into multiple simple sub-problems, solving each sub-problem only once, and saving its answer to avoid repeated calculations, thereby solving the problem efficiently.

[0065] Proportional-Integral-Derivative (PID) control algorithm: The cruise unit can control the output torque by adjusting the three torque control parameters of proportion, integration and differentiation, so that the output torque value is the target torque.

[0066] In modern intelligent transportation systems, autonomous driving technology has significantly improved road traffic efficiency, reduced traffic congestion, and optimized vehicle distance management through precise vehicle control.

[0067] In the prior art, a vehicle control unit can collect and analyze road status information and vehicle status information in real time, and based on this information, calculate a predicted gear position to guide vehicle control.

[0068] However, the current vehicle control method has shortcomings when dealing with vehicle accessories. Since the control of these accessories is independent of the control logic of the vehicle power system, in some cases, it will have an adverse effect on the vehicle's power performance, resulting in a decrease in the vehicle's power performance, which in turn increases the vehicle's fuel consumption. For example, when the vehicle is in the uphill stage, the accessories are turned on and work at this time, which will cause the actual speed of the vehicle to fail to reach the target speed, resulting in insufficient vehicle power performance, increased uphill time, and increased vehicle fuel consumption.

[0069] In addition, since some accessories (such as auxiliary equipment such as air compressors, generators and fans) need to be in gear to be turned on, and existing vehicle control methods usually control the vehicle to stop outputting power and drive in neutral when going downhill, these accessories cannot be turned on normally when the vehicle is in neutral and going downhill, which in turn affects the stability and safety of the vehicle operation.

[0070] Based on this, the embodiments of the present application propose a vehicle control method, system, storage medium and program product, which can be used in the field of autonomous driving control technology, aiming to solve the above technical problems of the prior art. By comprehensively judging the working requirements of vehicle components such as vehicle accessories, auxiliary braking systems and power systems, that is, judging whether each accessory and auxiliary braking system requires the vehicle to be in gear, and dynamically generating gear demand instructions for each accessory and auxiliary braking system, and then making unified decisions based on the gear demand instructions and the actual working requirements of the vehicle power system, the final target gear of the vehicle is determined, and the vehicle gearbox is controlled according to the target gear to eliminate the negative impact of accessories on the vehicle's power performance, improve the vehicle's power performance, improve the vehicle's fuel economy, and avoid the vehicle from entering the neutral driving mode when the accessories need to be turned on to work, so as to ensure that each accessory can still be turned on and operated normally, and ensure the safety of the vehicle, thereby improving the overall performance and energy efficiency of the autonomous driving vehicle.

[0071] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0072] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 1 .like Figure 1 As shown, the method includes:

[0073] S101. The predictive unit sends road state information to the gear demand unit, so that the gear demand unit generates a gear demand instruction according to the road state information, and sends the gear demand instruction to the predictive unit.

[0074] In the embodiment of the present application, the gear demand unit includes: an accessory control unit and an auxiliary brake unit. The accessory controlled by the accessory control unit is a vehicle component that needs to be in gear during operation. The gear demand unit can control the corresponding accessory and auxiliary brake system.

[0075] Specifically, the vehicle in the embodiment of the present application is equipped with a high-precision map and positioning function. The predictive unit of the vehicle can obtain the current position of the vehicle in real time through the positioning function, and obtain the road status information in front of the current position of the vehicle through the high-precision map. For example, the road status information 200 meters in front of the current position of the vehicle can be obtained through the high-precision map. The road status information includes road slope, road speed limit information, and curvature of road curves and other road condition information of the road where the vehicle is located.

[0076] The predictive unit can send the acquired road state information to the gear demand unit. The gear demand unit can determine whether the controlled accessories and auxiliary braking system require the vehicle to be in gear based on the road state information. For example, when the road state information indicates that the vehicle is in an uphill stage, the accessory control unit can generate a gear demand instruction indicating that the accessories do not need to be in gear, and control the corresponding accessories to stop working, so as to avoid the accessories from having a negative impact on the vehicle's power performance, improve the vehicle's power performance, and improve the vehicle's fuel economy. The gear demand unit can generate a gear demand instruction for the controlled accessories and auxiliary braking system based on the judgment result, and can further send the gear demand instruction to the predictive unit, so that the predictive unit can refer to the gear demand instructions for the accessories and auxiliary braking system to predict the target gear of the vehicle.

[0077] S102. The predictive unit generates a predicted gear according to the road state information and the vehicle state information.

[0078] Specifically, the predictive unit can also obtain vehicle status information such as the actual vehicle speed and accelerator pedal position through the vehicle's sensors. When predicting the target gear of the vehicle, the predictive unit can first predict based on the road status information and the vehicle status information to obtain the predicted gear. The predicted gear can reflect the gear requirement of the vehicle's power system.

[0079] S103, the predictive unit determines a target gear position according to the in-gear demand instruction and the predicted gear position, and sends the target gear position to a transmission controller.

[0080] Specifically, the predictive unit can further make a comprehensive judgment based on the predicted gear and the gear demand instructions sent by the gear demand unit, and finally determine the appropriate target gear to avoid the vehicle entering the neutral driving mode when the accessories need to be turned on and the vehicle is in a downhill stage, thereby ensuring that each accessory can still be turned on and operated normally, and sending the target gear to the transmission control unit.

[0081] S104: The transmission controller controls the transmission according to the target gear position.

[0082] Specifically, after receiving the target gear sent by the predictive unit, the gearbox can be specifically controlled according to the target gear, thereby preventing the vehicle from entering a neutral driving mode when driving downhill or other road conditions, causing the accessories to fail to start working normally.

[0083] A vehicle control method provided by the present embodiment includes: first, a predictive unit sends road state information to a gear demand unit, so that the gear demand unit generates an in-gear demand instruction according to the road state information, and sends the in-gear demand instruction to the predictive unit, the gear demand unit includes: an accessory control unit and an auxiliary braking unit, the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working; then, the predictive unit generates a predicted gear according to the road state information and the vehicle state information; then, the predictive unit determines a target gear according to the in-gear demand instruction and the predicted gear, and sends the target gear to the transmission controller; finally, the transmission controller controls the transmission according to the target gear.

[0084] The following technical effects are achieved: the gear demand unit determines whether the controlled accessories and auxiliary braking system require the vehicle to be in gear based on the road status information sent by the predictive unit, and controls the corresponding accessories to stop working when the road status information indicates that the vehicle is in an uphill stage, thereby avoiding the accessories working at the same time when the vehicle is going uphill and affecting the vehicle's power performance, thereby improving the vehicle's power performance and improving the vehicle's fuel economy; the predictive unit makes a comprehensive judgment based on the predicted gear and the gear demand instruction sent by the gear demand unit, and finally determines the appropriate target gear, which can avoid the vehicle from entering the neutral driving mode when the accessories need to be started and the vehicle is in a downhill stage, thereby ensuring that each accessory can still be started and work normally, ensuring the safety of the vehicle, and thus improving the overall performance and energy efficiency of the autonomous driving vehicle.

[0085] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 2 In one possible example, Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, how the gear position demand unit generates a gear demand instruction according to the road state information is described in detail. Figure 2 As shown, the method includes:

[0086] S201. The accessory control unit determines whether the vehicle is in an uphill phase according to road state information, and whether control parameters corresponding to the accessory are within a safe range.

[0087] Specifically, the accessory control unit can determine whether the vehicle is in an uphill stage based on the road slope information in the road state information, and determine whether these control parameters are within a safe range based on the control parameters corresponding to the accessory.

[0088] Specifically, when the accessory is an air compressor, the control parameter may be the amount of air stored in the air tank of the air compressor, and the safety range may be that the amount of air is greater than or equal to the preset amount of air. If the air compressor has met the preset air volume requirement, it means that the pressure in the air tank has reached the set value. At this time, stopping the air compressor will not only not affect the normal operation of the engine, but also reduce the energy consumption of the air compressor by stopping the air compressor, thereby reducing the load on the engine and improving the power output performance of the engine.

[0089] When the accessory is a generator, the control parameter may be the amount of electricity or voltage level stored in the battery, and the corresponding safety range may be that the amount of electricity is greater than or equal to the preset amount of electricity, or that the voltage is greater than or equal to the preset voltage. Since the generator is usually driven directly by the engine through a belt or other mechanical device, if the amount of electricity stored in the battery meets the preset amount of electricity, or the voltage level meets the preset voltage, the generator stops working, which can reduce the mechanical load of the engine and improve the power output performance of the engine.

[0090] When the accessory is a fan, the control parameter is the engine water temperature, and the safety range is that the engine water temperature is less than or equal to the preset water temperature. Similarly, when the engine water temperature meets the preset water temperature condition, the mechanical load of the engine can be reduced and the power output performance of the engine can be improved by stopping the fan.

[0091] S202: When the vehicle is in an uphill phase and the control parameter is within a safe range, the accessory control unit generates an in-gear demand instruction carrying first indication information.

[0092] Specifically, the first indication information is used to indicate that the gear is not needed. When the vehicle is in the uphill stage, in order to avoid the accessories doing work and affecting the external power output of the engine, so that the power performance of the vehicle is insufficient. When the control parameters are within the safe range, the accessory control unit can generate a gear demand instruction for indicating that the vehicle does not need to be in gear, and control the corresponding accessories to stop working, so as to avoid the accessories doing work and affecting the uphill power performance of the vehicle.

[0093] S203: When the accessory is an air compressor or a generator, if the vehicle is in a downhill phase, and / or the control parameter is outside a safe range, the accessory control unit generates an in-gear demand instruction carrying second indication information.

[0094] Specifically, the second indication information is used to indicate that the vehicle needs to be in gear. In order to avoid the air compressor or generator being unable to start normally due to the vehicle driving in neutral when going downhill. When the vehicle is in the downhill stage and / or the control parameters are outside the safety range, the accessory control unit corresponding to the air compressor or generator can generate a gear demand instruction for indicating that the vehicle needs to be in gear.

[0095] S204. When the accessory is a fan, when the vehicle is in a downhill stage and the engine water temperature is greater than or equal to a preset water temperature, the gliding time required for the vehicle to glide over the current slope section is calculated based on the road state information and the vehicle's driving speed, and the free heat dissipation time required for the engine water temperature to drop to the preset water temperature is calculated.

[0096] Specifically, in order to prevent the vehicle from driving in neutral when going downhill and affecting the normal opening of the fan, which in turn affects the normal cooling function of the vehicle, the accessory control unit can determine whether the vehicle needs to be in gear to open the fan for cooling according to the vehicle's coasting time on the slope and the free cooling time of the engine water temperature.

[0097] S205: When the free heat dissipation time is less than the coasting time, generate an in-gear demand instruction carrying the first indication information.

[0098] Specifically, if the free cooling time of the engine water temperature is less than the coasting time of the vehicle, it means that the engine water temperature can be freely cooled to the preset water temperature without turning on the fan. Even if the fan is not turned on, it will not have an adverse effect on the performance of the vehicle. The accessory control unit can then generate a gear demand instruction indicating that the vehicle does not need to be in gear, and control the fan to stop working or not start working, so as to save energy consumption of the vehicle.

[0099] S206: When the free heat dissipation time is greater than or equal to the coasting time, generate an in-gear demand instruction carrying second indication information.

[0100] Specifically, if the free heat dissipation time of the engine water temperature is greater than or equal to the coasting time of the vehicle, it means that if the fan is not turned on in time, the engine water temperature will continue to be higher than the preset water temperature, which will have an adverse effect on the vehicle performance. Therefore, in this case, the accessory control unit can generate a gear demand instruction to indicate that the vehicle needs to be in gear, so that the fan can be turned on normally when going downhill, thereby accelerating heat dissipation and avoiding the engine water temperature from being too high continuously, thereby ensuring the stability and safety of vehicle operation.

[0101] An embodiment of the present application provides a vehicle control method, in which an accessory control unit determines whether the vehicle is in an uphill phase or a downhill phase according to road state information, and whether the control parameters corresponding to the accessory are within a safe range. When the vehicle is in an uphill phase and the control parameters are within a safe range, a gear demand instruction is generated to indicate that the vehicle does not need to be in gear, and the corresponding accessory is controlled to stop working, thereby avoiding the problem of insufficient vehicle power performance caused by the effect of the work of the accessory on the external output power of the engine; when the vehicle is in a downhill phase, and / or the control parameters are outside the safe range, if the accessory is an air compressor or a generator, a gear demand instruction is generated to indicate that the vehicle needs to be in gear, thereby avoiding the problem of the air compressor or generator not being able to start normally due to the vehicle driving in neutral when going downhill; if the accessory is a fan, in When the vehicle is in the downhill stage and the engine water temperature is greater than or equal to the preset water temperature, the coasting time and the free cooling time are further calculated. When the free cooling time is less than the coasting time, a gear demand instruction is generated to indicate that the vehicle does not need to be in gear, and the fan is controlled to stop or not start working to save the vehicle's energy consumption; and when the free cooling time is greater than or equal to the coasting time, an in-gear demand instruction is generated to indicate that the vehicle needs to be in gear, so that the fan can start normally and heat dissipation can be accelerated, avoiding the problem of the engine water temperature being continuously too high, thereby ensuring the stability and safety of the vehicle's operation.

[0102] Figure 3 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 3 In one possible example, Figure 3 As shown, in this embodiment Figure 1 Based on the embodiment, how the predictive unit determines the target gear position according to the gear demand instruction and the predicted gear position is described in detail. Figure 3 As shown, the method includes:

[0103] S301, obtaining a gear position instruction sent by an auxiliary braking unit.

[0104] Specifically, the auxiliary brake unit in the gear demand unit may first send an in-gear demand instruction to the predictive unit to indicate whether the auxiliary brake system requires the vehicle transmission to be in gear. Then, after sending the in-gear demand instruction indicating that the vehicle transmission needs to be in gear, a specific gear instruction is generated and further sent to the predictive unit to indicate to the predictive unit the specific gear required by the auxiliary brake system.

[0105] The specific process of the auxiliary braking unit generating the gear command includes: the auxiliary braking unit determines the target braking force according to the road state information and the vehicle state information sent by the predictive unit, and then determines the braking gear according to the target braking force, and generates a specific gear command according to the braking gear. For example, the auxiliary braking unit can determine the target braking force required by the vehicle according to the road speed limit information in the road state information and the actual vehicle speed in the vehicle state information, so as to call the corresponding engine cylinder brake or transmission hydraulic retarder according to the target braking force to control the vehicle speed within the road speed limit range.

[0106] S302: Select a target gear from the gear instructions and the predicted gear according to the priority of the gear demand instruction and the priority of the predicted gear.

[0107] Specifically, after receiving the gear command sent by the auxiliary braking unit, the predictive unit can determine the final target gear from the gear command and the predicted gear according to the priority of each gear demand command sent by the gear demand unit and the priority of the predicted gear.

[0108] Specifically, if the gear demand instruction of the auxiliary brake unit indicates that the gear is needed, the target gear is extracted from the gear instruction of the auxiliary brake unit. That is, when the gear demand instruction of the auxiliary brake unit indicates that the gear is needed, the gear instruction of the auxiliary brake unit has the highest priority.

[0109] If the in-gear demand instruction of the auxiliary brake unit indicates that the gear is not required, and the in-gear demand instruction of the accessory control unit indicates that the gear is required, and the predicted gear position is not neutral, the predicted gear position is used as the target gear position.

[0110] If the gear demand instruction of the auxiliary brake unit indicates that the gear is not needed, and the gear demand instruction of the accessory control unit indicates that the gear is needed, and the predicted gear is neutral, any gear other than the predicted gear is used as the target gear. In other words, when the predictive unit receives the gear demand instruction of any accessory indicating that the gear is needed, and the vehicle is in neutral, a gear shift signal is sent to the gearbox, and by adjusting the gear of the gearbox to a non-neutral gear, it can ensure that each accessory can still be started and operated normally.

[0111] If the gear demand instruction of the auxiliary brake unit indicates that the gear is not required, and the gear demand instruction of the accessory control unit indicates that the gear is not required, the predicted gear is used as the target gear. In other words, if all the gear demand instructions do not require the gear, the predictive unit determines the target gear according to the predicted gear.

[0112] A vehicle control method provided in an embodiment of the present application, wherein a predictive unit selects a target gear from gear instructions and predicted gears according to the priority of the gear demand instructions and the priority of the predicted gears, thereby avoiding the problem of gear demand conflicts that may exist among accessories, auxiliary braking systems, and the vehicle's power system.

[0113] Figure 4 A flow chart of a vehicle control method provided in an embodiment of the present application Figure 4 In one possible example, Figure 4 As shown, in this embodiment Figure 1 Based on the embodiment, how the predictive unit interacts with the cruise unit of the vehicle is described in detail. Figure 4 As shown, the method includes:

[0114] S401, the predictive unit determines the vehicle operating mode according to the cruise state information, the road state information, and the actual vehicle speed, and sends a torque control instruction carrying the vehicle operating mode to the cruise unit.

[0115] Specifically, the cruise unit can be mainly used to calculate the output target torque of the engine according to the difference between the preset vehicle speed set by the driver and the actual vehicle speed, so that the actual vehicle speed is equal to the preset vehicle speed.

[0116] Specifically, the predictive unit determines the vehicle operating mode according to the cruise state information, the road state information, and the actual vehicle speed, including:

[0117] Determine whether the vehicle operating mode is the cruise off mode or the first cruise mode based on the cruise status information; determine whether the vehicle operating mode is the flat road mode, the pre-uphill mode, the uphill mode, or the braking mode based on the road status information; determine whether the vehicle operating mode is the gliding mode based on the actual vehicle speed and the road status information.

[0118] Specifically, the predictive unit can divide the vehicle working mode into seven modes: cruise off mode, first cruise mode, flat road mode, pre-uphill mode, uphill mode, braking mode and coasting mode. The coasting mode includes neutral coasting and in-gear coasting; the braking mode usually occurs when the vehicle is going downhill.

[0119] Optionally, the predictive unit, accessory control unit, cruise unit and auxiliary brake unit can be integrated into the same controller.

[0120] S402: The cruise unit outputs a target torque according to a torque control instruction.

[0121] Specifically, after receiving the torque control instruction carrying the vehicle working mode sent by the predictive unit, the cruise unit can further output the target torque according to the torque control instruction.

[0122] Specifically, when the vehicle operating mode is the cruise off mode or the coasting mode, the output target torque is 0.

[0123] That is, when the vehicle operating mode is the cruise off mode, that is, predictive cruise is not enabled, in order to avoid the conflict between the target torque output by the cruise unit and the accelerator pedal torque, the cruise unit can directly output a target torque of 0 when receiving the vehicle operating mode sent by the predictive unit as the cruise off mode. At this time, the target vehicle speed calculated by the predictive unit according to the DP algorithm is equal to the actual vehicle speed.

[0124] When the vehicle operating mode is the gliding mode, the target vehicle speed calculated by the predictive unit according to the DP algorithm follows the actual vehicle speed, but the output target torque of the engine is 0. After receiving the torque control instruction carrying the gliding mode sent by the predictive unit, the cruise unit can also directly output a target torque of 0.

[0125] When the vehicle operation mode is the first cruise mode, the target torque is outputted so that the actual vehicle speed reaches the preset speed within the first preset time. That is, when the vehicle operation mode is the first cruise mode, the cruise unit can make the actual vehicle speed of the vehicle follow the preset speed set by the driver in the normal cruise mode until the actual vehicle speed reaches the preset speed. In addition to sending the torque control instruction carrying the first cruise mode to the cruise unit, the predictive unit can also send the preset speed set by the driver so that the actual vehicle speed of the vehicle can reach the preset speed set by the driver within the first preset time.

[0126] When the vehicle working mode is the flat road mode, the target torque is outputted to make the actual vehicle speed reach the preset vehicle speed in the second preset time, and the second preset time is greater than or equal to the first preset time. That is to say, when the vehicle working mode is the flat road mode, due to the small slope, the vehicle does not need a large torque to follow the preset vehicle speed, and the cruise unit can adjust the torque slowly to ensure the smoothness and fuel efficiency of the vehicle. In addition to sending the torque control command of the flat road mode to the cruise unit, the predictive unit can also send the preset vehicle speed set by the driver, so that the actual vehicle speed can reach the preset vehicle speed set by the driver within the second preset time.

[0127] When the vehicle working mode is the pre-uphill mode, the target torque is outputted to make the actual vehicle speed reach a speed above the preset vehicle speed. By accelerating the vehicle before going uphill and storing kinetic energy in advance, the vehicle is guaranteed to have sufficient power when going uphill.

[0128] When the vehicle working mode is the uphill mode, the torque control parameter is reduced, and the target torque that makes the actual vehicle speed reach the pre-calculated target speed is output according to the torque control parameter. That is to say, when the vehicle working mode is the uphill mode, the predictive unit can calculate the target speed of the vehicle according to the DP algorithm, that is, calculate the target speed when the vehicle fuel consumption is the lowest according to the road slope and vehicle status information, and can send the target speed and the torque control instruction carrying the uphill mode to the cruise unit. The cruise unit can adjust the three torque control parameters of proportion, integration and differentiation in the PID control algorithm, and reduce the torque control parameters to slow down the torque response of the vehicle, so as to prevent the torque from dropping too fast when going uphill, which affects the smoothness and comfort of driving.

[0129] A vehicle control method provided in an embodiment of the present application, when the vehicle operating mode is the cruise off mode, that is, when predictive cruise is not enabled, by directly outputting a target torque of 0, the conflict between the target torque output by the cruise unit and the accelerator pedal torque is avoided; when the vehicle operating mode is the flat road mode, due to the small slope, the vehicle does not need a large torque to follow the preset vehicle speed, and the cruise unit is made to output the target torque that makes the actual vehicle speed reach the preset vehicle speed within a second preset time, so that the cruise unit adjusts the torque slowly, thereby ensuring the smoothness and fuel economy of the vehicle operation; by accelerating the vehicle before going uphill and storing kinetic energy in advance, it is ensured that the vehicle has sufficient power when going uphill; by reducing the torque control parameters, the torque response of the vehicle is slowed down, thereby avoiding a too fast drop in torque when going uphill, which affects the smoothness and comfort of driving.

[0130] The embodiment of the present application also provides a vehicle control system, the system comprising: a predictive unit, a gear demand unit and a gearbox controller;

[0131] Wherein, the predictive unit is used to send road state information to the gear demand unit;

[0132] The gear demand unit is used to generate a gear demand instruction according to the road state information, and send the gear demand instruction to the predictive unit. The gear demand unit includes: an accessory control unit and an auxiliary brake unit. The accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working;

[0133] The predictive unit is used to generate a predicted gear position according to the road state information and the vehicle state information;

[0134] The predictive unit is used to determine the target gear position according to the in-gear demand instruction and the predicted gear position, and send the target gear position to the transmission controller;

[0135] The transmission controller is used to control the transmission according to the target gear.

[0136] A vehicle control system provided in this embodiment can execute a vehicle control method of the above embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0137] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, it is used to implement the above vehicle control method.

[0138] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0139] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0140] The present application also provides a computer program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium. At least one processor executes the computer program so that the electronic device executes the solution provided by the above embodiment.

[0141] Those skilled in the art can understand that all or part of the steps of the above method embodiments can be completed by hardware related to program instructions. The above program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above method embodiments are executed; and the above storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0142] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above embodiments are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: include: The predictive unit sends the road state information to the gear demand unit, so that the gear demand unit generates an in-gear demand instruction according to the road state information, and sends the in-gear demand instruction to the predictive unit, the gear demand unit comprising: an accessory control unit and an auxiliary brake unit, the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working; The predictive unit generates a predicted gear position based on the road state information and the vehicle state information; The predictive unit determines a target gear position according to the in-gear demand instruction and the predicted gear position, and sends the target gear position to a transmission controller; The transmission controller controls the transmission according to the target gear position.

2. The method according to claim 1, characterized in that The determining the target gear position according to the in-gear demand instruction and the predicted gear position includes: Obtaining a gear position instruction sent by the auxiliary braking unit; According to the priority of the in-gear demand instruction and the priority of the predicted gear, the target gear is selected from the gear instructions and the predicted gear, the priority of the in-gear demand instruction of the auxiliary braking unit is higher than the priority of the in-gear demand instruction of the accessory control unit, and the priority of the in-gear demand instruction of the accessory control unit is higher than the priority of the predicted gear.

3. The method according to claim 2, characterized in that The selecting a target gear from the gear instructions and the predicted gear according to the priority of the in-gear demand instruction and the priority of the predicted gear comprises: If the in-gear demand instruction of the auxiliary brake unit indicates that a gear is required, extracting a target gear from the gear instruction of the auxiliary brake unit; If the in-gear demand instruction of the auxiliary brake unit indicates that the vehicle does not need to be in gear, and the in-gear demand instruction of the accessory control unit indicates that the vehicle needs to be in gear, and the predicted gear position is not neutral, the predicted gear position is used as the target gear position; If the in-gear demand instruction of the auxiliary brake unit indicates that the vehicle does not need to be in gear, and the in-gear demand instruction of the accessory control unit indicates that the vehicle needs to be in gear, and the predicted gear position is neutral, any gear position other than the predicted gear position is used as the target gear position; If the gear demand instruction of the auxiliary brake unit indicates that the gear is not required, and the gear demand instruction of the accessory control unit indicates that the gear is not required, the predicted gear is used as the target gear.

4. The method according to any one of claims 1 to 3, characterized in that Also includes: The predictive unit determines the vehicle operating mode according to the cruise state information, the road state information, and the actual vehicle speed, and sends a torque control instruction carrying the vehicle operating mode to the cruise unit; The cruise unit outputs a target torque according to the torque control command.

5. The method according to claim 4, characterized in that The determining of the vehicle operating mode according to the cruise state information, the road state information, and the actual vehicle speed includes: determining whether the vehicle operating mode is a cruise off mode or an initial cruise mode according to the cruise state information; Determining whether the vehicle operating mode is a flat road mode, a pre-uphill mode, an uphill mode, or a braking mode according to the road state information; Determine whether the vehicle operating mode is a coasting mode according to the actual vehicle speed and the road state information.

6. The method according to claim 4, characterized in that Outputting the target torque according to the torque control instruction includes: When the vehicle operating mode is a cruise off mode or a coasting mode, the output target torque is 0; When the vehicle working mode is the first cruise mode, outputting a target torque that enables the actual vehicle speed to reach a preset vehicle speed within a first preset time period; When the vehicle working mode is a flat road mode, outputting a target torque that causes the actual vehicle speed to reach the preset vehicle speed within a second preset time, wherein the second preset time is greater than or equal to the first preset time; When the vehicle working mode is the pre-uphill mode, outputting a target torque that causes the actual vehicle speed to reach a vehicle speed above the preset vehicle speed; When the vehicle operation mode is the uphill mode, the torque control parameter is reduced, and a target torque is output according to the torque control parameter so that the actual vehicle speed reaches a pre-calculated target vehicle speed.

7. The method according to any one of claims 1 to 3, characterized in that The gear demand unit generates a gear demand instruction according to the road state information, including: The accessory control unit determines whether the vehicle is in an uphill stage according to the road state information, and whether the control parameter corresponding to the accessory is within a safe range; When the vehicle is in an uphill phase and the control parameter is within a safe range, the accessory control unit generates a gear demand instruction carrying first indication information, where the first indication information is used to indicate that a gear is not required.

8. The method according to claim 7, characterized in that The method further comprises: When the accessory is an air compressor, the control parameter is the amount of air stored in the air compressor, and the safety range is that the amount of air is greater than or equal to a preset amount of air; When the accessory is a generator, the control parameter is the amount of electricity stored in the battery, and the safety range is that the amount of electricity is greater than or equal to a preset amount of electricity; When the accessory is a fan, the control parameter is the engine water temperature, and the safety range is that the engine water temperature is less than or equal to a preset water temperature.

9. The method according to claim 8, characterized in that The method further comprises: When the accessory is the air compressor or the generator, if the vehicle is in a downhill phase, and / or the control parameter is outside a safe range, the accessory control unit generates a gear demand instruction carrying second indication information, wherein the second indication information is used to indicate that a gear needs to be in gear; When the accessory is the fan, when the vehicle is in a downhill stage and the engine water temperature is greater than or equal to a preset water temperature, the gliding time required for the vehicle to glide through the current slope section is calculated according to the road state information and the vehicle driving speed, and the free heat dissipation time required for the engine water temperature to drop to the preset water temperature is calculated; When the free heat dissipation duration is less than the coasting duration, generating an in-gear demand instruction carrying the first indication information; When the free heat dissipation time is greater than or equal to the coasting time, an in-gear demand instruction carrying the second indication information is generated.

10. The method according to claim 4, characterized in that The predictive unit, the accessory control unit, the cruise unit and the auxiliary brake unit are integrated on the same controller.

11. A vehicle control system, characterized in that: include: Predictive unit, gear demand unit and transmission controller; Wherein, the predictive unit is used to send road state information to the gear demand unit; The gear demand unit is used to generate a gear demand instruction according to the road state information and send the gear demand instruction to the predictive unit, the gear demand unit includes: an accessory control unit and an auxiliary braking unit, the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working; The predictive unit is used to generate a predicted gear position according to the road state information and the vehicle state information; The predictive unit is used to determine a target gear position according to the in-gear demand instruction and the predicted gear position, and send the target gear position to a transmission controller; The gearbox controller is used to control the gearbox according to the target gear position.

12. 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 according to any one of claims 1 to 10.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 10 is implemented.

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