Vehicle control method, system, storage medium and program product

Abstract

The application provides a vehicle control method, system, storage medium and program product, and relates to the technical field of automatic driving control. The method comprises the following steps: 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 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 a gearbox controller; and the gearbox controller controls the gearbox according to the target gear. According to the method, the working demands of the accessories, auxiliary braking system and power system of the vehicle are comprehensively judged, a decision is made, and the target gear of the vehicle is determined, so that the negative influence of the vehicle accessories on the power performance of the vehicle is reduced, the normal opening and operation of the vehicle accessories are ensured, and the safety of the vehicle is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving control, and in particular to a vehicle control method and system, a storage medium and a program product. BACKGROUND

[0002] In a modern traffic system, automatic driving control functions optimize the vehicle distance through precise vehicle control, reduce traffic congestion, and thus improve the efficiency of road traffic.

[0003] In the prior art, the control unit of the vehicle calculates the predicted gear of the vehicle by acquiring real-time road state information and vehicle state information, and controls the vehicle accordingly.

[0004] However, in the existing vehicle control method, the presence of vehicle accessories affects the power performance of the vehicle, the fuel consumption of the vehicle is high, and when the vehicle is in neutral, some accessories of the vehicle cannot be normally started. SUMMARY

[0005] The present application provides a vehicle control method, system, storage medium and program product, which comprehensively judges the working requirements of the accessories, auxiliary braking system and power system of the vehicle, makes a unified decision to determine the final target gear of the vehicle, reduces the negative impact of the vehicle accessories on the power performance of the vehicle, effectively reduces the fuel consumption of the vehicle, and ensures the normal 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, which comprises:

[0007] The predictive unit sends the road state information to the gear demand unit, so that the gear demand unit generates the 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 braking unit, the accessory controlled by the accessory control unit being a vehicle component that needs to be in gear when working;

[0008] The predictive unit generates a predicted gear according to the road state information and the vehicle state information;

[0009] 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 gearbox controller;

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

[0011] In a possible design, the target gear is determined according to the in-gear demand instruction and the predicted gear, comprising:

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

[0013] selecting the target gear from the gear instruction and the predicted gear according to a priority of the on-gear demand instruction of the auxiliary brake unit and a priority of the predicted gear, the priority of the on-gear demand instruction of the auxiliary brake unit being higher than the priority of the on-gear demand instruction of the accessory control unit, the priority of the on-gear demand instruction of the accessory control unit being higher than the priority of the predicted gear.

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

[0015] if the on-gear demand instruction of the auxiliary brake unit indicates that the on-gear is needed, extracting the target gear from the gear instruction of the auxiliary brake unit;

[0016] if the on-gear demand instruction of the auxiliary brake unit indicates that the on-gear is not needed, the on-gear demand instruction of the accessory control unit indicates that the on-gear is needed, and the predicted gear is the non-drive gear, taking the predicted gear as the target gear;

[0017] if the on-gear demand instruction of the auxiliary brake unit indicates that the on-gear is not needed, the on-gear demand instruction of the accessory control unit indicates that the on-gear is needed, and the predicted gear is the drive gear, taking any gear other than the predicted gear as the target gear;

[0018] if the on-gear demand instruction of the auxiliary brake unit indicates that the on-gear is not needed, and the on-gear demand instruction of the accessory control unit indicates that the on-gear is not needed, taking the predicted gear as the target gear.

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

[0020] determining, by the predictive unit, the vehicle working mode according to the cruise state information, the road state information, and the actual vehicle speed, and sending, by the predictive unit, a torque control instruction carrying the vehicle working mode to the cruise unit;

[0021] outputting, by the cruise unit, the target torque according to the torque control instruction.

[0022] In a possible design, the determining the vehicle working mode according to the cruise state information, the road state information, and the actual vehicle speed includes:

[0023] determining, according to the cruise state information, whether the vehicle working mode is the cruise-off mode or the first cruise mode;

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

[0025] determining, according to the actual vehicle speed and the road state information, whether the vehicle working mode is the coasting mode.

[0026] In a possible design, the target torque is output according to the torque control instruction, including:

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

[0028] When the vehicle working mode is the first cruise mode, the target torque is output to make the actual vehicle speed reach the preset vehicle speed within a first preset time length;

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

[0030] When the vehicle working mode is the pre-uphill mode, the target torque is output to make the actual vehicle speed reach the preset vehicle speed plus an uphill speed;

[0031] When the vehicle working mode is the uphill mode, the torque control parameter is reduced, and the target torque is output according to the torque control parameter to make the actual vehicle speed reach a pre-calculated target vehicle speed.

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

[0033] The accessory control unit determines whether the vehicle is in an uphill stage and whether the control parameter of the accessory is in a safe range according to the road state information;

[0034] When the vehicle is in the uphill stage and the control parameter is in the safe range, the accessory control unit generates the gear demand instruction carrying first indication information, the first indication information being used to indicate that no gear is needed.

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

[0036] When the accessory is an air compressor, the control parameter is an air amount stored by the air compressor, and the safe range is that the air amount is greater than or equal to a preset air amount;

[0037] When the accessory is a generator, the control parameter is an electric amount stored by a storage battery, and the safe range is that the electric amount is greater than or equal to a preset electric amount;

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

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

[0040] When the accessory is a compressor or a generator, and the vehicle is in a downhill phase, and / or the control parameter is out of the safety range, the accessory control unit generates an on-demand instruction carrying second indication information, the second indication information indicating that the accessory needs to be on;

[0041] When the accessory is a fan, and the vehicle is in a downhill phase, and the engine water temperature is greater than or equal to a preset water temperature, according to the road state information and the vehicle speed, the accessory control unit calculates a coasting time required for the vehicle to coast through the current slope section, and calculates a free cooling time required for the engine water temperature to drop to the preset water temperature;

[0042] When the free cooling time is less than the coasting time, the accessory control unit generates an on-demand instruction carrying first indication information;

[0043] When the free cooling time is greater than or equal to the coasting time, the accessory control unit generates an on-demand instruction carrying second indication information.

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

[0045] In a second aspect, the present application provides a vehicle control system, which comprises a predictive unit, an on-demand unit and a gearbox controller;

[0046] The predictive unit is configured to send road state information to the on-demand unit.

[0047] The on-demand unit is configured to generate an on-demand instruction according to the road state information, and send the on-demand instruction to the predictive unit, the on-demand unit comprising an accessory control unit and an auxiliary brake unit, the accessory control unit controlling an accessory which is a vehicle component that needs to be on during work;

[0048] The predictive unit is configured to generate a predicted gear according to the road state information and vehicle state information.

[0049] The predictive unit is configured to determine a target gear according to the on-demand instruction and the predicted gear, and send the target gear to the gearbox controller.

[0050] The gearbox controller is configured to control the gearbox according to the target gear.

[0051] In a third aspect, the present application provides a computer readable storage medium, which stores computer execution instructions, the computer execution instructions being executed by a processor to implement the vehicle control method according to the first aspect.

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

[0053] The vehicle control method, system, storage medium and program product provided by the present application comprise the following steps: first, 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 gear demand unit comprises an accessory control unit and an auxiliary brake unit, and the accessory controlled by the accessory control unit is a vehicle component that needs to be on gear when working. Next, the predictive unit generates a predicted gear according to the road state information and vehicle state information. Then, the predictive unit determines a target gear according to the on-gear demand instruction and the predicted gear, and sends the target gear to a gearbox controller. Finally, the gearbox controller controls the gearbox according to the target gear. The technical effects are achieved as follows: the gear demand unit determines whether the controlled accessories and auxiliary brake system need the vehicle to be on gear according to the road state information sent by the predictive unit, and controls the corresponding accessories to stop working when the road state information indicates that the vehicle is in an uphill stage, thereby avoiding the accessories from working simultaneously when the vehicle is on an uphill, which affects the power performance of the vehicle, thereby improving the power performance of the vehicle and the fuel economy of the vehicle. The predictive unit comprehensively determines the appropriate target gear according to the predicted gear and the on-gear demand instruction sent by the gear demand unit, thereby avoiding 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 the accessories can still be started normally, ensuring the safety of the vehicle, and improving the overall performance and energy efficiency of the autonomous vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0055] The drawings herein are incorporated into the specification and form part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application.

[0056] Figure 1 Flowchart of a vehicle control method provided by the present application Figure 1 ;

[0057] Figure 2 Flowchart of a vehicle control method provided by the present applicationFigure 2 ;

[0058] Figure 3 A flowchart illustrating a vehicle control method provided in this application embodiment. Figure 3 ;

[0059] Figure 4 A flowchart illustrating a vehicle control method provided in this application embodiment. Figure 4 . Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0061] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply difference. It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being better or more advantageous than other embodiments or design schemes. Specifically, the use of "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0062] It should be noted that the phrase "at...time" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation; the embodiments of this application do not specifically limit this. Furthermore, the vehicle control method provided in the embodiments of this application is merely an example; a vehicle control method may include more or fewer elements.

[0063] To facilitate a clear description of the technical solutions in the embodiments of this application, some terms and technologies involved in the embodiments of this application will be briefly introduced below:

[0064] Dynamic Programming (DP) algorithm: an algorithm strategy used to solve optimization problems by breaking down complex problems into multiple simple sub-problems, solving each sub-problem only once and saving its answer to avoid repeated calculations, thus effectively solving the problem.

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

[0066] In modern intelligent transportation systems, autonomous driving technology significantly improves road traffic efficiency, reduces traffic congestion, and optimizes vehicle spacing management through precise vehicle control.

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

[0068] However, the current vehicle control method has shortcomings when dealing with vehicle accessories, as the control of these accessories is independent of the control logic of the vehicle power system, which in some cases adversely affects the vehicle's power performance, leading to a decrease in the vehicle's power performance and an increase in the vehicle's fuel consumption. For example, when the vehicle is in an uphill phase, the accessories are turned on and work at this time, which will cause the actual vehicle speed to fail to reach the target speed, resulting in insufficient power performance of the vehicle, increasing the uphill time, and thus increasing the fuel consumption of the vehicle.

[0069] In addition, since some accessories (such as air compressors, generators and fans, etc.) need the vehicle to be in gear to start, and the existing vehicle control method usually controls the vehicle to stop outputting power when it is downhill, and to run in neutral gear, which will cause these accessories to fail to start normally when the vehicle is in neutral gear and downhill, thus affecting the stability and safety of the vehicle's operation.

[0070] Based on this, the embodiment of the present application proposes a vehicle control method, system, storage medium and program product, which can be used in the field of automatic driving control technology, and aims to solve the above technical problems of the prior art. By comprehensively judging the working requirements of the vehicle accessories, auxiliary braking system and power system, that is, judging whether each accessory and auxiliary braking system needs the vehicle to be in gear, and dynamically generating the gear requirement instructions of each accessory and auxiliary braking system, and then making a unified decision according to the gear requirement instructions and the actual working requirements of the vehicle power system to determine the final target gear of the vehicle, and controlling the vehicle transmission according to the target gear, the negative impact of the accessories on the power performance of the vehicle can be eliminated, the power performance of the vehicle can be improved, the fuel economy of the vehicle can be improved, and when the accessories need to be started, the vehicle can be prevented from entering the neutral driving mode, so as to ensure that each accessory can still be normally started and operated, and the safety of the vehicle can be ensured, thereby improving the overall performance and energy efficiency of the automatic driving vehicle.

[0071] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be 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 can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0072] Figure 1 The flowchart of a vehicle control method provided by the embodiment of the present application Figure 1 As shown in Figure 1 , the method comprises:

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

[0074] In the embodiment of the present application, the gear requirement unit comprises an accessory control unit and an auxiliary braking unit, and the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working. The gear requirement unit can control the corresponding accessories and auxiliary braking system.

[0075] Specifically, the vehicle in the embodiment of the present application is provided with a high-precision map and positioning function, and 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 state information in front of the current position of the vehicle through the high-precision map. For example, the road state information 200 meters in front of the current position of the vehicle can be obtained through the high-precision map. The road state information includes road slope, road speed limit information, and curvature of road bend, etc. Road condition information of the road where the vehicle is located.

[0076] The predictive unit can send the obtained road state information to the gear demand unit. The gear demand unit can determine whether the controlled accessories and auxiliary braking system need the vehicle to be in gear according to 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-in demand instruction indicating that the accessories do not need to be in gear, and control the corresponding accessories to stop working to avoid the accessories having a negative impact on the power performance of the vehicle, improve the power performance of the vehicle, and improve the fuel economy of the vehicle. The gear demand unit can generate a gear-in demand instruction for the controlled accessories and auxiliary braking system according to the determination result, and can further send the gear-in demand instruction to the predictive unit so that the predictive unit predicts the target gear of the vehicle by referring to the gear-in demand instruction of the accessories and auxiliary braking system.

[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 the actual vehicle speed and the accelerator pedal position and other vehicle state information of the vehicle through the sensors of the vehicle. When predicting the target gear of the vehicle, the predictive unit can first predict according to the road state information and the vehicle state information to obtain a predicted gear. The predicted gear can reflect the gear demand of the vehicle power system.

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

[0080] Specifically, the predictive unit can further comprehensively determine a suitable target gear according to the predicted gear and the gear-in demand instruction sent by the gear demand unit, so as to avoid the vehicle entering the neutral running mode when the accessories need to be started and the vehicle is in a downhill stage, thereby ensuring that the accessories can still be normally started and operated, and send the target gear to the transmission control unit.

[0081] S104, the transmission controller controls the transmission according to the target gear.

[0082] Specifically, after receiving the target gear sent by the predictive unit, the transmission can control the transmission according to the target gear. Thus, the vehicle can be prevented from entering the neutral running mode when the vehicle is in a downhill or the like, so that the accessories cannot be normally started and operated.

[0083] The vehicle control method provided in this embodiment comprises the following steps: firstly, 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 gear demand unit comprises an accessory control unit and an auxiliary brake unit, and the accessory controlled by the accessory control unit is a vehicle component that needs to be on gear when working. Then, the predictive unit generates a predicted gear according to the road state information and vehicle state information. Then, the predictive unit determines a target gear according to the on-gear demand instruction and the predicted gear, and sends the target gear to a gearbox controller. Finally, the gearbox controller controls the gearbox according to the target gear.

[0084] The following technical effects are achieved: the gear demand unit determines whether the controlled accessories and the auxiliary brake system need the vehicle to be on gear according to the road state information sent by the predictive unit, and controls the corresponding accessories to stop working when the road state information indicates that the vehicle is in an uphill stage, thereby avoiding the accessories from working simultaneously when the vehicle is climbing uphill, which affects the power performance of the vehicle, improving the power performance of the vehicle and the fuel economy of the vehicle. The predictive unit comprehensively determines the appropriate target gear according to the predicted gear and the on-gear demand instruction sent by the gear demand unit, thereby avoiding the vehicle from entering the neutral driving mode when the accessories need to be turned on and the vehicle is in a downhill stage, ensuring that each accessory can still be turned on normally, ensuring the safety of the vehicle, and improving the overall performance and energy efficiency of the autonomous vehicle.

[0085] Figure 2 A flowchart of a vehicle control method provided in this embodiment Figure 2 In one possible example, as shown in Figure 1 , the embodiment is based on Figure 2 the embodiment, and details how the gear demand unit generates the on-gear demand instruction according to the road state information. As shown in Figure 3 , the method comprises the following steps:

[0086] S201, 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 accessories are within a safe range.

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

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

[0089] When the accessory is a generator, the control parameter can be the amount of electricity stored in the battery or the voltage level, and the corresponding safety range can be that the amount of electricity is greater than or equal to a preset electricity amount, or the voltage is greater than or equal to a preset voltage. Since the generator is usually directly driven by the engine through a belt or other mechanical device, if the amount of electricity stored in the battery meets the preset electricity amount requirement, or the voltage level meets the preset voltage requirement, at this time, the generator is stopped, 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 a preset water temperature. Similarly, when the engine water temperature meets the preset water temperature condition, the fan is stopped, which can reduce the mechanical load of the engine and improve the power output performance of the engine.

[0091] S202, when the vehicle is in the uphill stage and the control parameter is in the safety 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 there is no need to be in gear. When the vehicle is in the uphill stage, in order to avoid the accessory doing work and affecting the power output of the engine, so that the power performance of the vehicle is insufficient. When the control parameter is in the safety range, the accessory control unit can correspondingly generate an in-gear demand instruction indicating that the vehicle does not need to be in gear, and control the corresponding accessory to stop working, so as to avoid the accessory doing work affecting the power performance of the vehicle uphill.

[0093] S203, when the accessory is an air compressor or a generator, if the vehicle is in the downhill stage, and / or the control parameter is outside the safety 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 it is necessary to be in gear. In order to avoid the air compressor or the generator being unable to start normally when the vehicle is in the downhill stage and is in the air. When the vehicle is in the downhill stage, and / or the control parameter is outside the safety range, the accessory control unit corresponding to the air compressor or the generator can generate an in-gear demand instruction indicating that the vehicle needs to be in gear.

[0095] S204, when the accessory is the fan, the vehicle is in the downhill stage, and the engine water temperature is greater than or equal to the preset water temperature, calculating, according to the road state information and the vehicle driving speed, a sliding time length required for the vehicle to slide through the current slope section, and calculating a free cooling time length required for the engine water temperature to drop to the preset water temperature.

[0096] Specifically, in order to avoid the influence of the vehicle driving in the neutral gear on the normal opening of the fan when the vehicle is downhill, and further influence the normal cooling function of the vehicle, the accessory control unit can determine whether the vehicle needs to be in the gear according to the sliding time length of the vehicle on the slope road and the free cooling time length of the engine water temperature, so as to open the fan for cooling.

[0097] S205, when the free cooling time length is less than the sliding time length, generating an in-gear demand instruction carrying first indication information.

[0098] Specifically, if the free cooling time length of the engine water temperature is less than the sliding time length of the vehicle, it indicates that the fan does not need to be opened, and the engine water temperature can be completely cooled to the preset water temperature. Even if the fan is not opened, it will not adversely affect the performance of the vehicle. The accessory control unit can correspondingly generate an in-gear demand instruction indicating that the vehicle does not need to be in the gear, and control the fan to stop working or not to start working, so as to save the energy consumption of the vehicle.

[0099] S206, when the free cooling time length is greater than or equal to the sliding time length, generating an in-gear demand instruction carrying second indication information.

[0100] Specifically, if the free cooling time length of the engine water temperature is greater than or equal to the sliding time length of the vehicle, it indicates that if the fan is not opened in time, the engine water temperature will be continuously higher than the preset water temperature, which will adversely affect the performance of the vehicle. Therefore, in this case, the accessory control unit can correspondingly generate an in-gear demand instruction indicating that the vehicle needs to be in the gear, so that the fan can be normally opened when the vehicle is downhill, thereby accelerating the cooling, avoiding the continuous overheating of the engine water temperature, and further ensuring the stability and safety of the vehicle operation.

[0101] The vehicle control method provided in the embodiments of the present application comprises the following steps: an accessory control unit determines whether the vehicle is in an uphill stage or a downhill stage according to road state information, and whether the control parameter corresponding to the accessory is in a safe range; when the vehicle is in the uphill stage and the control parameter is in the safe range, a gear-in demand instruction for indicating that the vehicle does not need to be in gear is generated, and the corresponding accessory is controlled to stop working, thereby avoiding the problem of insufficient vehicle power performance caused by the influence of the work of the accessory on the external output power of the engine; when the vehicle is in the downhill stage and / or the control parameter is out of the safe range, if the accessory is an air compressor or a generator, a gear-in demand instruction for indicating that the vehicle needs to be in gear is generated, thereby avoiding the problem that the air compressor or the generator cannot be normally started when the vehicle is in gear and runs on the downhill; if the accessory is a fan, when the vehicle is in the downhill stage and the engine water temperature is greater than or equal to a preset water temperature, the coasting time length and the free cooling time length are further calculated, when the free cooling time length is less than the coasting time length, a gear-in demand instruction for indicating that the vehicle does not need to be in gear is generated, and the fan is controlled to stop working or not to start working, so as to save the energy consumption of the vehicle; and when the free cooling time length is greater than or equal to the coasting time length, a gear-in demand instruction for indicating that the vehicle needs to be in gear is generated, so that the fan can be normally started to accelerate cooling, thereby avoiding the problem of persistent high engine water temperature, and further ensuring the stability and safety of the vehicle operation.

[0102] Figure 3 Flowchart of the vehicle control method provided in the embodiments of the present application Figure 1 In one possible example, as shown in Figure 3 , the embodiments of the present application are based on Figure 4 , and how the predictive unit determines the target gear position according to the gear-in demand instruction and the predicted gear position is described in detail. As shown in Figure 4 , the method comprises the following steps:

[0103] S301, acquiring the gear position instruction sent by the auxiliary braking unit.

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

[0105] The specific process of the auxiliary braking unit generating the gear instruction includes: the auxiliary braking unit determining a target braking force according to the road state information and the vehicle state information sent by the predictive unit, and then determining a braking gear according to the target braking force, and generating a specific gear instruction 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 control the vehicle speed within the road speed limit range by calling the corresponding engine cylinder braking or transmission hydraulic retarder according to the target braking force.

[0106] S302, selecting a target gear from the gear instruction and the predicted gear according to the priority of the on-gear demand instruction and the priority of the predicted gear.

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

[0108] Specifically, if the on-gear demand instruction of the auxiliary braking unit indicates that the on-gear is required, the target gear is extracted from the gear instruction of the auxiliary braking unit. That is, when the on-gear demand instruction of the auxiliary braking unit indicates that the on-gear is required, the priority of the gear instruction of the auxiliary braking unit is the highest.

[0109] If the on-gear demand instruction of the auxiliary braking unit indicates that the on-gear is not required, and the on-gear demand instruction of the accessory control unit indicates that the on-gear is required, and the predicted gear is a non-neutral gear, the predicted gear is taken as the target gear.

[0110] If the on-gear demand instruction of the auxiliary braking unit indicates that the on-gear is not required, and the on-gear demand instruction of the accessory control unit indicates that the on-gear is required, and the predicted gear is a neutral gear, any gear other than the predicted gear is taken as the target gear. That is, when the predictive unit receives the on-gear demand instruction of any accessory indicating that the on-gear is required, and the vehicle is in the neutral gear, the forward gear signal is sent to the transmission, and the gear of the transmission is adjusted to a non-neutral gear, so as to ensure that each accessory can still operate normally.

[0111] If the on-gear demand instruction of the auxiliary braking unit indicates that the on-gear is not required, and the on-gear demand instruction of the accessory control unit indicates that the on-gear is not required, the predicted gear is taken as the target gear. That is, if all the on-gear demand instructions do not require the on-gear, the predictive unit determines the target gear according to the predicted gear.

[0112] The vehicle control method provided in the embodiment of the application can select a target gear from the gear instruction and the predicted gear according to the priority of the gear demand instruction and the priority of the predicted gear, thereby avoiding the problem of gear demand conflict that may exist in the accessories, the auxiliary braking system and the power system of the vehicle.

[0113] Figure 1 Flowchart of the vehicle control method provided in the embodiment of the application Figure 4 In a possible example, as shown in ​ the embodiment, the embodiment is based on ​ the embodiment, and details of how the predictive unit interacts with the cruise unit of the vehicle are described. As shown in ​ the method comprises the following steps.

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

[0117] determining whether the working mode of the vehicle is the cruise-off mode or the first cruise mode according to the cruise state information; determining whether the working mode of the vehicle is the flat road mode, the pre-uphill mode, the uphill mode or the braking mode according to the road state information; and determining whether the working mode of the vehicle is the coasting mode according to the actual vehicle speed and the road state information.

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

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

[0120] S402, the cruise unit outputs the target torque according to the torque control instruction.

[0121] Specifically, after receiving the torque control instruction carrying the working mode of the vehicle 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 working mode is cruise-off mode or coasting mode, the output target torque is 0.

[0123] That is, when the vehicle working mode is cruise-off mode, i.e. the predictive cruise is not enabled, to avoid the target torque output by the cruise unit conflicting with the throttle pedal torque, the cruise unit can directly output a target torque of 0 when receiving the vehicle working mode being cruise-off mode sent by the predictive unit. At this time, the target speed calculated by the predictive unit according to the DP algorithm is equal to the actual speed.

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

[0125] When the vehicle working mode is first cruise mode, the target torque is output to make the actual speed reach the preset speed within a first preset time. That is, when the vehicle working mode is first cruise mode, the cruise unit can make the actual speed of the vehicle follow the preset speed set by the driver according to the ordinary cruise mode until the actual 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 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 flat road mode, the target torque is output to make the actual speed reach the preset speed within a second preset time, and the second preset time is greater than or equal to the first preset time. That is, when the vehicle working mode is flat road mode, since the slope is small, the vehicle does not need large torque to follow the preset speed, and the cruise unit can adjust the torque slowly to ensure the smoothness and fuel economy of the vehicle. In addition to sending the torque control instruction carrying the flat road mode to the cruise unit, the predictive unit can also send the preset speed set by the driver so that the actual speed of the vehicle can reach the preset speed set by the driver within the second preset time.

[0127] When the vehicle working mode is pre-uphill mode, the target torque is output to make the actual speed reach the preset speed. By accelerating the vehicle before uphill, the kinetic energy is stored in advance to ensure that the vehicle has enough power when uphill.

[0128] When the vehicle working mode is the uphill mode, the torque control parameter is reduced, and a target torque is outputted according to the torque control parameter to make the actual vehicle speed reach a pre-calculated target vehicle speed. That is, when the vehicle working mode is the uphill mode, the predictive unit can calculate the target vehicle speed of the vehicle according to the DP algorithm, that is, calculate the target vehicle speed at which the vehicle has the lowest fuel consumption according to the road slope and the vehicle state information, and can send the target vehicle speed and the torque control instruction carrying the uphill mode to the cruise unit. The cruise unit can slow down the torque response of the vehicle by adjusting the three torque control parameters, namely the proportion, the integral and the differential in the PID control algorithm, to prevent the torque from dropping too fast on the uphill, which affects the smoothness and comfort of driving.

[0129] The vehicle control method provided in the embodiments of the present application avoids the conflict between the target torque outputted by the cruise unit and the accelerator pedal torque when the vehicle working mode is the cruise-off mode, that is, when the predictive cruise is not enabled, by directly outputting a target torque of 0. When the vehicle working mode is the flat road mode, the vehicle does not need a large torque to follow the preset vehicle speed because the slope is small, the target torque outputted by the cruise unit is made to make the actual vehicle speed reach the preset vehicle speed in a second preset time length, the torque adjustment of the cruise unit is slowed down, and the smoothness and fuel economy of the vehicle are ensured. The kinetic energy is stored in advance by accelerating the vehicle before the uphill, and the vehicle has enough power on the uphill. The torque response of the vehicle is slowed down by reducing the torque control parameter, and the torque is prevented from dropping too fast on the uphill, which affects the smoothness and comfort of driving.

[0130] The embodiments of the present application also provide a vehicle control system, which comprises a predictive unit, a gear demand unit and a gearbox controller.

[0131] The predictive unit is configured to send road state information to the gear demand unit.

[0132] The gear demand unit is configured to generate an in-gear demand instruction according to the road state information and send the in-gear demand instruction to the predictive unit. The gear demand unit comprises an accessory control unit and an auxiliary brake unit, and 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 configured to generate a predicted gear according to the road state information and vehicle state information.

[0134] The predictive unit is configured to determine a target gear according to the in-gear demand instruction and the predicted gear, and send the target gear to the gearbox controller.

[0135] The gearbox controller is configured to control the gearbox according to the target gear.

[0136] The vehicle control system provided in the embodiment can execute the vehicle control method provided in the above embodiment, and has similar implementation principles and technical effects, which will not be described here again.

[0137] The application further provides a computer-readable storage medium, and the computer-readable storage medium stores computer-executable instructions. When a processor executes the computer-executable instructions, the computer-executable instructions are used to implement the vehicle control method.

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

[0139] An exemplary readable storage medium is coupled to the 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a host device.

[0140] The application further provides a computer program product, and the computer program product includes a computer program stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the electronic device to execute the scheme provided in 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 program instruction related hardware. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above method embodiments; and the foregoing storage medium includes various storage media that can store program codes, such as ROM, RAM, magnetic disk or optical disk.

[0142] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method characterized by, The application comprises: The predictive unit sends road state information to the gear demand unit to make the gear demand unit generate an on-gear demand instruction according to the road state information and send the on-gear demand instruction to the predictive unit, the gear demand unit comprising an accessory control unit and an auxiliary brake unit, the accessory control unit controlling an accessory that needs to be on-gear when working; The predictive unit generates a predicted gear according to the road state information and vehicle state information; The predictive unit acquires the gear instruction sent by the auxiliary brake unit; If the on-gear demand instruction of the auxiliary brake unit indicates that the vehicle needs to be on-gear, the target gear is extracted from the gear instruction of the auxiliary brake unit; If the on-gear demand instruction of the auxiliary brake unit indicates that the vehicle does not need to be on-gear, the on-gear demand instruction of the accessory control unit indicates that the vehicle needs to be on-gear, and the predicted gear is a non-empty gear, the predicted gear is taken as the target gear; If the on-gear demand instruction of the auxiliary brake unit indicates that the vehicle does not need to be on-gear, the on-gear demand instruction of the accessory control unit indicates that the vehicle needs to be on-gear, and the predicted gear is an empty gear, any gear other than the predicted gear is taken as the target gear; If the on-gear demand instruction of the auxiliary brake unit indicates that the vehicle does not need to be on-gear, and the on-gear demand instruction of the accessory control unit indicates that the vehicle does not need to be on-gear, the predicted gear is taken as the target gear; The priority of the on-gear demand instruction of the auxiliary brake unit is higher than that of the on-gear demand instruction of the accessory control unit, and the priority of the on-gear demand instruction of the accessory control unit is higher than that of the predicted gear; The predictive unit sends the target gear to the gearbox controller; The gearbox controller controls the gearbox according to the target gear.

2. The method of claim 1, wherein, The application further comprises: The predictive unit determines the vehicle working mode according to cruise state information, road state information, and actual vehicle speed, and sends a torque control instruction carrying the vehicle working mode to the cruise unit; The cruise unit outputs a target torque according to the torque control instruction.

3. The method of claim 2, wherein, The determination of the vehicle working mode according to the cruise state information, road state information, and actual vehicle speed comprises: Determining whether the vehicle working mode is a cruise-off mode or a first cruise mode according to the cruise state information; Determining 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; Determining whether the vehicle working mode is a coasting mode according to the actual vehicle speed and the road state information.

4. The method of claim 2, wherein, The output of the target torque according to the torque control instruction comprises: When the vehicle working mode is the cruise-off mode or the coasting mode, the target torque is 0; When the vehicle working mode is the first cruise mode, the target torque is output to make the actual vehicle speed reach a preset vehicle speed within a first preset time length; When the vehicle working mode is the flat road mode, the target torque is output to make the actual vehicle speed reach the preset vehicle speed within a second preset time length, the second preset time length being greater than or equal to the first preset time length. output a target torque for making the actual vehicle speed reach a target speed above the preset speed when the vehicle working mode is the uphill front mode; reduce a torque control parameter and output a target torque for making the actual vehicle speed reach a target speed calculated in advance according to the torque control parameter when the vehicle working mode is the uphill mode.

5. The method of claim 1, wherein, 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 and whether the control parameter of the accessory is in a safe range according to the road state information; When the vehicle is in the uphill stage and the control parameter is in the safe range, the accessory control unit generates a gear demand instruction carrying first indication information, which indicates that no gear is needed.

6. The method of claim 5, wherein, The method further includes: When the accessory is an air compressor, the control parameter is the amount of air stored in the air compressor, and the safe 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 safe 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 safe range is that the engine water temperature is less than or equal to a preset water temperature.

7. The method of claim 6, wherein, The method further includes: When the accessory is the air compressor or the generator, if the vehicle is in a downhill stage and / or the control parameter is outside the safe range, the accessory control unit generates a gear demand instruction carrying second indication information, which indicates that the gear is needed; When the accessory is the fan, when the vehicle is in the downhill stage and the engine water temperature is greater than or equal to a preset water temperature, the accessory control unit calculates the free cooling time required for the engine water temperature to drop to the preset water temperature according to the road state information and the vehicle speed. When the free cooling time is less than the coasting time, the accessory control unit generates a gear demand instruction carrying the first indication information. When the free cooling time is greater than or equal to the coasting time, the accessory control unit generates a gear demand instruction carrying the second indication information.

8. The method of claim 2, wherein, The predictive unit, the accessory control unit, the cruise control unit, and the auxiliary brake unit are integrated on the same controller.

9. A vehicle control system characterized by comprising: It includes: a predictive unit, a gear demand unit, and a gearbox controller; The predictive unit is configured to send road state information to the gear demand unit. The gear demand unit is configured to generate a gear demand instruction according to the road state information and send the gear demand instruction to the predictive unit, and the gear demand unit includes an accessory control unit and an auxiliary brake unit, wherein the accessory controlled by the accessory control unit is a vehicle component that needs to be in gear when working. The predictive unit is configured to generate a predicted gear according to the road state information and vehicle state information. The predictive unit is configured to obtain a gear instruction sent by the auxiliary brake unit. The predictive unit is further configured to extract a target gear from the gear instruction of the auxiliary brake unit if the on-gear demand instruction of the auxiliary brake unit indicates that on-gear is required; The predictive unit is further configured to extract a target gear from the gear instruction of the auxiliary brake unit if the on-gear demand instruction of the auxiliary brake unit indicates that on-gear is required; The predictive unit is further configured to extract a target gear from the gear instruction of the auxiliary brake unit if the on-gear demand instruction of the auxiliary brake unit indicates that on-gear is required; The predictive unit is further configured to extract a target gear from the gear instruction of the auxiliary brake unit if the on-gear demand instruction of the auxiliary brake unit indicates that on-gear is required; The predictive unit is further configured to extract a target gear from the gear instruction of the auxiliary brake unit if the on-gear demand instruction of the auxiliary brake unit indicates that on-gear is required; The on-gear demand instruction of the auxiliary brake unit has a higher priority than the on-gear demand instruction of the accessory control unit, and the on-gear demand instruction of the accessory control unit has a higher priority than the predictive gear; The predictive unit is further configured to send the target gear to a gearbox controller; 10. A computer-readable storage medium, characterized in that, The gearbox controller is configured to control the gearbox according to the target gear.

11. A computer program product comprising a computer program, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the vehicle control method in any one of claims 1 to 8. The computer program is executed by the processor to implement the vehicle control method in any one of claims 1 to 8.

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