Vehicle control method, device, computer program product and vehicle controller

Abstract

The invention provides a vehicle control method and device, a computer program product and a vehicle controller, according to the vehicle control method provided by the invention, after a preset driving auxiliary function of a vehicle is activated, if an idle speed torque generation condition of the vehicle is met, the vehicle is started; if yes, the current driving speed of the vehicle and the target driving speed, needing to be controlled by the preset driving auxiliary function, of the vehicle to be kept can be obtained; when it is judged that the current running speed is larger than the target running speed, a braking torque generation instruction used for controlling the vehicle to generate braking torque can be generated, and a first engine torque control instruction used for controlling the vehicle to generate first engine torque is generated; wherein the first engine torque can be smaller than a preset idle speed torque which needs to be generated by the vehicle on the basis of the current vehicle operation condition.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a vehicle control method, device, computer program product, and vehicle controller. Background Art

[0002] With the continuous development of technology, automobiles have gradually started to be equipped with driving assistance functions to automatically control the driving of the vehicle, thereby improving the operation convenience and comfort of the driver during driving. For example, some driving assistance functions can automatically control the vehicle to generate braking torque or engine torque, so that the vehicle can maintain a stable speed without the driver stepping on the brake pedal and the accelerator pedal, to a certain extent reducing the burden on the driver. However, the vehicle may also automatically control the engine to generate idle torque to maintain the engine operation and the basic functions of the vehicle. Thus, when the driving assistance function needs to control the vehicle to generate braking torque, and at this time the vehicle also needs to generate idle torque, it will lead to a conflict problem between the braking torque and the engine torque of the vehicle, affecting the safety of the vehicle operation process. Summary of the Invention

[0003] Based on this, the present invention provides a vehicle control method, device, computer program product, and vehicle controller. By using this vehicle control method, the conflict between the braking torque and the engine torque at the vehicle can be effectively managed and alleviated, thereby improving the safety of the vehicle operation process.

[0004] On the one hand, the present invention provides a vehicle control method, and the method includes:

[0005] After a preset driving assistance function of the vehicle is activated, if the condition for generating the idle torque at the vehicle is satisfied, obtain the current driving speed of the vehicle and the target driving speed that the preset driving assistance function needs to control the vehicle to maintain;

[0006] Judge whether the current driving speed is greater than the target driving speed to obtain a first judgment result;

[0007] If the first judgment result indicates that the current driving speed is greater than the target driving speed, generate a braking torque generation instruction for controlling the vehicle to generate braking torque, and a first engine torque control instruction for controlling the vehicle to generate a first engine torque; wherein, the first engine torque is less than the preset idle torque required by the vehicle based on the current vehicle operation condition.

[0008] Further, in some embodiments, the generating the first engine torque control instruction for controlling the vehicle to generate a first engine torque includes:

[0009] Generate a first control instruction for instructing the vehicle to generate the first engine torque; wherein, the execution priority of the first control instruction is higher than the execution priority of an idle torque generation instruction generated by a vehicle control unit at the vehicle for instructing the vehicle to generate the preset idle torque; or,

[0010] Generate a second control instruction for the vehicle control unit at the vehicle; wherein, the second control instruction is used to instruct the vehicle control unit to determine the first engine torque as the idle torque required to be generated by the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the first engine torque; or,

[0011] Generate a third control instruction for the vehicle control unit at the vehicle; wherein, the third control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the first engine torque based on the current maximum idle driving speed; or,

[0012] Generate a fourth control instruction for the vehicle control unit at the vehicle; wherein, the fourth control instruction is used to prohibit the vehicle control unit from generating or sending an idle torque generation instruction; or,

[0013] Generate a fifth control instruction for the engine control unit at the vehicle; wherein, the fifth control instruction is used to prohibit the engine control unit from receiving or executing an idle torque generation instruction generated by the vehicle control unit.

[0014] Further, in some embodiments, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the first engine torque control instruction includes at least one of: the first control instruction, the second control instruction, the third control instruction, the fourth control instruction, and the fifth control instruction;

[0015] If the preset driving assistance function is a hill descent control function, the first engine torque control instruction includes at least one of: the third control instruction, the fourth control instruction, and the fifth control instruction.

[0016] Further, in some embodiments, after generating a braking torque generation instruction for controlling the vehicle to generate a braking torque, it further includes:

[0017] Obtain the latest driving speed of the vehicle;

[0018] Based on the latest driving speed and the target driving speed, determine whether the stop braking condition for the vehicle is satisfied to obtain a second determination result;

[0019] If the second determination result indicates that the stop braking condition for the vehicle is satisfied, generate a braking torque stop generation instruction for controlling the vehicle to stop generating braking torque.

[0020] Further, in some embodiments, if the second determination result indicates that the stop braking condition for the vehicle is satisfied, the method further includes:

[0021] Generate a second engine torque control instruction for controlling the vehicle to generate a second engine torque; wherein, the second engine torque is used to urge the vehicle to maintain the target driving speed.

[0022] Further, in some embodiments, generating the second engine torque control instruction for controlling the vehicle to generate a second engine torque includes:

[0023] Generate a sixth control instruction for controlling the vehicle to generate the second engine torque; wherein, the execution priority of the sixth control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle; or,

[0024] Generate a seventh control instruction for the vehicle control unit at the vehicle; wherein, the seventh control instruction is used to instruct the vehicle control unit to determine the second engine torque as the idle torque required for the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque; or,

[0025] Generate an eighth control instruction for the vehicle control unit at the vehicle; wherein, the eighth control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque based on the current maximum idle driving speed.

[0026] Further, in some embodiments, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the second engine torque control instruction includes at least one of a sixth control instruction, a seventh control instruction, and an eighth control instruction;

[0027] If the preset driving assistance function is a hill descent control function, the second engine torque control instruction includes an eighth control instruction.

[0028] Further, in some embodiments, after determining whether the current driving speed is greater than the target driving speed and obtaining a first determination result, it further includes:

[0029] If the first determination result indicates that the current driving speed is less than the target driving speed, a third engine torque control command for controlling the vehicle to generate a third engine torque is generated; wherein, the third engine torque is used to urge the vehicle to increase its speed to the target driving speed.

[0030] Further, in some embodiments, generating the third engine torque control command for controlling the vehicle to generate a third engine torque includes:

[0031] Generating a ninth control command for instructing the vehicle to generate the third engine torque; wherein, the execution priority of the ninth control command is higher than the execution priority of the idle torque generation command generated by the vehicle control unit at the vehicle; or,

[0032] Generating a tenth control command for the vehicle control unit at the vehicle; wherein, the tenth control command is used to instruct the vehicle control unit to determine the third engine torque as the idle torque required for the vehicle, so that the vehicle control unit generates an idle torque generation command for instructing the vehicle to generate the third engine torque; or,

[0033] Generating an eleventh control command for the vehicle control unit at the vehicle; wherein, the eleventh control command is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation command for instructing the vehicle to generate the third engine torque based on the current maximum idle driving speed.

[0034] Further, in some embodiments, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the third engine torque control command includes at least one of the ninth control command, the tenth control command, and the eleventh control command;

[0035] If the preset driving assistance function is a hill descent control function, the third engine torque control command includes the eleventh control command.

[0036] On the other hand, the present invention also provides a vehicle control device, including:

[0037] An acquisition module, configured to, after a preset driving assistance function of a vehicle is activated, if an idle torque generation condition at the vehicle is satisfied, acquire a current driving speed of the vehicle and a target driving speed that the preset driving assistance function needs to control the vehicle to maintain;

[0038] A judgment module, configured to judge whether the current driving speed is greater than the target driving speed, to obtain a first judgment result;

[0039] An instruction generation module, configured to, if the first judgment result indicates that the current driving speed is greater than the target driving speed, generate a braking torque generation instruction for controlling the vehicle to generate a braking torque, and a first engine torque control instruction for controlling the vehicle to generate a first engine torque; wherein, the first engine torque is less than a preset idle torque that the vehicle needs to generate based on the current vehicle operation condition.

[0040] On the other hand, the present invention also provides a computer program product, which includes a computer program, and when the computer program is executed, the steps of the above method are implemented.

[0041] On the other hand, the present invention also provides a vehicle controller, including: a processor and a memory; wherein, the memory stores computer-readable instructions, and the computer-readable instructions are adapted to be loaded and executed by the processor to perform the steps of the above method.

[0042] According to the vehicle control method provided by the present invention, after a preset driving assistance function of a vehicle is activated, if an idle torque generation condition at the vehicle is satisfied, the current driving speed of the vehicle and the target driving speed that the preset driving assistance function needs to control the vehicle to maintain can be acquired; when it is determined that the current driving speed is greater than the target driving speed, a braking torque generation instruction for controlling the vehicle to generate a braking torque and a first engine torque control instruction for controlling the vehicle to generate a first engine torque can be generated; by making the first engine torque less than the preset idle torque that the vehicle needs to generate based on the current vehicle operation condition, the conflict between the braking torque and the engine torque generated at the vehicle can be effectively managed and alleviated, so that both the wear of the vehicle braking device and the driving device can be reduced, and the braking effect and the running stability of the vehicle can be ensured, so as to improve the control accuracy of the vehicle driving speed, and improve the safety of the vehicle operation process and the comfort of the passengers.

[0043] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present invention, nor to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0044] Figure 1 Flow diagram of a vehicle control method provided by an embodiment of the present invention;

[0045] Figure 2 Structural diagram of a vehicle control device provided by an embodiment of the present invention;

[0046] Figure 3 Structural diagram of a vehicle controller provided by an embodiment of the present invention. Detailed implementation manners

[0047] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] In the description of one or more embodiments of the present invention, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0049] Currently, when the idle torque generation condition of a vehicle is satisfied, the engine can usually be controlled to generate a certain amount of engine torque (i.e., idle torque) to maintain the engine operation and support the requirements of vehicle accessory systems. Generally, a maximum idle driving speed and a maximum idle torque can be set at the vehicle to serve as preset idle control parameters for the idle control function. If the idle torque generated by the vehicle is less than the maximum idle torque when the vehicle reaches the maximum idle driving speed, the vehicle can be controlled to maintain the maximum idle driving speed; and if the driving speed of the vehicle is less than the maximum idle driving speed when the idle torque generated by the vehicle reaches the maximum idle torque, the engine at the vehicle can be controlled to continuously generate the maximum idle torque, so that the vehicle reaches a stable idle driving state.

[0050] However, after the preset driving assistance function capable of controlling the vehicle to maintain a constant speed is activated in the vehicle, if the target driving speed that the vehicle needs to maintain is lower than the current driving speed of the vehicle, the preset driving assistance function usually controls the vehicle to generate a braking torque to reduce the driving speed of the vehicle. However, after the vehicle decelerates under the influence of the braking torque, the smooth idle driving state of the vehicle is broken, and the vehicle usually controls the engine to generate a greater idle torque to expect to restore the smooth idle driving state of the vehicle. At this time, there is often a conflict problem between the braking torque and the engine torque at the vehicle, thus affecting the safety of the vehicle operation process.

[0051] Based on this, the present invention proposes a vehicle control method. If the preset driving assistance function of the vehicle is activated and the idle torque generation condition at the vehicle is satisfied, then when it is determined that the current driving speed is greater than the target driving speed, a braking torque generation instruction for controlling the vehicle to generate a braking torque and a first engine torque control instruction for controlling the vehicle to generate a first engine torque can be generated; by making the first engine torque less than the preset idle torque required by the vehicle based on the current vehicle operation condition, the conflict between the braking torque and the engine torque generated at the vehicle can be effectively managed and alleviated, so that both the wear of the vehicle braking device and the driving device can be reduced, and the braking effect and operation smoothness of the vehicle can be ensured, so as to improve the safety of the vehicle operation process and the comfort of the passengers.

[0052] Please refer to Figure 1 , which is a schematic flowchart of a vehicle control method provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be a program carried on a vehicle control device or at the vehicle. Or, the execution subject of this process can also be a vehicle control device or a vehicle, or other devices capable of communicating with the vehicle control device or the vehicle, and no specific limitation is made thereto.

[0053] Next, the following Figure 1 shown process will be elaborated in detail. The vehicle control method may specifically include the following steps:

[0054] Step S102, after the preset driving assistance function of the vehicle is activated, if the idle torque generation condition at the vehicle is satisfied, obtain the current driving speed of the vehicle and the target driving speed that the preset driving assistance function needs to control the vehicle to maintain.

[0055] In an embodiment of the present invention, the preset driving assistance function may refer to a function that can automatically control the vehicle to maintain a fixed speed, for example, off-road cruise control function, adaptive cruise control function, hill descent control function, etc. Among them, the off-road cruise control function CCO can automatically control the vehicle to maintain a constant speed when driving on roads with high driving skills requirements such as snow, sand, and rock. The adaptive cruise control function (for example, cruise control function CCS and adaptive cruise control function ACC) is suitable for the vehicle to drive on the road and automatically control the vehicle to drive at a fixed speed. The hill descent control function HDC can mainly be used to ensure that the vehicle maintains a stable speed when going downhill. In practical applications, the preset driving assistance function may also include other functions that can automatically control the vehicle to drive at a fixed speed without the user operating the accelerator pedal and brake pedal of the vehicle, and no specific limitation is made thereto.

[0056] In an embodiment of the present invention, after the preset driving assistance function of the vehicle is activated, the user usually does not need to control the accelerator pedal and brake pedal of the vehicle, so that the conditions for generating idle torque at the vehicle can be met, and then the vehicle control unit (for example, Vehicle Control Unit, VCU; Electronic Control Unit, ECU) installed in the vehicle will control the engine to generate idle torque. The idle torque generation conditions may include, but are not limited to, that the opening degrees of the accelerator pedal and brake pedal of the vehicle are less than a threshold value, the vehicle is in a powered-on state, and the electronic parking brake function, emergency braking function, etc. of the vehicle are not activated, and no specific limitation is made thereto.

[0057] In an embodiment of the present invention, after the preset driving assistance function of the vehicle is activated, the preset driving assistance function usually needs to automatically control the braking torque and engine torque (i.e., driving torque) required by the vehicle according to the difference between the current driving speed of the vehicle and the target driving speed that the preset driving assistance function needs to control the vehicle to maintain. Therefore, it is necessary to obtain the current driving speed of the vehicle and the target driving speed.

[0058] In practical applications, there can be various ways to determine the target driving speed of the vehicle, which can be determined according to the implementation principle of the preset driving assistance function and the vehicle operation conditions. For example, when allowing the user to manually input the target driving speed at the human-machine interface of the vehicle, the target driving speed can be determined according to the operation data of the user on the human-machine interface. Or, when the preset driving assistance function of the vehicle is activated, if the user does not step on the brake pedal and the accelerator pedal, the current driving speed of the vehicle can be directly determined as the target driving speed of the vehicle. Or, when the preset driving assistance function of the vehicle is activated, if the user is stepping on the brake pedal and the accelerator pedal, the target driving speed of the vehicle can be determined by combining the subsequent operation conditions of the user on the brake pedal and the accelerator pedal. No specific limitation is made in this regard.

[0059] Step S104, determine whether the current driving speed is greater than the target driving speed, and obtain a first determination result.

[0060] In the embodiment of the present invention, since when the current driving speed of the vehicle is greater than the target driving speed, in order to reduce the driving speed of the vehicle to the target driving speed, the vehicle can usually be braked. And when the current driving speed of the vehicle is less than the target driving speed, in order to increase the driving speed of the vehicle to the target driving speed, the vehicle can usually be accelerated and driven. Therefore, when the preset driving assistance function of the vehicle automatically controls the driving speed of the vehicle, it is necessary to determine whether the current driving speed of the vehicle is greater than the target driving speed, so as to accurately generate relevant control instructions for the vehicle subsequently.

[0061] Step S106, if the first determination result indicates that the current driving speed is greater than the target driving speed, generate a braking torque generation instruction for controlling the vehicle to generate a braking torque, and a first engine torque control instruction for controlling the vehicle to generate a first engine torque; wherein, the first engine torque is less than the preset idle torque required by the vehicle based on the current vehicle operation conditions.

[0062] In the embodiment of the present invention, when the first determination result indicates that the current driving speed is greater than the target driving speed, in order to quickly adjust the driving speed of the vehicle to the target driving speed, a braking torque generation instruction can usually be generated, so that the braking system of the vehicle can respond to the braking torque generation instruction to generate a braking torque, thereby controlling the vehicle to decelerate. On the other hand, a first engine torque control instruction can also be generated, so that the first engine torque generated by the vehicle in response to the first engine torque control instruction is less than the preset idle torque required by the vehicle based on the current vehicle operation conditions, so as to not only ensure the braking effect of the vehicle, but also reduce the conflict between the braking torque and the engine torque at the vehicle.

[0063] In practical applications, the preset idle torque required by the vehicle based on the current vehicle operating conditions may refer to: the idle torque requested by the engine according to the current vehicle operating conditions by the vehicle control unit based on the idle control function. Moreover, the values of the preset idle torque requested by the vehicle from the engine under different operating conditions may vary. However, the preset idle torque generally does not exceed the maximum idle torque in the preset idle control parameters at the vehicle. Also, the value of the first engine torque can be either 0 or other non-zero smaller values, and no specific limitation is made in this regard.

[0064] Figure 1 In the method, when the preset driving assistance function of the vehicle is activated and the idle torque generation condition at the vehicle is satisfied, if it is determined that the current driving speed is greater than the target driving speed, a braking torque generation instruction for controlling the vehicle to generate a braking torque can be generated, and a first engine torque control instruction for controlling the vehicle to generate a first engine torque can be generated. By making the first engine torque less than the preset idle torque required by the vehicle based on the current vehicle operating conditions, the conflict between the braking torque and the engine torque generated at the vehicle can be effectively managed and alleviated, thereby not only reducing the wear on the vehicle braking equipment and driving equipment, but also ensuring the braking effect and running stability of the vehicle, so as to improve the safety and comfort of the vehicle during operation.

[0065] In a feasible implementation manner, the generating the first engine torque control instruction for controlling the vehicle to generate a first engine torque may include:

[0066] Generating a first control instruction for instructing the vehicle to generate the first engine torque; wherein, the execution priority of the first control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle for instructing the vehicle to generate the preset idle torque; or,

[0067] Generating a second control instruction for the vehicle control unit at the vehicle; wherein, the second control instruction is used to instruct the vehicle control unit to determine the first engine torque as the idle torque required by the vehicle, so that the vehicle control unit can generate an idle torque generation instruction for instructing the vehicle to generate the first engine torque; or,

[0068] Generate a third control instruction for the vehicle control unit at the vehicle; wherein, the third control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit can generate an idle torque generation instruction based on the current maximum idle driving speed to instruct the vehicle to generate the first engine torque; or,

[0069] Generate a fourth control instruction for the vehicle control unit at the vehicle; wherein, the fourth control instruction is used to prohibit the vehicle control unit from generating or sending an idle torque generation instruction; or,

[0070] Generate a fifth control instruction for the engine control unit at the vehicle; wherein, the fifth control instruction is used to prohibit the engine control unit from receiving or executing the idle torque generation instruction generated by the vehicle control unit.

[0071] In the embodiments of the present invention, there are various ways to control the first engine torque actually generated by the vehicle to be less than the preset idle torque required by the vehicle based on the current vehicle operating conditions.

[0072] Method 1: A first control instruction with a higher execution priority can be directly generated to instruct the engine to generate the first engine torque. In practical applications, when Figure 1 the execution entity of the method is a different controller from the vehicle control unit, then Figure 1 the execution entity of the method can send the first control instruction to the vehicle control unit, so that the vehicle control unit can compare the execution priority of the idle torque generation instruction it generates to instruct the vehicle to generate the preset idle torque with that of the first control instruction, and thus select the first control instruction with a higher execution priority that needs to be executed. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly respond to the first control instruction to control the engine to generate the first engine torque; if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit can send the first control instruction to the engine control unit to make the engine control unit respond to the first control instruction to generate the first engine torque, which has good flexibility.

[0073] In addition, if the vehicle control unit and the engine control unit are different controllers, then Figure 1The execution entity of the method in the present invention may also directly send the first control instruction to the engine control unit, and the vehicle control unit may also send the idle torque generation instruction to the engine control unit, so that the engine control unit can compare the execution priorities of the idle torque generation instruction and the first control instruction, and then control the engine to generate the first engine torque according to the first control instruction with the higher execution priority. No specific limitation is made thereto.

[0074] In the second method, a second control instruction for directly generating a value indicating the change in the idle torque required to be generated by the engine requested by the vehicle control unit can be generated. Generally, the second control instruction may carry the numerical information of the first engine torque, so that Figure 1 after the execution entity of the method in the present invention sends the second control instruction to the vehicle control unit, the vehicle control unit can clarify the numerical information of the first engine torque, and then can generate an idle torque generation instruction for instructing the vehicle to generate the first engine torque. Of course, the numerical information of the first engine torque can also be transmitted to the vehicle control unit by other means. No specific limitation is made thereto.

[0075] Subsequently, if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit may send the idle torque generation instruction to the engine control unit to cause the engine control unit to generate the first engine torque in response to the idle torque generation instruction. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly control the engine to generate the first engine torque according to the idle torque generation instruction, which is convenient and fast.

[0076] In the third method, a third control instruction for directly generating a value indicating the change in the maximum idle driving speed of the idle control function at the vehicle control unit can also be generated, so that the current maximum idle driving speed of the vehicle can be reduced from the initial maximum idle driving speed (for example, the maximum idle driving speed when the preset driving assistance function is not activated) to the target driving speed (or a specified driving speed smaller than the target driving speed). Since when the maximum idle driving speed of the vehicle decreases, the idle torque required to maintain the maximum idle driving speed usually also decreases, the idle torque required to be generated by the vehicle requested by the vehicle control unit can be reduced from the preset idle torque to the first engine torque.

[0077] In practical applications, the third control instruction may carry the numerical information of the target driving speed, so that Figure 1After the execution entity of the method sends the third control instruction to the vehicle control unit, the vehicle control unit can adjust the currently used maximum idle driving speed to the target driving speed (or a specified driving speed that is smaller than the target driving speed), and then can calculate the actual required idle torque (i.e., the first engine torque) generated by the vehicle in combination with the current driving situation of the vehicle and the current maximum idle driving speed, so as to generate an idle torque generation instruction for instructing the vehicle to generate the first engine torque. Of course, the numerical information of the target driving speed of the vehicle can also be transmitted to the vehicle control unit in other ways, and no specific limitation is made thereto.

[0078] Subsequently, if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit can send the idle torque generation instruction to the engine control unit to make the engine control unit generate the first engine torque in response to the idle torque generation instruction. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly control the engine to generate the first engine torque according to the idle torque generation instruction, and no further elaboration is made herein.

[0079] It can be understood that, in order to avoid affecting the effectiveness and rationality of the idle control function at the vehicle, and effectively reducing the conflict between the braking torque and the engine torque at the vehicle, the third control instruction is usually generated when the target driving speed is less than the initial maximum idle driving speed, or the target driving speed is less than the vehicle driving speed when the vehicle generates the maximum idle torque. Otherwise, other methods can be used to control the vehicle to generate the first engine torque; no specific limitation is made thereto.

[0080] Method 4: A fourth control instruction indicating that the vehicle control unit is not allowed to continue generating or transmitting the idle torque generation instruction can be directly generated. Thus, even if the idle torque generation condition at the vehicle is satisfied, the vehicle control unit will no longer continue to generate the idle torque generation instruction; or even if the vehicle control unit generates the idle torque generation instruction, it will not transmit the idle torque generation instruction to the engine control unit. Subsequently, since the engine control unit will not receive any instruction for instructing the generation of the engine torque, the engine control unit will not control the engine to output torque. At this time, the actually generated engine torque at the vehicle can be reduced to 0, so as to effectively eliminate the conflict between the braking torque and the engine torque at the vehicle.

[0081] In Mode 5, a fifth control instruction can be directly generated to indicate that the engine control unit is not allowed to continue receiving or executing the idle torque generation instruction. Thus, even if the vehicle control unit generates and sends out the idle torque generation instruction, the engine control unit will not receive or execute the idle torque generation instruction, and further the engine control unit will not control the engine to output torque. At this time, the actual engine torque generated at the vehicle can also be reduced to 0 to effectively eliminate the conflict between the braking torque and the engine torque at the vehicle.

[0082] In practical applications, multiple control instructions among the above first control instruction to fifth control instruction can be generated and executed in parallel according to actual needs, and no specific limitation is made thereto.

[0083] In a feasible implementation manner, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the first engine torque control instruction may include at least one of the first control instruction, the second control instruction, the third control instruction, the fourth control instruction, and the fifth control instruction.

[0084] If the preset driving assistance function is a hill descent control function, the first engine torque control instruction may include at least one of the third control instruction, the fourth control instruction, and the fifth control instruction.

[0085] In the embodiments of the present invention, the off-road cruise control function or the adaptive cruise control function generally belongs to a function having the authority and ability to request the generation of engine torque. Therefore, when the off-road cruise control function or the adaptive cruise control function is implemented, it can be allowed to generate the above first control instruction and second control instruction and other instructions directly requesting the generation of engine torque. In addition, it can also be allowed to generate the third control instruction to the fifth control instruction and other instructions indirectly affecting the engine torque generated by the vehicle, with good flexibility.

[0086] The hill descent control function may belong to a function that does not have the authority and ability to request the generation of engine torque. Therefore, when the hill descent control function is implemented, it may not be allowed to generate the above first control instruction and second control instruction and other instructions directly requesting the generation of engine torque, but it can be allowed to generate the third control instruction to the fifth control instruction and other instructions indirectly affecting the engine torque generated by the vehicle. Details are not described herein.

[0087] In a feasible implementation manner, after generating the braking torque generation instruction for controlling the vehicle to generate braking torque, it may further include:

[0088] Obtain the latest driving speed of the vehicle.

[0089] Based on the latest driving speed and the target driving speed, determine whether the stop braking condition for the vehicle is satisfied to obtain a second determination result.

[0090] If the second determination result indicates that the stop braking condition for the vehicle is satisfied, generate a braking torque stop generation instruction for controlling the vehicle to stop generating braking torque.

[0091] In an embodiment of the present invention, after generating a braking torque generation instruction for controlling the vehicle to generate braking torque, the vehicle generally brakes in response to the braking torque generation instruction to control the vehicle to decelerate. Based on this, in order to timely control the vehicle to maintain the target driving speed, it is necessary to continuously detect the latest driving speed of the vehicle, and combine the difference between the latest driving speed of the vehicle and the target driving speed. After determining that the stop braking condition of the vehicle is satisfied, generate a braking torque stop generation instruction to control the vehicle to no longer generate braking torque, so as to avoid excessive reduction of the vehicle speed and inability to maintain the target driving speed. Among them, the stop braking condition of the vehicle can be set according to actual needs. For example, the stop braking condition of the vehicle can be that the difference between the latest driving speed of the vehicle and the target driving speed is less than a threshold, or the latest driving speed of the vehicle reaches the target driving speed, etc., and no specific limitation is made thereto.

[0092] In a feasible implementation manner, if the second determination result indicates that the stop braking condition for the vehicle is satisfied, then Figure 1 the method in

[0093] generate a second engine torque control instruction for controlling the vehicle to generate a second engine torque; wherein, the second engine torque is used to prompt the vehicle to maintain the target driving speed.

[0094] In an embodiment of the present invention, if the stop braking condition at the vehicle is satisfied, it is generally controlled that the vehicle no longer generates braking torque. At this time, it is necessary to control the vehicle to generate a certain amount of engine torque to prompt the vehicle to continuously travel at the target driving speed. Based on this, the second engine torque required to prompt the vehicle to maintain the target driving speed can be calculated in combination with the latest operating conditions of the vehicle, so as to generate a second engine torque control instruction for controlling the vehicle to generate the second engine torque, which is convenient and fast.

[0095] In a feasible implementation manner, the generating of the second engine torque control instruction for controlling the vehicle to generate the second engine torque may include:

[0096] Generate a sixth control instruction for controlling the vehicle to generate the second engine torque; wherein, the execution priority of the sixth control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle. Or,

[0097] Generate a seventh control instruction for the vehicle control unit at the vehicle; wherein, the seventh control instruction is used to instruct the vehicle control unit to determine the second engine torque as the idle torque required to be generated by the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque. Or,

[0098] Generate an eighth control instruction for the vehicle control unit at the vehicle; wherein, the eighth control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque based on the current maximum idle driving speed.

[0099] In the embodiments of the present invention, there can also be multiple implementation manners for the second engine torque control instruction capable of controlling the vehicle to generate the second engine torque, and some implementation manners of the second engine torque control instruction and the foregoing first engine torque control instruction can be consistent.

[0100] Specifically, in the first implementation manner of the second engine torque control instruction, the second engine torque required for the vehicle to maintain the target driving speed can be calculated in combination with the latest operation condition data of the vehicle. Based on this, a sixth control instruction with a higher execution priority can be directly generated to instruct the engine to generate the second engine torque. Wherein, the implementation principle of the sixth control instruction can be consistent with the implementation principle of the above first control instruction.

[0101] In practical applications, when Figure 1 the execution entity of the method in is a different controller from the vehicle control unit, then Figure 1The execution entity of the method can send the sixth control instruction to the vehicle control unit, enabling the vehicle control unit to compare the execution priority of the current idle torque generation instruction it generates with that of the sixth control instruction, so as to select the sixth control instruction with a higher execution priority to be executed. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly respond to the sixth control instruction to control the engine to generate a second engine torque; if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit can send the sixth control instruction to the engine control unit to make the engine control unit respond to the sixth control instruction to generate a second engine torque, with good flexibility.

[0102] In addition, if the vehicle control unit and the engine control unit are different controllers, then Figure 1 the execution entity of the method can also directly send the sixth control instruction to the engine control unit, and the vehicle control unit can send the current idle torque generation instruction it generates to the engine control unit, enabling the engine control unit to compare the execution priority of the idle torque generation instruction with that of the sixth control instruction, so as to control the engine to generate a second engine torque according to the sixth control instruction with a higher execution priority. There is no specific limitation on this.

[0103] It can be understood that since the generation process of the sixth control instruction does not depend on the "ability of the vehicle control unit to generate an idle torque generation instruction", the value of the second engine torque that the sixth control instruction can request the vehicle to generate will not be limited by the maximum idle torque at the vehicle, that is, the second engine torque can be either greater than or less than the maximum idle torque at the vehicle, so as to accurately control the vehicle to maintain the target driving speed to meet the requirement of the preset driving assistance function of the vehicle to control the vehicle to maintain the target driving speed, with good practicability.

[0104] In the second implementation method for the second engine torque control instruction, the target engine torque required to maintain the target driving speed of the vehicle can be calculated by combining the latest operating condition data of the vehicle. If the target engine torque is less than or equal to the maximum idle torque at the vehicle, the target engine torque can be used as the second engine torque; if the target engine torque is greater than the maximum idle torque at the vehicle, the maximum idle torque at the vehicle can be used as the second engine torque; thus, the effectiveness and rationality of the idle control function at the vehicle can be avoided from being affected. Subsequently, a seventh control instruction can be directly generated to indicate a change in the idle torque required by the vehicle control unit to request the engine to generate the second engine torque, so as to instruct the engine to generate the second engine torque. Among them, the implementation principle of the seventh control instruction can be consistent with the implementation principle of the above-mentioned second control instruction.

[0105] In practical applications, the numerical information of the second engine torque can be carried in the seventh control instruction, so that Figure 1 after the execution entity of the method in sends the second control instruction to the vehicle control unit, the vehicle control unit can clarify the numerical information of the second engine torque, and then can generate an idle torque generation instruction for instructing the vehicle to generate the second engine torque. Of course, the numerical information of the second engine torque can also be transmitted to the vehicle control unit by other means, and no specific limitation is made in this regard.

[0106] Subsequently, if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit can send the idle torque generation instruction to the engine control unit to make the engine control unit generate the second engine torque in response to the idle torque generation instruction. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly control the engine to generate the second engine torque according to the idle torque generation instruction, which is convenient and fast.

[0107] In the third implementation method for the second engine torque control instruction, an eighth control instruction can also be directly generated to indicate a change in the maximum idle driving speed of the idle control function at the vehicle control unit, so that the current maximum idle driving speed at the vehicle can be reduced from the initial maximum idle driving speed (for example, the maximum idle driving speed when the preset driving assistance function is not activated) to the target driving speed. If the engine torque generated currently at the vehicle is less than the maximum idle torque, the vehicle will maintain the current maximum idle driving speed (i.e., the target driving speed) because the vehicle speed reaches the current maximum idle driving speed first. Among them, the implementation principle of the eighth control instruction can be consistent with the implementation principle of the above-mentioned third control instruction.

[0108] In practical applications, the value information of the target driving speed may be carried in the eighth control instruction, so that Figure 1 after the execution entity of the method in Figure 1 sends the eighth control instruction to the vehicle control unit, the vehicle control unit may adjust the current maximum idle driving speed to the target driving speed, and then may calculate the actual required idle torque (i.e., the second engine torque) generated by the vehicle in combination with the current driving situation of the vehicle and the current maximum idle driving speed, so as to generate an idle torque generation instruction for instructing the vehicle to generate the second engine torque. Of course, the value information of the target driving speed of the vehicle may also be transmitted to the vehicle control unit in other ways, and no specific limitation is made thereto.

[0109] Subsequently, if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit may send the idle torque generation instruction to the engine control unit to make the engine control unit generate the second engine torque in response to the idle torque generation instruction. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit may control the engine to generate the second engine torque by itself according to the idle torque generation instruction, which will not be elaborated herein.

[0110] It can be understood that, in order to avoid affecting the effectiveness and rationality of the idle control function of the vehicle, generally, the eighth control instruction may be generated when the target driving speed is less than the initial maximum idle driving speed, and the second engine torque that the eighth control instruction can control the vehicle to generate is generally less than or equal to the maximum idle torque. Otherwise, other methods may be used to control the vehicle to generate the second engine torque; no specific limitation is made thereto.

[0111] In a feasible implementation manner, if the preset driving assistance function is an off-road cruise control function or an automatic cruise control function, the second engine torque control instruction may include at least one of a sixth control instruction, a seventh control instruction, and an eighth control instruction.

[0112] If the preset driving assistance function is a hill descent control function, the second engine torque control instruction may include an eighth control instruction.

[0113] In the embodiments of the present invention, since the off-road cruise control function or the automatic cruise control function generally belongs to the functions having the authority and ability to request the generation of engine torque, and the hill descent control function belongs to the function not having the authority and ability to request the generation of engine torque, therefore, the types of the second engine torque control instructions allowed to be generated when different functions are implemented may be different to ensure the normal operation of the above functions, which will not be elaborated herein.

[0114] In a feasible implementation manner, after determining whether the current driving speed is greater than the target driving speed and obtaining a first determination result, the following steps may further be included:

[0115] If the first determination result indicates that the current driving speed is less than the target driving speed, a third engine torque control instruction for controlling the vehicle to generate a third engine torque is generated; wherein, the third engine torque is used to urge the vehicle to increase its speed to the target driving speed.

[0116] In an embodiment of the present invention, if the first determination result indicates that the current driving speed of the vehicle is less than the target driving speed, a third engine torque control instruction can generally be generated, so that the engine of the vehicle can generate a third engine torque in response to the third engine torque control instruction, and then drive the vehicle to accelerate, thereby quickly adjusting the driving speed of the vehicle to the target driving speed, which is beneficial to improving the vehicle speed adjustment efficiency.

[0117] In a feasible implementation manner, the generation of the third engine torque control instruction for controlling the vehicle to generate a third engine torque may include:

[0118] Generating a ninth control instruction for instructing the vehicle to generate the third engine torque; wherein, the execution priority of the ninth control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle; or,

[0119] Generating a tenth control instruction for the vehicle control unit at the vehicle; wherein, the tenth control instruction is used to instruct the vehicle control unit to determine the third engine torque as the idle torque required for the vehicle, so that the vehicle control unit can generate an idle torque generation instruction for instructing the vehicle to generate the third engine torque; or,

[0120] Generating an eleventh control instruction for the vehicle control unit at the vehicle; wherein, the eleventh control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit can generate an idle torque generation instruction for instructing the vehicle to generate the third engine torque based on the current maximum idle driving speed.

[0121] In an embodiment of the present invention, there can also be various implementation manners for the third engine torque control instruction capable of controlling the vehicle to generate a third engine torque, and some implementation manners of the third engine torque control instruction may also be consistent with those of the foregoing first engine torque control instruction.

[0122] Specifically, in the first implementation method for the third engine torque control instruction, the third engine torque required to increase the vehicle speed to the target driving speed can be calculated by combining the latest operating condition data of the vehicle. Based on this, a ninth control instruction with a relatively high execution priority can be directly generated to instruct the engine to generate the third engine torque. Among them, the implementation principle of the ninth control instruction can be consistent with the implementation principle of the above-mentioned first control instruction.

[0123] In practical applications, when Figure 1 the execution entity of the method in Figure 1 is a different controller from the vehicle control unit, then

[0124] the execution entity of the method in Figure 1 can send the ninth control instruction to the vehicle control unit, so that the vehicle control unit can compare the execution priority of its currently generated idle torque generation instruction with that of the ninth control instruction, and thus select the ninth control instruction with a relatively high execution priority that needs to be executed. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly respond to the ninth control instruction to control the engine to generate the third engine torque; if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit can send the ninth control instruction to the engine control unit to make the engine control unit respond to the ninth control instruction to generate the third engine torque, with good flexibility.

[0125] It can be understood that since the generation process of the ninth control instruction does not depend on "the ability of the vehicle control unit to generate idle torque generation instructions", the value of the third engine torque that the ninth control instruction can request the vehicle to generate will not be limited by the maximum idle torque at the vehicle, that is, the third engine torque can be either greater than or less than the maximum idle torque at the vehicle, so as to accurately control the vehicle speed to increase to the target driving speed to meet the requirement of the preset driving assistance function of the vehicle to keep the target driving speed, with good practicability.

[0126] In the second implementation method for the third engine torque control command, the latest operating condition data of the vehicle can be combined to calculate a specific engine torque required to increase the vehicle speed to the target driving speed. If the specific engine torque is less than or equal to the maximum idle torque at the vehicle, the specific engine torque can be used as the third engine torque; if the specific engine torque is greater than the maximum idle torque at the vehicle, the maximum idle torque at the vehicle can be used as the third engine torque; thus, the effectiveness and rationality of the idle control function at the vehicle can be avoided from being affected. Subsequently, a tenth control command indicating a change in the idle torque required by the vehicle control unit to request the engine to generate the third engine torque can be directly generated to instruct the engine to generate the third engine torque. Among them, the implementation principle of the tenth control command can be consistent with the implementation principle of the above-mentioned second control command.

[0127] In practical applications, the tenth control command can carry the numerical information of the third engine torque, so that Figure 1 after the execution entity of the method in sends the tenth control command to the vehicle control unit, the vehicle control unit can clarify the numerical information of the third engine torque, and then can generate an idle torque generation command for instructing the vehicle to generate the third engine torque. Of course, the numerical information of the third engine torque can also be transmitted to the vehicle control unit by other means, and no specific limitation is made on this.

[0128] Subsequently, if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit can send the idle torque generation command to the engine control unit to make the engine control unit generate the third engine torque in response to the idle torque generation command. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit can directly control the engine to generate the third engine torque according to the idle torque generation command, which is convenient and fast.

[0129] In the third implementation method for the second engine torque control command, an eleventh control command indicating a change in the maximum idle driving speed of the idle control function at the vehicle control unit can also be directly generated, so that the current maximum idle driving speed at the vehicle can be set to the target driving speed. Based on this, if the engine torque currently generated at the vehicle is less than the maximum idle torque, since the vehicle speed has not reached the current maximum idle driving speed, the idle torque generated by the vehicle will be increased, so that the vehicle accelerates, which is beneficial to accelerating the vehicle to the target driving speed. Among them, the implementation principle of the eleventh control command can be consistent with the implementation principle of the above-mentioned third control command.

[0130] In practical applications, the eleventh control instruction may carry numerical information of the target driving speed, so that Figure 1 after the execution entity of the method in Figure 1 sends the eleventh control instruction to the vehicle control unit, the vehicle control unit may adjust the current maximum idle driving speed to the target driving speed, and then may calculate the actual required idle torque (i.e., the third engine torque) generated by the vehicle in combination with the current driving condition of the vehicle and the current maximum idle driving speed, so as to generate an idle torque generation instruction for instructing the vehicle to generate the third engine torque. Of course, the numerical information of the target driving speed of the vehicle may also be transmitted to the vehicle control unit in other ways, and no specific limitation is made thereto.

[0131] Subsequently, if the vehicle control unit and the engine control unit are different controllers, the vehicle control unit may send the idle torque generation instruction to the engine control unit to make the engine control unit generate the third engine torque in response to the idle torque generation instruction. If the vehicle control unit and the engine control unit are the same controller, the vehicle control unit may directly control the engine to generate the third engine torque according to the idle torque generation instruction, and no further description is given thereto.

[0132] It can be understood that, in order to avoid affecting the effectiveness and rationality of the idle control function of the vehicle, the third engine torque that can be controlled and generated by the eleventh control instruction is generally less than or equal to the maximum idle torque. Otherwise, other methods may be adopted to control the vehicle to generate the third engine torque; no specific limitation is made thereto.

[0133] In a feasible implementation manner, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the third engine torque control instruction may include at least one of a ninth control instruction, a tenth control instruction, and an eleventh control instruction.

[0134] If the preset driving assistance function is a hill descent control function, the third engine torque control instruction may include an eleventh control instruction.

[0135] In the embodiments of the present invention, since the off-road cruise control function or the adaptive cruise control function generally belongs to a function having the authority and ability to request the generation of engine torque, and the hill descent control function belongs to a function not having the authority and ability to request the generation of engine torque, therefore, the types of the third engine torque control instructions allowed to be generated during the implementation of different functions may be different to ensure the normal operation of the above functions, and no further description is given thereto.

[0136] Please refer to Figure 2 , which is a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention. AsFigure 2 As shown, the vehicle control device 02 can be implemented as all or part of a vehicle controller through software, hardware, or a combination of both. According to some embodiments, the vehicle control device 02 may include a first acquisition module 21, a judgment module 22, and an instruction generation module 23. Specifically:

[0137] The acquisition module 21 is configured to, after a preset driving assistance function of the vehicle is activated, if the idle torque generation condition at the vehicle is satisfied, acquire the current driving speed of the vehicle and the target driving speed required to control the vehicle to maintain by the preset driving assistance function.

[0138] The judgment module 22 is configured to judge whether the current driving speed is greater than the target driving speed to obtain a first judgment result.

[0139] The instruction generation module 23 is configured to, if the first judgment result indicates that the current driving speed is greater than the target driving speed, generate a braking torque generation instruction for controlling the vehicle to generate a braking torque, and a first engine torque control instruction for controlling the vehicle to generate a first engine torque; wherein, the first engine torque is less than the preset idle torque required for the vehicle based on the current vehicle operating conditions.

[0140] Optionally, the instruction generation module 23 may include:

[0141] The first generation unit is configured to generate a first control instruction for instructing the vehicle to generate the first engine torque; wherein, the execution priority of the first control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle for instructing the vehicle to generate the preset idle torque; or,

[0142] The second generation unit is configured to generate a second control instruction for the vehicle control unit at the vehicle; wherein, the second control instruction is used to instruct the vehicle control unit to determine the first engine torque as the idle torque required for the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the first engine torque; or,

[0143] The third generation unit is configured to generate a third control instruction for the vehicle control unit at the vehicle; wherein, the third control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the first engine torque based on the current maximum idle driving speed; or,

[0144] A fourth generation unit, configured to generate a fourth control instruction for a vehicle control unit at the vehicle; wherein, the fourth control instruction is used to prohibit the vehicle control unit from generating or sending an idle torque generation instruction; or,

[0145] A fifth generation unit, configured to generate a fifth control instruction for an engine control unit at the vehicle; wherein, the fifth control instruction is used to prohibit the engine control unit from receiving or executing an idle torque generation instruction generated by the vehicle control unit.

[0146] Optionally, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the first engine torque control instruction includes at least one of: a first control instruction, a second control instruction, a third control instruction, a fourth control instruction, and a fifth control instruction.

[0147] If the preset driving assistance function is a hill descent control function, the first engine torque control instruction includes at least one of: a third control instruction, a fourth control instruction, and a fifth control instruction.

[0148] Optionally, Figure 2 the device in

[0149] A latest driving speed acquisition module, configured to acquire the latest driving speed of the vehicle.

[0150] A condition judgment module, configured to judge whether a stop braking condition for the vehicle is satisfied based on the latest driving speed and the target driving speed, and obtain a second judgment result.

[0151] A stop braking module, configured to generate a braking torque stop generation instruction for controlling the vehicle to stop generating a braking torque if the second judgment result indicates that the stop braking condition for the vehicle is satisfied.

[0152] Optionally, Figure 2 the device in

[0153] A first engine torque control module, configured to generate a second engine torque control instruction for controlling the vehicle to generate a second engine torque; wherein, the second engine torque is used to urge the vehicle to maintain the target driving speed.

[0154] Optionally, the engine torque control module may include:

[0155] A sixth generation unit, configured to generate a sixth control instruction for controlling the vehicle to generate the second engine torque; wherein, the execution priority of the sixth control instruction is higher than the execution priority of an idle torque generation instruction generated by a vehicle control unit at the vehicle; or,

[0156] A seventh generation unit for generating a seventh control instruction for a vehicle control unit at the vehicle; wherein the seventh control instruction is used to instruct the vehicle control unit to determine the second engine torque as the idle torque required for the vehicle to generate, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque; or,

[0157] An eighth generation unit for generating an eighth control instruction for a vehicle control unit at the vehicle; wherein the eighth control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque based on the current maximum idle driving speed.

[0158] Optionally, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the second engine torque control instruction includes at least one of a sixth control instruction, a seventh control instruction, and an eighth control instruction.

[0159] If the preset driving assistance function is a hill descent control function, the second engine torque control instruction includes an eighth control instruction.

[0160] Optionally, Figure 2 the device in may further include:

[0161] A second engine torque control module for generating a third engine torque control instruction for controlling the vehicle to generate a third engine torque if the first determination result indicates that the current driving speed is less than the target driving speed; wherein the third engine torque is used to urge the vehicle to increase its speed to the target driving speed.

[0162] Optionally, the second engine torque control module includes:

[0163] A ninth generation unit for generating a ninth control instruction for instructing the vehicle to generate the third engine torque; wherein the execution priority of the ninth control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle; or,

[0164] A tenth generation unit for generating a tenth control instruction for a vehicle control unit at the vehicle; wherein the tenth control instruction is used to instruct the vehicle control unit to determine the third engine torque as the idle torque required for the vehicle to generate, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the third engine torque.

[0165] The eleventh generation unit is configured to generate an eleventh control instruction for a vehicle control unit at the vehicle; wherein, the eleventh control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the third engine torque based on the current maximum idle driving speed.

[0166] Optionally, if the preset driving assistance function is an off-road cruise control function or an adaptive cruise control function, the third engine torque control instruction includes at least one of a ninth control instruction, a tenth control instruction, and an eleventh control instruction.

[0167] If the preset driving assistance function is a hill descent control function, the third engine torque control instruction includes an eleventh control instruction.

[0168] The above device embodiments correspond to the method embodiments. For specific descriptions, reference can be made to the descriptions in the method embodiment part, which will not be elaborated here. The device embodiments are obtained based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. For specific descriptions, reference can be made to the corresponding method embodiments.

[0169] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed, it implements the steps of the vehicle control method in the above embodiments. The specific execution process can be referred to the specific descriptions in the above embodiments and will not be elaborated here.

[0170] In one embodiment, the present invention also provides Figure 3 a schematic structural diagram of the vehicle controller shown. As Figure 3 shown, at the hardware level, the vehicle controller may include a processor 31 and a memory 35. Of course, it may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for other services. The vehicle controller may be disposed in a vehicle, and the processor 31 therein may read corresponding computer-readable instructions from the memory 35 into the memory and then run to implement the above vehicle control method. The specific execution process can be referred to the specific descriptions in the above embodiments and will not be elaborated here.

[0171] In a feasible implementation manner, Figure 3 the vehicle controller shown may be a controller for managing and implementing a preset driving assistance function. Of course, it may also be other controllers, and no specific limitation is made thereto.

[0172] Finally, each embodiment in the present invention is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as computer program products and vehicle controllers, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for relevant details.

[0173] The above description is only for the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A vehicle control method, comprising: After a preset driving assistance function of the vehicle is activated, if an idle torque generation condition at the vehicle is met, obtaining a current driving speed of the vehicle and a target driving speed that the preset driving assistance function needs to control the vehicle to maintain; Determine whether the current driving speed is greater than the target driving speed, and obtain a first determination result; If the first judgment result indicates that the current driving speed is greater than the target driving speed, a braking torque generation instruction for controlling the vehicle to generate a braking torque and a first engine torque control instruction for controlling the vehicle to generate a first engine torque are generated; wherein the first engine torque is less than a preset idle torque that the vehicle needs to generate based on the current vehicle operating conditions.

2. The method according to claim 1, wherein generating a first engine torque control command for controlling the vehicle to generate a first engine torque comprises: generating a first control instruction for instructing the vehicle to generate the first engine torque; wherein the execution priority of the first control instruction is higher than the execution priority of an idle torque generation instruction generated by a vehicle control unit at the vehicle to instruct the vehicle to generate the preset idle torque; or, generating a second control instruction for a vehicle control unit at the vehicle; wherein the second control instruction is used to instruct the vehicle control unit to determine the first engine torque as the idle torque required to be generated by the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the first engine torque; or, generating a third control instruction for a vehicle control unit at the vehicle; wherein the third control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the first engine torque based on the current maximum idle driving speed; or, generating a fourth control instruction for a vehicle control unit at the vehicle; wherein the fourth control instruction is used to prohibit the vehicle control unit from generating or sending an idle torque generation instruction; or, A fifth control instruction is generated for an engine control unit at the vehicle, wherein the fifth control instruction is used to prohibit the engine control unit from receiving or executing an idle torque generation instruction generated by the vehicle control unit.

3. The method according to claim 2, if the preset driving assistance function is an off-road cruise control function or an automatic cruise control function, the first engine torque control instruction comprises: At least one of the first control instruction, the second control instruction, the third control instruction, the fourth control instruction and the fifth control instruction; If the preset driving assistance function is a steep slope descent control function, the first engine torque control instruction includes: at least one of a third control instruction, a fourth control instruction and a fifth control instruction.

4. The method according to claim 1, after generating a braking torque generation instruction for controlling the vehicle to generate braking torque, further comprising: Obtaining the latest driving speed of the vehicle; Based on the latest driving speed and the target driving speed, determining whether a stop braking condition for the vehicle is satisfied, and obtaining a second determination result; If the second determination result indicates that the stop braking condition for the vehicle is satisfied, a braking torque stop generation command for controlling the vehicle to stop generating braking torque is generated.

5. The method according to claim 4, if the second judgment result indicates that the stopping braking condition for the vehicle is satisfied, the method further comprises: A second engine torque control command is generated for controlling the vehicle to generate a second engine torque; wherein the second engine torque is used to cause the vehicle to maintain the target driving speed.

6. The method according to claim 5, wherein generating a second engine torque control command for controlling the vehicle to generate a second engine torque comprises: generating a sixth control instruction for controlling the vehicle to generate the second engine torque; wherein the execution priority of the sixth control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle; or, generating a seventh control instruction for a vehicle control unit at the vehicle; wherein the seventh control instruction is used to instruct the vehicle control unit to determine the second engine torque as the idle torque required to be generated by the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque; or, Generate an eighth control instruction for a vehicle control unit at the vehicle; wherein the eighth control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the second engine torque based on the current maximum idle driving speed.

7. The method according to claim 6, if the preset driving assistance function is an off-road cruise control function or an automatic cruise control function, the second engine torque control instruction comprises: At least one of the sixth control instruction, the seventh control instruction and the eighth control instruction; If the preset driving assistance function is a steep slope descent control function, the second engine torque control instruction includes: an eighth control instruction.

8. The method according to claim 1, wherein after the first judgment result is obtained, the step of determining whether the current driving speed is greater than the target driving speed further comprises: If the first judgment result indicates that the current driving speed is less than the target driving speed, a third engine torque control instruction is generated for controlling the vehicle to generate a third engine torque; wherein the third engine torque is used to cause the vehicle to increase in speed to the target driving speed.

9. The method according to claim 8, wherein generating a third engine torque control command for controlling the vehicle to generate a third engine torque comprises: generating a ninth control instruction for instructing the vehicle to generate the third engine torque; wherein the execution priority of the ninth control instruction is higher than the execution priority of the idle torque generation instruction generated by the vehicle control unit at the vehicle; or, generating a tenth control instruction for a vehicle control unit at the vehicle; wherein the tenth control instruction is used to instruct the vehicle control unit to determine the third engine torque as the idle torque required to be generated by the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the third engine torque; or, Generate an eleventh control instruction for a vehicle control unit at the vehicle; wherein the eleventh control instruction is used to instruct the vehicle control unit to determine the target driving speed as the current maximum idle driving speed of the vehicle, so that the vehicle control unit generates an idle torque generation instruction for instructing the vehicle to generate the third engine torque based on the current maximum idle driving speed.

10. The method according to claim 9, if the preset driving assistance function is an off-road cruise control function or an automatic cruise control function, the third engine torque control instruction comprises: at least one of the ninth control instruction, the tenth control instruction and the eleventh control instruction; If the preset driving assistance function is a steep slope descent control function, the third engine torque control instruction includes: an eleventh control instruction.

11. A vehicle control device, comprising: an acquisition module, configured to acquire, after a preset driving assistance function of a vehicle is activated, a current driving speed of the vehicle and a target driving speed that the preset driving assistance function needs to control the vehicle to maintain if an idle torque generation condition at the vehicle is satisfied; A judgment module, used for judging whether the current driving speed is greater than the target driving speed, and obtaining a first judgment result; An instruction generation module is used to generate a braking torque generation instruction for controlling the vehicle to generate a braking torque if the first judgment result indicates that the current driving speed is greater than the target driving speed, and a first engine torque control instruction for controlling the vehicle to generate a first engine torque; wherein the first engine torque is less than a preset idle torque that the vehicle needs to generate based on the current vehicle operating conditions.

12. A computer program product comprising a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 10 when executed.

13. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 10.

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