Cruise control system and method, vehicle control unit and vehicle

Abstract

The embodiment of the invention discloses a cruise control system and method, a vehicle control unit and a vehicle. The cruise control system comprises the vehicle control unit, a gearbox speed sensor assembly, an engine control module and a walking motor. The vehicle control unit is used for obtaining the current vehicle speed collected by the gearbox speed sensor assembly after receiving the target vehicle speed input by a user and increasing / decreasing the accelerator percentage output to the engine control module according to the difference value between the current vehicle speed and the target vehicle speed when the current vehicle speed is not equal to the target vehicle speed. The engine control module is used for adjusting the rotating speed of the walking motor according to the increased / decreased accelerator percentage; and the vehicle control unit is further used for obtaining the real-time vehicle speed collected by the gearbox speed sensor assembly when the rotating speed change of the walking motor is detected, and controlling the vehicle to enter a constant-speed cruise mode when the real-time vehicle speed is equal to the target vehicle speed, so that the vehicle can be accurately controlled to run according to the target vehicle speed.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and particularly to a cruise control system, method, vehicle controller and vehicle. Background Art

[0002] At present, in order to reduce the driving load of drivers and avoid potential safety hazards caused by driver fatigue, distraction or improper operation, more and more vehicles have introduced the cruise control function. As an automotive driving assistance function, the cruise control function is mainly used to make the vehicle automatically drive at a set vehicle speed without the driver operating the throttle.

[0003] The existing cruise control systems can only output a fixed throttle signal continuously according to the target vehicle speed at a certain speed, so that the vehicle performs cruise control according to the target vehicle speed.

[0004] However, since the existing cruise control systems often have difficulty in accurately outputting the throttle signal, the vehicle cannot travel at the preset target vehicle speed. Secondly, since the existing cruise control systems require the vehicle to have an initial speed, the applicable range of the existing cruise control systems is relatively narrow. Summary of the Invention

[0005] The present invention provides a cruise control system, method, vehicle controller and vehicle, which can accurately control the vehicle to travel at the target vehicle speed and expand the application scenarios of the cruise control system.

[0006] In a first aspect, a cruise control system is provided. The cruise control system includes: a vehicle controller, a travel control subsystem and a transmission speed sensor assembly;

[0007] Wherein, the travel control subsystem includes an engine control module and a travel motor. The vehicle controller is electrically connected to the engine control module and the transmission speed sensor assembly respectively, and the travel motor is electrically connected to the engine control module and the transmission speed sensor assembly respectively;

[0008] The vehicle controller is configured to, after receiving the target vehicle speed input by the user, obtain the current vehicle speed collected by the transmission speed sensor assembly, and when the current vehicle speed is not equal to the target vehicle speed, increase / decrease the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed;

[0009] The engine control module is configured to adjust the rotation speed of the travel motor according to the increased / decreased throttle percentage;

[0010] The vehicle controller is further configured to, when detecting a change in the rotation speed of the travel motor, obtain the real-time vehicle speed collected by the transmission speed sensor assembly, and when the real-time vehicle speed is equal to the target vehicle speed, control the vehicle to enter the cruise control mode.

[0011] Optionally, the travel control subsystem further includes an engine and a pumping device. The engine is electrically connected to the engine control module and the pumping device respectively, and the pumping device is also electrically connected to the travel motor; the vehicle controller is specifically configured to, when the current vehicle speed is greater than the target vehicle speed, reduce the throttle percentage output to the engine control module and the current output to the pumping device according to the difference between the current vehicle speed and the target vehicle speed; and, when the current vehicle speed is less than the target vehicle speed, increase the throttle percentage output to the engine control module and the current output to the pumping device according to the difference between the current vehicle speed and the target vehicle speed; the engine is configured to reduce the engine speed according to the reduced throttle percentage when the throttle percentage output by the vehicle controller to the engine control module is reduced; and, when the throttle percentage output by the vehicle controller to the engine control module is increased, increase the engine speed according to the increased throttle percentage; the pumping device is configured to reduce the flow rate output to the travel motor to reduce the speed of the travel motor when the current input by the vehicle controller is reduced and the engine speed is reduced; and, when the current input by the vehicle controller is increased and the engine speed is increased, increase the flow rate output to the travel motor to increase the speed of the travel motor.

[0012] Optionally, the travel control subsystem further includes a travel proportional solenoid valve and a flow control valve. The flow control valve includes a travel spool; wherein, the travel proportional solenoid valve is electrically connected to the vehicle controller and the flow solenoid valve respectively, and the flow solenoid valve is also electrically connected to the pumping device and the travel motor respectively; the vehicle controller is further configured to, when the current vehicle speed is greater than the target vehicle speed, reduce the current output to the travel proportional solenoid valve according to the difference between the current vehicle speed and the target vehicle speed; and, when the current vehicle speed is less than the target vehicle speed, increase the current output to the travel proportional solenoid valve according to the difference between the current vehicle speed and the target vehicle speed; the travel proportional solenoid valve is configured to reduce the flow rate output to the flow solenoid valve when the current input by the vehicle controller is reduced; and, when the current input by the vehicle controller is increased, increase the flow rate output to the flow solenoid valve; the flow solenoid valve is configured to reduce the opening of the travel spool to control the flow rate output by the pumping device to the travel motor when the flow rate input by the travel proportional solenoid valve is reduced; and, when the flow rate input by the travel proportional solenoid valve is increased, increase the opening of the travel spool to control the flow rate output by the pumping device to the travel motor.

[0013] Optionally, the cruise control system further includes a cruise control switch and an instrument display. The instrument display is electrically connected to the cruise control switch and the vehicle controller respectively; the vehicle controller is further configured to, when receiving a click operation of the user on the cruise control switch, display a target vehicle speed input interface on the instrument display panel for the user to input the target vehicle speed in the target vehicle speed input interface.

[0014] Optionally, the cruise control system further includes an accelerator pedal position sensor and a brake pressure sensor, both of which are electrically connected to the vehicle controller; the vehicle controller is further configured to, when the vehicle is in the cruise control mode, if it receives a click operation on the cruise control switch, an accelerator signal sent by the accelerator pedal position sensor, or a brake signal sent by the brake pressure sensor, control the vehicle to exit the cruise control mode.

[0015] Optionally, the vehicle controller is further configured to, after obtaining the current vehicle speed collected by the transmission speed sensor assembly, determine whether the current vehicle speed is greater than a first speed threshold, and when the current vehicle speed is greater than the first speed threshold, output a prompt message indicating that the current vehicle speed does not meet the cruise control condition.

[0016] Optionally, the travel motor is a variable travel motor.

[0017] In a second aspect, a cruise control method is provided. The method is executed by the vehicle controller in the cruise control system according to any embodiment of the present invention, and the method includes:

[0018] After receiving the target vehicle speed input by the user, obtain the current vehicle speed collected by the transmission speed sensor assembly, and when the current vehicle speed is not the target vehicle speed, increase / decrease the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed;

[0019] When it is detected that the rotation speed of the travel motor has been adjusted according to the increased / decreased throttle percentage, obtain the real-time vehicle speed collected by the transmission speed sensor assembly, and when the real-time vehicle speed is equal to the target vehicle speed, control the vehicle to enter the cruise control mode.

[0020] In a third aspect, a vehicle controller is provided. The vehicle controller includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the cruise control method according to any embodiment of the present invention.

[0021] In a fourth aspect, a vehicle is provided. The vehicle includes the cruise control system according to any embodiment of the present invention.

[0022] In the technical solution of the embodiment of the present invention, by adding a transmission speed sensor assembly to the cruise control system and electrically connecting the transmission speed sensor assembly to the vehicle controller, the driving speed of the vehicle can be continuously corrected according to the real-time vehicle speed collected by the transmission speed sensor assembly, so that the vehicle can accurately perform cruise control according to the target vehicle speed, avoiding the situation that it is often difficult to accurately control the vehicle to travel at the preset target vehicle speed only by outputting the throttle signal according to the target vehicle speed. Secondly, by directly comparing the current vehicle speed and the target vehicle speed, and when the current vehicle speed is not equal to the target vehicle speed, increasing / decreasing the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed, there is no need to require the vehicle to have an initial speed, so that the cruise control system can be applied to the situation where the vehicle is stationary, expanding the application scenario of the cruise control system.

[0023] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is a schematic structural diagram of a cruise control system according to Embodiment 1 of the present invention;

[0026] Figure 2 is a schematic structural diagram of another cruise control system according to Embodiment 2 of the present invention;

[0027] Figure 3 is a flowchart of a cruise control method according to Embodiment 3 of the present invention;

[0028] Figure 4 is a flowchart of a preferred cruise control method according to the embodiment of the present invention;

[0029] Figure 5 is a schematic structural diagram of a vehicle controller for implementing the cruise control method of the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of 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.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 is a schematic structural diagram of a constant speed cruise control system provided according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of performing constant speed cruise control on a vehicle.

[0034] As Figure 1 shown, a constant speed cruise control system disclosed in this embodiment includes: a vehicle controller 11, a travel control subsystem 12, and a transmission speed sensor assembly 13.

[0035] Among them, the travel control subsystem 12 includes an engine control module 201 and a travel motor 202. The vehicle controller 11 is electrically connected to the engine control module 201 and the transmission speed sensor assembly 13 respectively, and the travel motor 202 is electrically connected to the engine control module 201 and the transmission speed sensor assembly 13 respectively.

[0036] In this embodiment, the vehicle controller 11 can be understood as a controller for controlling the throttle percentage output to the engine control module 201 according to the vehicle driving speed collected by the transmission speed sensor assembly 13. The engine control module 201 can be understood as a module for controlling the rotation speed of the travel motor 202 according to the throttle percentage controlled and input by the vehicle controller 11. In practical applications, the vehicle driving speed can be adjusted by changing the rotation speed of the travel motor 202. The transmission speed sensor assembly 13 can include a transmission and a transmission speed sensor, and the transmission speed sensor can be used to collect the vehicle driving speed. The transmission speed sensor 13 is electrically connected to the vehicle controller 11 and the transmission respectively, and the transmission is also electrically connected to the travel motor 202.

[0037] Specifically, the vehicle controller 11 is configured to, after receiving the target vehicle speed input by the user, obtain the current vehicle speed collected by the transmission speed sensor assembly 13, and when the current vehicle speed is not equal to the target vehicle speed, increase / decrease the throttle percentage output to the engine control module 201 according to the difference between the current vehicle speed and the target vehicle speed. The engine control module 201 is configured to adjust the rotation speed of the travel motor 202 according to the increased / decreased throttle percentage. The vehicle controller 11 is further configured to, when detecting a change in the rotation speed of the travel motor 202, obtain the real-time vehicle speed collected by the transmission speed sensor assembly 13, and when the real-time vehicle speed is equal to the target vehicle speed, control the vehicle to enter the cruise control mode.

[0038] In a specific implementation manner, the vehicle controller 11 can determine whether the current vehicle speed is equal to the target vehicle speed, and when the current vehicle speed is not equal to the target vehicle speed, determine to increase / decrease the throttle percentage output to the engine control module 201 according to the comparison result between the current vehicle speed and the target vehicle speed. When determining to increase the throttle percentage output to the engine control module 201, determine the throttle percentage increase amount according to the difference between the current vehicle speed and the target vehicle speed, and increase the throttle percentage output to the engine control module 201 according to the throttle percentage increase amount. When determining to decrease the throttle percentage output to the engine control module 201, determine the throttle percentage decrease amount according to the difference between the current vehicle speed and the target vehicle speed, and decrease the throttle percentage output to the engine control module 201 according to the throttle percentage decrease amount.

[0039] Then, the engine control module 201 can increase the rotational speed of the travel motor 202 according to the increased throttle percentage and decrease the rotational speed of the travel motor 202 according to the decreased throttle percentage. Finally, when the vehicle controller 11 detects a change in the rotational speed of the travel motor 202, it can determine whether the real-time vehicle speed collected by the transmission speed sensor assembly 13 is equal to the target vehicle speed. If the real-time vehicle speed is not equal to the target vehicle speed, after using the real-time vehicle speed as the new current vehicle speed, it returns to execute the operation of increasing / decreasing the throttle percentage output to the engine control module 201 according to the comparison result between the current vehicle speed and the target vehicle speed, until the real-time vehicle speed collected by the transmission speed sensor assembly 13 is equal to the target vehicle speed, and then controls the vehicle to cruise at a constant speed according to the target vehicle speed.

[0040] Optionally, when controlling the vehicle to cruise at a constant speed according to the target vehicle speed, the actual speed of the vehicle can be collected in real time through the transmission speed sensor assembly 13. If the actual speed is not equal to the target vehicle speed, after using the actual speed as the new current vehicle speed, it returns to execute the operation of increasing / decreasing the throttle percentage output to the engine control module 201 according to the comparison result between the current vehicle speed and the target vehicle speed, until the actual vehicle speed collected by the transmission speed sensor assembly 13 is equal to the target vehicle speed.

[0041] The advantage of this setting is that by monitoring the actual speed of the vehicle in real time after the vehicle enters the constant speed cruise mode and adjusting the vehicle speed when the actual speed of the vehicle is not equal to the target vehicle speed, it can correct the situation where the vehicle deviates from the target vehicle speed when the external load of the vehicle changes in a timely manner, ensuring that the vehicle accurately cruises at a constant speed according to the target vehicle speed.

[0042] The technical solution of the embodiment of the present invention provides a cruise control system, which includes: a vehicle controller, a travel control subsystem, and a transmission speed sensor assembly; wherein, the travel control subsystem includes an engine control module and a travel motor, the vehicle controller is electrically connected to the engine control module and the transmission speed sensor assembly respectively, and the travel motor is electrically connected to the engine control module and the transmission speed sensor assembly respectively; the vehicle controller is configured to, after receiving the target vehicle speed input by the user, obtain the current vehicle speed collected by the transmission speed sensor assembly, and when the current vehicle speed is not equal to the target vehicle speed, increase / decrease the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed; the engine control module is configured to adjust the rotation speed of the travel motor according to the increased / decreased throttle percentage; the vehicle controller is further configured to, when detecting a change in the rotation speed of the travel motor, obtain the real-time vehicle speed collected by the transmission speed sensor assembly, and when the real-time vehicle speed is equal to the target vehicle speed, control the vehicle to enter the cruise control mode, solving the problem that the existing cruise control system requires the vehicle to have an initial speed and often has difficulty in accurately outputting the throttle signal, resulting in the ineffectiveness of the existing cruise control system when the vehicle is stationary and the inability to travel at the preset target vehicle speed, and can realize accurately controlling the vehicle to travel at the target vehicle speed, expanding the application scenario of the cruise control system.

[0043] Embodiment 2

[0044] Figure 2 It is a schematic structural diagram of another cruise control system provided according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments.

[0045] As Figure 2 shown, a cruise control system disclosed in this embodiment includes: a vehicle controller 11, a travel control subsystem 12, and a transmission speed sensor assembly 13.

[0046] Among them, the travel control subsystem 12 includes an engine control module 201, a travel motor 202, an engine 203, and a pumping device 204. The engine 203 is electrically connected to the engine control module 201 and the pumping device 204 respectively, and the pumping device 204 is also electrically connected to the travel motor 202.

[0047] In this embodiment, the engine 203 can adjust its speed according to the throttle percentage input to the engine control module 201. The pumping device 204 can adjust the flow rate output to the travel motor 202 according to the speed of the engine 203. The travel motor 202 can be a variable displacement travel motor, such as a gear type variable motor and a piston type variable motor, etc. In practical applications, by setting the travel motor as a variable displacement travel motor, it is possible to adjust the speed of the travel motor according to the displacement of the pumping device without the need for a third-party device, simplifying the structure of the cruise control system.

[0048] Specifically, the vehicle controller 11 is specifically configured to, when the current vehicle speed is greater than the target vehicle speed, reduce the throttle percentage output to the engine control module 201 and the current output to the pumping device 204 according to the difference between the current vehicle speed and the target vehicle speed; and, when the current vehicle speed is less than the target vehicle speed, increase the throttle percentage output to the engine control module 201 and the current output to the pumping device 204 according to the difference between the current vehicle speed and the target vehicle speed; The engine 203 is configured to reduce the engine 203 speed according to the reduced throttle percentage when the throttle percentage output from the vehicle controller 11 to the engine control module 201 decreases; and, increase the engine 203 speed according to the increased throttle percentage when the throttle percentage output from the vehicle controller 11 to the engine control module 201 increases; The pumping device 204 is configured to reduce the flow rate output to the travel motor 202 to reduce the speed of the travel motor 202 when the current input to the vehicle controller 11 decreases and the engine 203 speed decreases; and, increase the flow rate output to the travel motor 202 to increase the speed of the travel motor 202 when the current input to the vehicle controller 11 increases and the engine 203 speed increases.

[0049] In a specific embodiment, when the current vehicle speed is greater than the target vehicle speed, the throttle percentage reduction amount and the current reduction amount can be determined according to the difference between the current vehicle speed and the target vehicle speed, and the throttle percentage output to the engine control module 201 and the current output to the pumping device 204 can be reduced according to the throttle percentage reduction amount and the current reduction amount. Then, the engine speed reduction value can be determined according to the throttle percentage reduction amount, and the speed of the travel motor 202 output can be reduced according to the current reduction amount and the engine speed reduction value.

[0050] When the current vehicle speed is less than the target vehicle speed, determine the increase amounts of the throttle percentage and the current according to the difference between the current vehicle speed and the target vehicle speed, and increase the throttle percentage output to the engine control module 201 and the current output to the pumping device 204 according to the increase amounts of the throttle percentage and the current. Then, the engine speed increase value can be determined according to the increase amount of the throttle percentage, and the speed output to the travel motor 202 can be increased according to the increase amount of the current and the engine speed increase value.

[0051] Optionally, as Figure 2 shown, the travel control subsystem 12 further includes a travel proportional solenoid valve 205 and a flow control valve 206, and the flow control valve 206 includes a travel spool (not shown in the figure); wherein, the travel proportional solenoid valve 206 is electrically connected to the vehicle controller 11 and the flow solenoid valve 206 respectively, and the flow solenoid valve 206 is also electrically connected to the pumping device 204 and the travel motor 202 respectively.

[0052] Specifically, the vehicle controller 11 is further configured to decrease the current output to the travel proportional solenoid valve 205 according to the difference between the current vehicle speed and the target vehicle speed when the current vehicle speed is greater than the target vehicle speed; and increase the current output to the travel proportional solenoid valve 205 according to the difference between the current vehicle speed and the target vehicle speed when the current vehicle speed is less than the target vehicle speed; the travel proportional solenoid valve 205 is configured to decrease the flow rate output to the flow solenoid valve 206 when the current input by the vehicle controller 11 decreases; and increase the flow rate output to the flow solenoid valve 206 when the current input by the vehicle controller 11 increases; the flow solenoid valve 206 is configured to decrease the opening degree of the travel spool (not shown in the figure) when the flow rate input by the travel proportional solenoid valve 205 decreases, so as to control the flow rate output from the pumping device 204 to the travel motor 202; and increase the opening degree of the travel spool (not shown in the figure) when the flow rate input by the travel proportional solenoid valve 205 increases, so as to control the flow rate output from the pumping device 204 to the travel motor 202.

[0053] In a specific embodiment, when the current vehicle speed is greater than the target vehicle speed, the decrease current amount output to the travel proportional solenoid valve 205 can be determined according to the difference between the current vehicle speed and the target vehicle speed, and the current output to the travel proportional solenoid valve 205 can be decreased according to the decrease current amount. Then, the flow rate output to the flow solenoid valve 206 can be decreased according to the decrease current amount, and the opening degree of the travel spool (not shown in the figure) can be decreased according to the decreased flow rate output to the flow solenoid valve 206, so as to decrease the flow rate output from the pumping device 204 to the travel motor 202.

[0054] When the current vehicle speed is less than the target vehicle speed, determine the increased current flow output to the travel proportional solenoid valve 205 according to the difference between the current vehicle speed and the target vehicle speed, and increase the current output to the travel proportional solenoid valve 205 according to the increased current flow. Then, according to the increased current flow, increase the flow rate output to the flow solenoid valve 206, and according to the increased flow rate output to the flow solenoid valve 206, increase the opening degree of the travel spool (not shown in the figure) to increase the flow rate output from the pumping device 204 to the travel motor 202.

[0055] The advantage of this setting is that by adding a travel proportional solenoid valve and a flow control valve in the travel control subsystem, it is possible to adjust the speed of the travel motor only by adjusting the current output to the travel proportional solenoid valve, or by simultaneously adjusting the throttle percentage output to the engine control module and the current output to the travel proportional solenoid valve, thereby improving the accuracy of adjusting the speed of the travel motor, and further ensuring that the vehicle can travel at the target vehicle speed.

[0056] Optionally, the vehicle controller 11 is further configured to, after obtaining the current vehicle speed collected by the transmission speed sensor assembly 13, determine whether the current vehicle speed is greater than a first speed threshold, and output a prompt message indicating that the current vehicle speed does not meet the conditions for constant speed cruise when the current vehicle speed is greater than the first speed threshold.

[0057] Specifically, the vehicle controller 11 is further configured to determine whether the current vehicle speed is equal to the target vehicle speed when the current vehicle speed is less than or equal to the first speed threshold. Herein, the first speed threshold can be understood as the maximum vehicle speed capable of controlling the vehicle to enter the constant speed cruise mode.

[0058] The advantage of this setting is that by outputting a prompt message indicating that the current vehicle speed does not meet the conditions for constant speed cruise when the current vehicle speed is greater than the first speed threshold, it is possible to prevent the vehicle from entering the constant speed cruise mode when the vehicle speed is too high, ensuring the safety of vehicle driving.

[0059] Optionally, as Figure 2 shown, the constant speed cruise system further includes a constant speed cruise switch 14 and an instrument display 15, and the instrument display 15 is electrically connected to the constant speed cruise switch 14 and the vehicle controller 11 respectively.

[0060] Specifically, the vehicle controller 11 is configured to display the target vehicle speed input interface on the instrument display panel 15 when receiving a click operation of the user on the constant speed cruise switch 14, for the user to input the target vehicle speed in the target vehicle speed input interface.

[0061] Optionally, as Figure 2As shown, the cruise control system further includes an accelerator pedal position sensor 16 and a brake pressure sensor 17, and the accelerator pedal position sensor 16 and the brake pressure sensor 17 are electrically connected to the vehicle controller 11.

[0062] Specifically, the vehicle controller 11 is further configured to, when the vehicle is in the cruise control mode, if it receives a click operation on the cruise control switch 14, an accelerator signal sent by the accelerator pedal position sensor 16, or a brake signal sent by the brake pressure sensor 17, control the vehicle to exit the cruise control mode, which simplifies the exit process of the cruise control mode and improves the driving experience of the user.

[0063] The technical solution of this embodiment can, by adding a travel proportional solenoid valve and a flow control valve to the travel control subsystem, achieve adjusting the speed of the travel motor only by adjusting the current output to the travel proportional solenoid valve, or adjusting the speed of the travel motor by simultaneously adjusting the throttle percentage output to the engine control module and the current output to the travel proportional solenoid valve, improving the accuracy of adjusting the speed of the travel motor, and thus ensuring that the vehicle can travel at the target vehicle speed. Secondly, by controlling the vehicle to exit the cruise control mode when receiving a click operation on the cruise control switch, an accelerator signal sent by the accelerator pedal position sensor, or a brake signal sent by the brake pressure sensor, the exit process of the cruise control mode is simplified, and the driving experience of the user is improved.

[0064] Embodiment III

[0065] Figure 3 It is a flowchart of a cruise control method provided according to Embodiment III of the present invention. This embodiment further refines the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments.

[0066] As Figure 3 shown, a cruise control method disclosed in this embodiment is executed by the vehicle controller in the cruise control system of any embodiment of the present invention, and the method includes:

[0067] S110. After receiving the target vehicle speed input by the user, obtain the current vehicle speed collected by the transmission speed sensor assembly, and when the current vehicle speed is not equal to the target vehicle speed, increase / decrease the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed.

[0068] In this step, specifically, it can be determined whether the current vehicle speed is greater than a first speed threshold, and when the current vehicle speed is greater than the first speed threshold, a prompt message indicating that the current vehicle speed does not meet the cruise control condition is output. When the current vehicle speed is less than or equal to the first speed threshold, it is determined whether the current vehicle speed is greater than the target vehicle speed.

[0069] Then, when the current vehicle speed is greater than the target vehicle speed, the throttle percentage output to the engine control module and the current output to the pumping device can be reduced according to the difference between the current vehicle speed and the target vehicle speed. When the current vehicle speed is less than the target vehicle speed, the throttle percentage output to the engine control module and the current output to the pumping device can be increased according to the difference between the current vehicle speed and the target vehicle speed.

[0070] Optionally, when the walking control subsystem of the cruise control system further includes a walking proportional solenoid valve and a flow control valve, when the current vehicle speed is greater than the target vehicle speed, the current output to the walking proportional solenoid valve can be reduced according to the difference between the current vehicle speed and the target vehicle speed; when the current vehicle speed is less than the target vehicle speed, the current output to the walking proportional solenoid valve can be increased according to the difference between the current vehicle speed and the target vehicle speed.

[0071] S120. When it is detected that the rotational speed of the walking motor has been adjusted according to the increased / decreased throttle percentage, obtain the real-time vehicle speed collected by the transmission speed sensor assembly, and when the real-time vehicle speed is equal to the target vehicle speed, control the vehicle to enter the cruise control mode.

[0072] In this step, specifically, the vehicle control unit can determine whether the real-time vehicle speed collected by the transmission speed sensor assembly is equal to the target vehicle speed when detecting a change in the rotational speed of the walking motor. If the real-time vehicle speed is not equal to the target vehicle speed, after using the real-time vehicle speed as the new current vehicle speed, return to perform the operation of increasing / decreasing the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed, until the real-time vehicle speed collected by the transmission speed sensor assembly is equal to the target vehicle speed, and then control the vehicle to cruise at the target vehicle speed.

[0073] Optionally, when the cruise control system includes a cruise control switch and an instrument display, when receiving a click operation on the cruise control switch by the user, the target vehicle speed input interface can be displayed on the instrument display panel for the user to input the target vehicle speed in the target vehicle speed input interface.

[0074] Optionally, when the cruise control system includes a throttle pedal position sensor and a brake pressure sensor, if the vehicle is in the cruise control mode and receives a click operation on the cruise control switch, a throttle signal sent by the throttle pedal position sensor, or a brake signal sent by the brake pressure sensor, then control the vehicle to exit the cruise control mode.

[0075] In the technical solution of this embodiment, after receiving the target vehicle speed input by the user, the current vehicle speed collected by the transmission speed sensor assembly is obtained. When the current vehicle speed is not the target vehicle speed, the throttle percentage output to the engine control module is increased / decreased according to the difference between the current vehicle speed and the target vehicle speed. When it is detected that the rotation speed of the travel motor has been adjusted according to the increased / decreased throttle percentage, the real-time vehicle speed collected by the transmission speed sensor assembly is obtained. When the real-time vehicle speed is equal to the target vehicle speed, the vehicle is controlled to enter the cruise control mode, solving the problem that the prior art requires the vehicle to have an initial speed and often difficult to accurately output the throttle signal, resulting in the existing cruise control system being ineffective when the vehicle is stationary and unable to travel at the preset target vehicle speed. It can accurately control the vehicle to travel at the target vehicle speed and expand the application scenario of the cruise control system.

[0076] To illustrate the cruise control method and its effects in the present invention in detail, the following takes a cruise control system as Figure 2 shown as an example for illustration: As Figure 4 shown, when receiving the click operation of the user on the cruise control switch, the target vehicle speed input interface can be displayed on the instrument display panel for the user to input the target vehicle speed in the target vehicle speed input interface. After receiving the target vehicle speed input by the user, the current vehicle speed collected by the transmission speed sensor assembly is obtained, and it is judged whether the current vehicle speed is greater than the first speed threshold. If the current vehicle speed is greater than the first speed threshold, a prompt message indicating that the current vehicle speed does not meet the cruise control condition is output. If the current vehicle speed is less than or equal to the first speed threshold, it is judged whether the current vehicle speed is equal to the target vehicle speed. If the current vehicle speed is equal to the target vehicle speed, the vehicle is controlled to perform cruise control driving. If the current vehicle speed is not equal to the target vehicle speed, it is judged whether the current vehicle speed is greater than the target vehicle speed.

[0077] If the current vehicle speed is greater than the target vehicle speed, the throttle pedal signal is blocked by the vehicle controller, and the throttle percentage output to the engine control module and the current output to the travel proportional solenoid valve are decreased. Then, the engine speed is reduced according to the decreased throttle percentage, and the flow rate output from the travel proportional solenoid valve to the flow solenoid valve is decreased according to the decreased current. Finally, according to the reduced engine speed, the flow rate output from the pumping device to the travel motor is decreased, and the opening degree of the travel spool in the flow solenoid valve is decreased according to the flow rate output from the travel proportional solenoid valve, thereby reducing the rotation speed of the travel motor.

[0078] If the current vehicle speed is less than the target vehicle speed, the vehicle control unit shields the accelerator pedal signal, and increases the accelerator percentage output to the engine control module and the current output to the travel proportional solenoid valve. Then, the engine speed is increased according to the increased accelerator percentage, and the flow rate output from the travel proportional solenoid valve to the flow solenoid valve is increased according to the increased current. Finally, according to the increased engine speed, the flow rate output from the pumping device to the travel motor is increased, and the opening degree of the travel spool in the flow solenoid valve is increased according to the flow rate output from the travel proportional solenoid valve, thereby increasing the speed of the travel motor.

[0079] Further, when the change in the speed of the travel motor is detected, it can be determined whether the current vehicle speed is equal to the target vehicle speed. If the current vehicle speed is equal to the target vehicle speed, the vehicle is controlled to perform a constant speed cruise. If the current vehicle speed is not equal to the target vehicle speed, the operation of determining whether the current vehicle speed is greater than the target vehicle speed is returned to until the current vehicle speed is equal to the target vehicle speed, and then the vehicle is controlled to perform a constant speed cruise. When the vehicle is controlled to perform a constant speed cruise, it is determined whether a click operation on the constant speed cruise switch, an accelerator signal sent by the accelerator pedal position sensor, or a brake signal sent by the brake pressure sensor is received. If a click operation on the constant speed cruise switch, an accelerator signal sent by the accelerator pedal position sensor, or a brake signal sent by the brake pressure sensor is received, the vehicle is controlled to exit the constant speed cruise. If a click operation on the constant speed cruise switch, an accelerator signal sent by the accelerator pedal position sensor, or a brake signal sent by the brake pressure sensor is not received, the vehicle is continuously controlled to perform a constant speed cruise.

[0080] The advantage of this setting is that by feeding back the current vehicle speed collected by the transmission speed sensor assembly to the vehicle control unit in real time, the vehicle control unit corrects the vehicle driving speed in real time, and uses the click operation on the constant speed cruise switch, the accelerator signal sent by the accelerator pedal position sensor, and the brake signal sent by the brake pressure sensor as the conditions for exiting the constant speed cruise mode, realizing the closed-loop control of the vehicle driving speed and improving the accuracy and stability of the constant speed cruise system.

[0081] Embodiment 4

[0082] Figure 5 shows a schematic structural diagram of a vehicle control unit for implementing the constant speed cruise method according to an embodiment of the present invention. As Figure 5As shown, the vehicle controller includes at least one processor 21 and a memory communicatively connected to the at least one processor 21, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 21 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or the computer program loaded from the storage unit 28 into the random access memory (RAM) 23. In the RAM 23, various programs and data required for the operation of the vehicle controller can also be stored. The processor 21, the ROM 22, and the RAM 23 are connected to each other through a bus 24. The input / output (I / O) interface 25 is also connected to the bus 24.

[0083] Multiple components in the vehicle controller are connected to the I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a disk, an optical disc, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the vehicle controller to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0084] The processor 21 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 21 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 21 executes the various methods and processes described above, such as the cruise control method.

[0085] In some embodiments, the cruise control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed onto the vehicle controller via the ROM 22 and / or the communication unit 29. When the computer program is loaded into the RAM 23 and executed by the processor 21, one or more steps of the cruise control method described above can be executed. Alternatively, in other embodiments, the processor 21 can be configured to execute the cruise control method by any other appropriate means (e.g., by means of firmware).

[0086] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0087] The computer program for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0088] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0089] To provide interaction with a user, the systems and techniques described herein can be implemented on a vehicle controller that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the vehicle controller. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0090] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0091] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0092] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0093] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cruise control system, characterized in that: The cruise control system includes: a vehicle controller, a travel control subsystem and a gearbox speed sensor assembly; Wherein, the travel control subsystem includes an engine control module and a travel motor, the vehicle controller is electrically connected to the engine control module and the gearbox speed sensor assembly respectively, and the travel motor is electrically connected to the engine control module and the gearbox speed sensor assembly respectively; The vehicle controller is used to obtain the current vehicle speed collected by the transmission speed sensor component after receiving the target vehicle speed input by the user, and when the current vehicle speed is not equal to the target vehicle speed, increase / decrease the throttle percentage output to the engine control module according to the difference between the current vehicle speed and the target vehicle speed; The engine control module is used to adjust the speed of the travel motor according to the increased / decreased throttle percentage; The vehicle controller is also used to obtain the real-time vehicle speed collected by the gearbox speed sensor component when a change in the speed of the travel motor is detected, and control the vehicle to enter a cruise control mode when the real-time vehicle speed is equal to the target vehicle speed.

2. The cruise control system according to claim 1, characterized in that: The travel control subsystem further comprises an engine and a pumping device, wherein the engine is electrically connected to the engine control module and the pumping device respectively, and the pumping device is also electrically connected to the travel motor; The vehicle controller is specifically used to reduce the throttle percentage output to the engine control module and the current output to the pumping device according to the difference between the current vehicle speed and the target vehicle speed when the current vehicle speed is greater than the target vehicle speed; as well as, When the current vehicle speed is less than the target vehicle speed, the throttle percentage output to the engine control module and the current output to the pumping device are increased according to the difference between the current vehicle speed and the target vehicle speed; The engine is used to reduce the engine speed according to the reduced throttle percentage when the throttle percentage output by the vehicle controller to the engine control module is reduced; and When the throttle percentage output by the vehicle controller to the engine control module increases, the engine speed is increased according to the increased throttle percentage; The pumping device is used to reduce the flow output to the travel motor when the current input to the vehicle controller decreases and the engine speed decreases, so as to reduce the speed of the travel motor; as well as, When the current input to the vehicle controller increases and the engine speed increases, the flow output to the travel motor increases to increase the speed of the travel motor.

3. The cruise control system according to claim 2, characterized in that: The walking control subsystem also includes a walking proportional solenoid valve and a flow control valve, and the flow control valve includes a walking valve core; Wherein, the travel proportional solenoid valve is electrically connected to the vehicle controller and the flow solenoid valve respectively, and the flow solenoid valve is also electrically connected to the pumping equipment and the travel motor respectively; The vehicle controller is further used to reduce the current output to the travel proportional solenoid valve according to the difference between the current vehicle speed and the target vehicle speed when the current vehicle speed is greater than the target vehicle speed; and When the current vehicle speed is less than the target vehicle speed, the current output to the travel proportional solenoid valve is increased according to the difference between the current vehicle speed and the target vehicle speed; The travel proportional solenoid valve is used to reduce the flow output to the flow solenoid valve when the current input to the vehicle controller decreases; and When the current input to the vehicle controller increases, the flow output to the flow solenoid valve increases; The flow solenoid valve is used to reduce the opening of the travel valve core when the flow input by the travel proportional solenoid valve decreases, so as to control the flow output from the pumping equipment to the travel motor; and When the flow rate input to the travel proportional solenoid valve increases, the opening of the travel valve core is increased to control the flow rate output from the pumping equipment to the travel motor.

4. The cruise control system according to claim 1, characterized in that: The cruise control system further includes a cruise control switch and an instrument display, wherein the instrument display is electrically connected to the cruise control switch and the vehicle controller respectively; The vehicle controller is also used to display a target vehicle speed input interface on the instrument display panel when receiving a click operation of the user on the cruise control switch, so that the user can input the target vehicle speed in the target vehicle speed input interface.

5. The cruise control system according to claim 4, characterized in that: The cruise control system further includes an accelerator pedal position sensor and a brake pressure sensor, both of which are electrically connected to the vehicle controller; The vehicle controller is also used to control the vehicle to exit the cruise control mode when the vehicle is in the cruise control mode if a user clicks the cruise control switch, a throttle signal sent by the accelerator pedal position sensor, or a brake signal sent by the brake pressure sensor is received.

6. The cruise control system according to any one of claims 1 to 5, characterized in that: The vehicle controller is also used to determine whether the current vehicle speed is greater than a first speed threshold after obtaining the current vehicle speed collected by the transmission speed sensor component, and when the current vehicle speed is greater than the first speed threshold, output a prompt message that the current vehicle speed does not meet the cruise control condition.

7. The cruise control system according to any one of claims 1 to 5, characterized in that: The travel motor is a variable travel motor.

8. A cruise control method, characterized in that: The method is executed by a vehicle controller in a cruise control system according to any one of claims 1 to 7, and the method comprises: After receiving the target vehicle speed input by the user, the current vehicle speed collected by the transmission speed sensor component is obtained, and when the current vehicle speed is not equal to the target vehicle speed, the throttle percentage output to the engine control module is increased / decreased according to the difference between the current vehicle speed and the target vehicle speed; When it is detected that the speed of the travel motor has been adjusted according to the increased / decreased throttle percentage, the real-time vehicle speed collected by the transmission speed sensor component is obtained, and when the real-time vehicle speed is equal to the target vehicle speed, the vehicle is controlled to enter the cruise control mode.

9. A vehicle controller, characterized in that: The vehicle controller comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the cruise control method according to claim 8.

10. A vehicle, characterized in that: The vehicle comprises: a cruise control system as described in any one of claims 1-7.

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