Method and device for predictive cruise control of vehicle, electronic equipment, vehicle and computer readable medium

Abstract

A method for predictive cruise control of a vehicle includes: specifying a cruise speed and an optimal cruise requirement; according to the road condition information of the road section ahead and the current driving dynamic condition, limited by the driving dynamic parameters, of the vehicle, the possible speed track of the vehicle on the road section ahead is determined, and the road condition information comprises gradient information, curvature information and speed limiting information; an optimal speed trajectory is selected from the possible speed trajectories, and the optimal speed trajectory corresponds to the speed trajectory with the minimum comprehensive cost under the condition that the optimal cruise requirement is met; the optimal speed trajectory is used as a target vehicle speed trajectory for predictive cruise control of the vehicle. According to the method, the optimal cruise speed and engine torque requirements can be comprehensively planned in combination with various road condition information, so that the optimal cruise requirements of at least saving energy consumption and / or saving time and / or avoiding excessive and overweight use of a service brake are met. An apparatus for predictive cruise control of a vehicle, an electronic device for predictive cruise control of a vehicle, a vehicle, and a computer readable medium are also disclosed.

Description

Method, apparatus, and electronic device for predictive cruise control of a vehicle, as well as a vehicle and a computer-readable medium Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a method, device, and electronic device for predictive cruise control of a vehicle, as well as a vehicle and a computer-readable medium. Background Art

[0002] In vehicles, especially commercial vehicles, the energy consumption used to drive the vehicle is a key factor affecting the overall economic benefits during long-distance transportation. In order to achieve the goal of saving energy consumption, a strategy of predictive cruise control for vehicles is proposed.

[0003] Predictive cruise control (PCC) for short distances based on vehicle environmental sensors such as radar and cameras exists, but it is limited to passenger vehicles. This is because, on the one hand, radar and cameras are expensive and rarely found in commercial vehicles; on the other hand, their detection range is short, typically only providing information about the road ahead within 200 meters. This is far from sufficient for commercial vehicles to achieve energy savings through PCC. Predictive cruise control based on map-based slope information is commonly used in commercial vehicles. However, this type of cruise control optimizes cruising speed based solely on the slope of the road ahead, without considering, for example, changes in curvature of the road ahead or changes in the speed limit, resulting in significant limitations in its scope of use.

[0004] Furthermore, current predictive cruise control systems in commercial vehicles typically do not control the vehicle's braking system, creating a safety hazard of speeding. To prevent this, for example, on long downhill slopes, the driver is required to frequently apply the service brakes, which results in significant mechanical wear on the service brakes.

[0005] Summary of the Invention

[0006] In view of this, an embodiment of the present invention provides a method and device for predictive cruise control of a vehicle. By utilizing this method or device, it is possible to combine various road condition information, especially provided by the vehicle's electronic map and identified by the vehicle's environmental sensors, to comprehensively plan the optimal cruise speed and engine torque requirements to meet the optimal cruise requirements of at least saving energy, saving time and avoiding excessive and heavy use of the service brakes.

[0007] To achieve the above object, according to one aspect of an embodiment of the present invention, a method for predictive cruise control of a vehicle is provided, characterized in that it includes the following steps:

[0008] Predetermine the cruising speed and optimal cruising requirements;

[0009] determining a possible speed trajectory of the vehicle on the road ahead based on road condition information of the road ahead and a current driving dynamic condition of the vehicle as defined by driving dynamic parameters, wherein the road condition information includes slope information, curvature information, and speed limit information;

[0010] selecting an optimal speed trajectory from possible speed trajectories, wherein the optimal speed trajectory corresponds to a speed trajectory with the minimum comprehensive cost while satisfying the optimal cruise requirement;

[0011] The optimal speed trajectory is used as a target vehicle speed trajectory for predictive cruise control of the vehicle.

[0012] Exemplarily, the method according to the present invention is used in a commercial vehicle, preferably a truck or bus for long-distance transport.

[0013] Cruising speed is the speed a vehicle should maintain during long-distance driving. Predictive cruise control allows the vehicle speed to temporarily exceed or fall below the cruising speed and then return to it to meet specific cruising requirements, such as accelerating before an uphill slope to save time, or decelerating before a downhill slope or a turn to save fuel and reduce the use of service brakes. Therefore, the predefined cruising speed also includes a predefined cruising speed with an upper and lower deviation, allowing the optimal speed trajectory selected during predictive cruise control to fluctuate within a certain range around the cruising speed.

[0014] The road condition information ahead includes terrain information, such as slope information and curvature information, and also includes speed limit information, such as speed limit zone signs or temporarily set speed limit signs.

[0015] The possible speed trajectory on the road ahead includes the following speed trajectory nodes. These speed trajectory nodes represent the possible speed values ​​of the vehicle at various points on the road ahead. The speed trajectory nodes constitute the set of speed trajectories of the vehicle as it passes through the road ahead. The determination of speed trajectory nodes depends not only on road condition information such as slope, curvature, and speed limit information, but also on the vehicle's current driving dynamics, namely its current speed and its ability to accelerate or decelerate at its current location.

[0016] The optimal speed trajectory is a speed trajectory that minimizes overall cost while meeting optimal cruising requirements. Examples include an uphill speed trajectory that saves time, a downhill speed trajectory that saves fuel and / or eliminates the use of service brakes, and a downhill speed trajectory that saves fuel and eliminates the use of service brakes while maintaining a curvature. "Overall cost" means that multiple costs are considered, such as at least one of time, fuel, and service brake usage.

[0017] According to the present invention, the vehicle speed at each vehicle position along the optimal speed trajectory is used as a target speed for predictive cruise control of the vehicle. This target speed can further be used to control the vehicle so that the current vehicle speed matches the cruising speed, meeting optimal cruising requirements. Controlling the vehicle includes controlling the vehicle's engine and / or transmission to set appropriate acceleration, and controlling the vehicle's brakes, particularly only controlling auxiliary brakes such as a retarder, to set appropriate deceleration. In other words, the method according to the present invention does not simply provide a recommended speed for presentation to the vehicle driver, but rather provides a target speed for predictive cruise control.

[0018] In a preferred embodiment, an upper and lower cruising speed limit are predefined, such that the vehicle speed is allowed to adapt to the cruising speed within the upper and lower cruising speed limits. This limits the fluctuation range of the cruising speed, allowing the vehicle to follow the predefined cruising speed as closely as possible.

[0019] For example, the upper and lower cruising speed limits are predefined by the driver or automatically defined by the vehicle's predictive cruise control electronics.

[0020] In a preferred embodiment, the optimal cruise requirement includes at least one of the following: energy conservation, time conservation, and reduced use of service brakes. This allows adaptive cruise control when multiple road condition information, such as slope information, curvature information, and speed limit information, is superimposed on the road ahead.

[0021] For example, when the road ahead is downhill, it is desirable to save energy and reduce the use of the service brakes; when the road ahead is uphill, it is desirable to save energy and save time; and when the road ahead is a curved route (such as a bend or lane change), it is desirable to reduce the use of the service brakes. Alternatively, the driver can predetermine the optimal cruise requirement for the road ahead based on experience. Alternatively, the vehicle's predictive cruise control electronics can predetermine the optimal cruise requirement for the road ahead based on a pre-set strategy.

[0022] In a preferred embodiment, road condition information is provided by the vehicle's electronic map and environmental sensors. The vehicle's electronic map provides road condition information for a considerable distance ahead, enabling more accurate and comprehensive predictive cruise planning. The vehicle's environmental sensors provide real-time road condition information. For example, if the vehicle ahead is too close, a new speed limit sign is added, or the road's course changes, the vehicle's radar or cameras can provide the latest road condition information.

[0023] In a preferred embodiment, the vehicle's driving dynamics parameters include the following: vehicle mass, current position, current speed, current maximum available drive torque, and current maximum available braking torque. The vehicle's driving dynamics parameters, if applicable in conjunction with road conditions information, can thus define the vehicle's current driving dynamics, i.e., how quickly the vehicle can decelerate or accelerate at its current position and speed.

[0024] The vehicle's lateral acceleration is considered when calculating the current maximum available driving torque and the current maximum available braking torque. The vehicle's lateral acceleration can be determined by detecting the yaw rate generated by the vehicle's steering wheel. Alternatively, only the braking torque generated by the vehicle's auxiliary brakes, such as a retarder, is considered when calculating the current maximum available braking torque.

[0025] In a preferred embodiment, a cost function is calculated for each possible speed trajectory, and the speed trajectory with the minimum cost function value is selected as the optimal speed trajectory. At least one calculation coefficient of the cost function is determined based on the optimal cruise requirement. The calculation coefficient of the cost function depends on at least one of the optimal cruise requirements. Minimizing the cost function value means that the overall cost of meeting these requirements is minimized. Thus, the selected optimal speed trajectory corresponds to the speed trajectory that meets the optimal cruise requirement with the minimum overall cost.

[0026] In a preferred embodiment, it is provided that, in order to calculate the optimal speed trajectory, the vehicle energy consumption function is weighted with a first calculation coefficient and the driving time function is weighted with a second calculation coefficient.

[0027] Exemplarily, the vehicle energy consumption function is a function related to vehicle energy consumption, which is interpolated from an engine fuel consumption map based on engine torque and engine speed. The first calculation coefficient corresponds to the weighting of energy savings within the optimal cruise requirement. The driving time function is a function related to the average vehicle speed. The second calculation coefficient corresponds to the weighting of time savings within the optimal cruise requirement.

[0028] In the preferred embodiment, it is additionally provided that, in order to calculate the optimal speed trajectory, an acceleration function related to vehicle acceleration is additionally weighted by a third calculation coefficient. The third calculation coefficient corresponds to the weight of reducing the use of service brakes in the optimal cruising requirement.

[0029] According to another aspect of an embodiment of the present invention, there is provided an apparatus for predictive cruise control of a vehicle, characterized by comprising:

[0030] A preset module, the preset module being used to preset a cruising speed and an optimal cruising requirement;

[0031] a calculation module, the calculation module being configured to determine possible speed trajectories of the vehicle on the road ahead based on road condition information of the road ahead and a current driving dynamic condition of the vehicle as defined by driving dynamic parameters, wherein the road condition information includes slope information, curvature information, and speed limit information, and the calculation module being further configured to select an optimal speed trajectory from the possible speed trajectories, wherein the optimal speed trajectory corresponds to a speed trajectory with a minimum overall cost while satisfying the optimal cruising requirement;

[0032] An output module is configured to use the optimal speed trajectory as a target vehicle speed trajectory for predictive cruise control of the vehicle.

[0033] According to another aspect of an embodiment of the present invention, there is provided an electronic device for predictive cruise control of a vehicle, characterized by comprising:

[0034] one or more processors;

[0035] a storage device for storing one or more programs,

[0036] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for predictive cruise control of a vehicle according to the present invention.

[0037] According to another aspect of an embodiment of the present invention, a vehicle is provided, which has an electronic map and an environmental sensor, wherein the vehicle has an electronic device for predictive cruise control of the vehicle according to the present invention.

[0038] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored, wherein when the program is executed by a processor, the method for predictive cruise control of a vehicle according to the present invention is implemented.

[0039] The advantages or beneficial effects described with respect to the method for predictive cruise control of a vehicle according to the invention also apply to the electronic device for predictive cruise control of a vehicle according to the invention, the vehicle according to the invention and the computer-readable medium according to the invention.

[0040] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0042] FIG1 is a vehicle according to an embodiment of the present invention;

[0043] FIG2 a shows an optimal cruising speed trajectory planned in a road condition with a slope change according to an embodiment of the present invention;

[0044] FIG2 b is an optimal cruising speed trajectory planned in a road condition with curvature variation according to an embodiment of the present invention;

[0045] FIG2 c is an optimal cruising speed trajectory planned in a road condition with a speed limit change according to an embodiment of the present invention;

[0046] FIG3 is a schematic diagram illustrating an exemplary method of selecting an optimal cruising speed trajectory through a dynamic programming algorithm;

[0047] FIG4 is a schematic diagram of the main flow of a method for predictive cruise control of a vehicle according to the present invention;

[0048] FIG. 5 is a schematic diagram of main modules of an apparatus for predictive cruise control of a vehicle according to the present invention. DETAILED DESCRIPTION

[0049] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0050] FIG1 illustrates a vehicle 100 according to an embodiment of the present invention, such as a commercial vehicle, preferably a truck or bus used for long-distance transport. Vehicle 100 is preferably an internal combustion engine-powered vehicle equipped with an engine 1 and a transmission 2. Vehicle 100 is also equipped with brakes, such as a service brake 3 and an auxiliary brake, such as a retarder 4. For vehicles equipped with a retarder 4, for example, when traveling downhill, the retarder 4 is typically used as a braking mechanism to reduce or maintain vehicle speed over a long period of time and to reduce or relieve the load on the service brake 3, thereby minimizing brake pad wear.

[0051] Vehicle 100 has an electronic map 5 that provides road condition information for the road ahead, which may be hundreds or even thousands of meters. This road condition information takes into account the terrain, such as uphill slopes, flat roads, downhill slopes, and changes in curvature, but also speed limits. Vehicle 100 has environmental sensors that can provide the distance to the vehicle ahead and, if an electronic map is unavailable, provide road condition information for the road ahead, for example, within 200 meters, as an alternative. Alternatively, they can supplement the electronic map by providing up-to-date road condition information, such as temporary changes in the curvature radius of the road ahead or temporary speed limit signs. Examples of environmental sensors include radar 6 and / or camera 7.

[0052] Vehicle 100 also includes electronic equipment or devices 200 for predictive cruise control, such as a predictive cruise control device (PECC). Electronic equipment or devices 200 are used to plan an optimal speed trajectory within a predetermined cruising speed range and use it as a target speed trajectory for predictive cruise control of the vehicle. The target speed trajectory is ultimately used to generate signals for controlling the engine 1, transmission 2, service brake 3, and retarder 4 to match the current vehicle speed to the predetermined cruising speed to meet optimal cruising requirements, wherein the optimal cruising requirements include energy savings, time savings, and reduced use of the service brake.

[0053] Figures 2a through 2c illustrate three exemplary road conditions and the optimal speed trajectories planned for each of these conditions according to an embodiment of the present invention. In these figures, the abscissa represents vehicle position, and the ordinates v_max, v_set, and v_min represent vehicle speed and / or a_y represents vehicle lateral acceleration (see Figure 2b). v_set represents a predetermined cruising speed (e.g., set by the user or the system), v_max represents the upper cruising speed limit, and v_min represents the lower cruising speed limit. Figure 2b also illustrates maximum lateral acceleration and comfort lateral acceleration. The speed and acceleration values ​​in each figure are provided as examples. Furthermore, a conventional cruise control speed trajectory and an optimal cruise speed trajectory according to the present invention are shown. Within the upper cruising speed limit v_max and the lower cruising speed limit v_min, an optimal cruise speed trajectory is determined using a dynamic programming algorithm. This optimal cruise speed trajectory minimizes the overall cost of meeting optimal cruise requirements between vehicle positions. The vehicle speed at each vehicle position on the optimal cruise speed trajectory serves as the target speed v_tar for the predictive cruise control system.

[0054] Figure 2a shows a road condition with a varying slope ahead, where the electronic map 1 and / or the environmental sensor 2 provide information about the road condition ahead, which includes an uphill, flat, and downhill slope. The optimal cruising speed trajectory planned by the electronic device 200 using the dynamic programming algorithm includes the following six sub-segments:

[0055] 1. Before reaching an uphill slope, based on the actual road gradient and other conditions, the target vehicle speed v_tar is increased in advance to exceed the cruising speed v_set to accumulate more kinetic energy. During acceleration, the engine remains within the high-efficiency operating range.

[0056] 2. During the uphill process, the target vehicle speed v_tar gradually decreases, and the previously accumulated kinetic energy gradually converts into potential energy, reducing the engine output;

[0057] 3. If the road ahead has no uphill or downhill gradient changes within a certain range, that is, it is a flat road, the target speed v_tar is always equal to the cruising speed v_set;

[0058] 4. Before reaching a downhill slope, the target vehicle speed v_tar is reduced in advance, and if necessary, neutral or engaged coasting is adopted, thereby saving unnecessary fuel consumption;

[0059] 5. During downhill driving, the target speed v_tar is frozen and maintained at the smaller value corresponding to the slope between the upper limit v_max and the lower limit v_min of the cruising speed, and the engine output torque is stopped to avoid unnecessary engine fuel injection. If the vehicle speed is too high, the braking will be gradually increased (preferably using the retarder) to prevent the vehicle from exceeding the speed limit.

[0060] 6. After driving downhill, gradually restore the target vehicle speed v_tar to the cruising speed v_set.

[0061] Compared with traditional cruise control, the predictive cruise control of the present invention saves time during the entire uphill process by ensuring that the average target vehicle speed v_tar is greater than the predetermined cruising speed v_set; and saves fuel consumption and reduces mechanical wear of the service brake during the entire downhill process.

[0062] Figure 2b shows a road condition where the road ahead has varying curvature, namely a leftward curve (positive curvature) and a rightward curve (negative curvature). Regardless of whether the curvature of the road ahead is positive or negative, the method and process for predicting the cruising speed are the same. The optimal cruising speed trajectory planned by the electronic device 200 using the dynamic programming algorithm includes the following three sub-segments:

[0063] 1. When a curvature change in the road ahead is predicted, the target vehicle speed v_tar is gradually reduced from the cruising speed v_set in advance, so that the vehicle reaches the speed corresponding to the ("comfortable") lateral acceleration before turning, avoiding unnecessary braking;

[0064] 2. During cornering, the vehicle can safely and comfortably negotiate corners at the target speed v_tar without causing a rollover or triggering the vehicle's Electronic Stability Control (ESC) system.

[0065] 3. After turning, the target vehicle speed v_tar is appropriately increased to the cruising speed v_set.

[0066] Compared to traditional cruise control, the predictive cruise control of this invention maintains the engine within a high-efficiency operating range throughout the entire cornering process using a target vehicle speed optimized by dynamic programming. Preemptively reducing the vehicle to a lower entry speed before each corner enhances vehicle stability. This ensures driver safety and comfort during cornering while minimizing speed loss, saving fuel and reducing mechanical wear on the service brakes.

[0067] FIG2c shows a road condition where the road ahead has a speed limit change. The optimal speed trajectory planned by the electronic device 200 using the dynamic programming algorithm includes the following three sub-segments:

[0068] 1. Before reaching the speed limit area, the target vehicle speed v_tar is reduced from the cruising speed v_set to the speed limit in advance, wherein the retarder 4 or even the service brake is operated to decelerate if necessary;

[0069] 2. Within the speed limit zone, make the target speed v_tar equal to the speed limit;

[0070] 3. After exiting the speed limit zone, the target vehicle speed v_tar is appropriately increased to the cruising speed v_set, wherein the engine remains in a high-efficiency operating range during the acceleration process.

[0071] Compared with the traditional cruise control, the predictive cruise control of the present invention ensures that the speed limit requirement is always met in the speed limit zone during the entire process of passing through the speed limit zone, saves fuel consumption and reduces the mechanical wear of the service brake.

[0072] Figure 3 shows a schematic diagram of selecting an optimal velocity trajectory using a dynamic programming algorithm. The horizontal axis represents position, and the vertical axis represents velocity. The circles in the figure are velocity nodes, which represent the possible velocities at that position.

[0073] For the entire road section from P0 to P4, the cost function values ​​for two connected nodes within each of the four sub-segments are sequentially calculated. From the possible speed trajectories between the upper cruising speed limit v_max and the lower cruising speed limit v_min, a dynamic programming algorithm is used to select the optimal speed trajectory—the one with the lowest cost function value—and use the speed of this optimal speed trajectory at each vehicle position as the target speed v_tar for predictive cruise control. For example, the optimal speed trajectory, V0-V12-V22-V13-V14, is the one with the lowest cost function value for the entire road section from P0 to P4, as indicated by the thick solid line.

[0074] As described according to the three road conditions in Figures 2a to 2c, the cost function needs to consider cost factors including fuel consumption, time consumption, vehicle occupant comfort, use of service brakes, etc. Preferably, the cost function is used: W1*f_FC+W2*f_T+W3*f_a.

[0075] The first term of the cost function includes the vehicle energy consumption function f_FC, which is associated with the fuel consumption cost factor, and a first calculation coefficient W1. The second term of the cost function, W2*f_T, includes the driving time function f_T, which is associated with the time consumption cost factor, and a second calculation coefficient W2. The third term of the cost function includes the acceleration function f_a, which is associated with the vehicle occupant comfort and the use of the service brakes cost factors, and a third calculation coefficient W3 corresponding to the weight of vehicle acceleration.

[0076] The calculation coefficients W1, W2 and W3 are given by the vehicle's predictive cruise control electronic equipment based on optimal cruising requirements and actual usage, taking into account the following given strategies: if more attention is paid to fuel consumption during vehicle transportation and fuel saving is more important, the first calculation coefficient W1 is increased; if saving time is more important, the second calculation coefficient W2 is increased; if more care is given to comfort, the third calculation coefficient W3 is increased to avoid excessive and heavy braking.

[0077] Additionally, if the goal is to minimize deviations from the cruising speed to achieve a consistent cruising speed, the cruising speed fluctuation can be factored into the cost function for calculating the optimal speed trajectory. For example, the absolute value of the difference between the speed value at each node and the cruising speed can be calculated and multiplied by the fourth calculation coefficient to form the fourth term in the cost function.

[0078] According to the present invention, the road ahead can be divided into several equal parts or divided into sections based on points where one or more road information changes. For the sloped road condition shown in Figure 2a, six sub-segments can be set. If multiple road conditions are superimposed, for example, the slope change shown in Figure 2a and the curvature change shown in Figure 2b, six sub-segments can be set based on the slope change shown in Figure 2a. The corresponding curvature can be calculated at each slope change point to plan the optimal cruising speed trajectory based on the optimal cruising requirements. Alternatively, corresponding sub-segments can be set based on the curvature change points shown in Figure 2b, and the corresponding slope can be calculated at each curvature change point.

[0079] FIG4 is a schematic diagram of the main process of the method for predictive cruise control of a vehicle according to the present invention. The method according to the present invention comprises the following steps:

[0080] Step S101: A cruising speed v_set and an optimal cruising requirement are predefined. Preferably, an upper cruising speed limit v_max and a lower cruising speed limit v_min are also predefined, so that the vehicle's cruising speed can fluctuate within these limits. Preferably, the optimal cruising requirement includes energy conservation and / or time savings, and / or improving occupant comfort by avoiding excessive and heavy use of the service brakes.

[0081] Step S102: Determine the possible speed trajectory of the vehicle on the road ahead based on road condition information of the road ahead and the vehicle's current driving dynamics as defined by driving dynamic parameters. The road condition information includes slope information, curvature information, and speed limit information. Preferably, the road condition information is provided by the vehicle's electronic map and environmental sensors. Preferably, the vehicle's driving dynamic parameters include: vehicle mass, current position, current speed, current maximum available driving torque, and current maximum available braking torque.

[0082] Step S103: Based on the optimal cruise requirement, an optimal speed trajectory is selected from the possible speed trajectories, wherein the optimal speed trajectory corresponds to the speed trajectory with the lowest overall cost while meeting the optimal cruise requirement. Optionally, a cost function is calculated for each possible speed trajectory, and the speed trajectory with the lowest cost function value is selected as the optimal speed trajectory, wherein at least one calculation coefficient of the cost function is determined based on the optimal cruise requirement. Preferably, to calculate the optimal speed trajectory, the vehicle energy consumption function f_FC is weighted by a first calculation coefficient W1, and the driving time function f_T is weighted by a second calculation coefficient W2. More preferably, the acceleration function f_a is also weighted by a third calculation coefficient W3.

[0083] Step S104: Using the optimal speed trajectory as the target vehicle speed trajectory for predictive cruise control of the vehicle.

[0084] FIG5 is a schematic diagram of the main modules of a device 200 for predictive cruise control of a vehicle according to the present invention. The device is preferably a predictive cruise control device (PECC), which includes:

[0085] The presetting module 201 is used to preset a cruising speed and an optimal cruising requirement.

[0086] A calculation module 202 is used to determine a possible speed trajectory of the vehicle on the road ahead based on road condition information of the road ahead and the current driving dynamics of the vehicle as defined by driving dynamic parameters, wherein the road condition information includes slope information, curvature information, and speed limit information, and the calculation module 202 is further used to select an optimal speed trajectory from the possible speed trajectories, wherein the optimal speed trajectory corresponds to a speed trajectory with the lowest overall cost while meeting the optimal cruising requirement.

[0087] The output module 203 is configured to use the optimal speed trajectory as a target vehicle speed trajectory for predictive cruise control of the vehicle.

[0088] According to the present invention, a computer-readable medium is further provided, on which a computer program is stored, wherein when the program is executed by a processor, the method for predictive cruise control of a vehicle according to the present invention is implemented.

[0089] It should be noted that the computer-readable medium described in the present invention may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0090] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0091] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for predictive cruise control of a vehicle, characterized in that The steps include: Preset cruising speed (v_set) and optimal cruising requirements; determining a possible speed trajectory of the vehicle on the road ahead based on road condition information of the road ahead and a current driving dynamic condition of the vehicle as defined by driving dynamic parameters, wherein the road condition information includes slope information, curvature information, and speed limit information; selecting an optimal speed trajectory from possible speed trajectories, wherein the optimal speed trajectory corresponds to a speed trajectory with the minimum comprehensive cost while satisfying the optimal cruise requirement; The optimal speed trajectory is used as a target vehicle speed trajectory for predictive cruise control of the vehicle.

2. The method according to claim 1, characterized in that An upper limit (v_max) and a lower limit (v_min) for the cruising speed are predefined, so that the vehicle speed is allowed to be adapted to the cruising speed (v_set) within the upper and lower limits of the cruising speed.

3. The method according to claim 1, characterized in that The optimal cruising requirement includes at least one of the following requirements: saving energy consumption, saving time, and reducing the use of service brakes.

4. The method according to claim 1, wherein The road condition information is provided by the vehicle's electronic map and the vehicle's environmental sensors.

5. The method according to claim 1, wherein The vehicle's driving dynamics parameters include: vehicle mass, current position, current vehicle speed, current maximum available drive torque, and current maximum available braking torque.

6. The method according to claim 1, characterized in that A cost function of each possible speed trajectory formed by the speed trajectory nodes is calculated, and a speed trajectory with a minimum cost function value is selected as the optimal speed trajectory, wherein at least one calculation coefficient of the cost function is determined according to the optimal cruise requirement.

7. The method according to claim 6, characterized in that To calculate the optimal speed trajectory, the vehicle energy consumption function (f_FC) is weighted with a first calculation coefficient (W1), and the driving time function (f_T) is weighted with a second calculation coefficient (W2).

8. The method according to claim 7, characterized in that In order to calculate the optimal velocity trajectory, the acceleration function (f_a) is additionally weighted with a third calculation factor (W3).

9. A device for predictive cruise control of a vehicle, characterized in that include: A preset module, the preset module being used to preset a cruising speed (v_set) and an optimal cruise requirement; a calculation module, the calculation module being configured to determine possible speed trajectories of the vehicle on the road ahead based on road condition information of the road ahead and a current driving dynamic condition of the vehicle as defined by driving dynamic parameters, wherein the road condition information includes slope information, curvature information, and speed limit information, and the calculation module being further configured to select an optimal speed trajectory from the possible speed trajectories, wherein the optimal speed trajectory corresponds to a speed trajectory with a minimum overall cost while satisfying the optimal cruising requirement; An output module is configured to use the optimal speed trajectory as a target vehicle speed trajectory for predictive cruise control of the vehicle.

10. An electronic device for predictive cruise control of a vehicle, characterized in that include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

11. A vehicle having an electronic map and an environmental sensor, characterized in that: The vehicle has the electronic device according to claim 9 or the electronic device according to claim 10 .

12. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images