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

Abstract

A method for predictive cruise control of a vehicle includes: pre-setting a cruise speed and optimal cruise requirements; determining possible speed trajectories of the vehicle on the upcoming road segment based on road condition information and the current driving dynamics of the vehicle, 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 the possible speed trajectories, wherein the optimal speed trajectory corresponds to the speed trajectory with the lowest overall cost while satisfying the optimal cruise requirements; and using the optimal speed trajectory as the target speed trajectory for predictive cruise control of the vehicle. This method can comprehensively plan the optimal cruise speed and engine torque demand by combining various road condition information to meet, at least, the optimal cruise requirements of saving energy and / or saving time and / or avoiding excessive use of the service brakes. 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

Technical Field

[0001] This invention relates to the field of vehicle control, and more particularly to a method, apparatus, and electronic device for predictive cruise control of a vehicle, as well as a vehicle and a computer-readable medium. Background Technology

[0002] In vehicles, especially commercial vehicles, energy consumption for driving the vehicle is a key factor affecting overall economic benefits during long-distance transportation. To achieve energy savings, a strategy of predictive cruise control for vehicles has been proposed.

[0003] Predictive cruise control based on vehicle environmental sensors such as radar and cameras exists for short-range applications, but it is only used in passenger vehicles. This is because, firstly, radar and cameras are expensive and rarely equipped in commercial vehicles; secondly, their detection range is limited, typically providing information only about 200 meters ahead, which is far from sufficient for the energy-saving purpose of predictive cruise control in commercial vehicles. In commercial vehicles, predictive cruise control based on map slope information is commonly used. However, this type of cruise control only optimizes the cruise speed based on the slope information of the road ahead, without considering changes in road curvature or speed limits, thus having significant limitations in its application.

[0004] Furthermore, current predictive cruise control systems in commercial vehicles typically do not control the vehicle's braking system, creating a potential safety hazard of speeding. To avoid this, for example, drivers need to frequently operate the service brakes during long downhill sections, resulting in significant mechanical wear on the service brakes. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a method and apparatus for predictive cruise control of a vehicle. Using this method or apparatus, various road condition information, especially those provided by the vehicle's electronic map and identified by the vehicle's environmental sensors, can be combined to comprehensively plan the optimal cruise speed and engine torque requirements, so as to meet at least the optimal cruise requirements of saving energy, saving time, and avoiding excessive use of the service brakes.

[0006] To achieve the above objectives, according to one aspect of the present invention, a method for predictive cruise control of a vehicle is provided, characterized by comprising the following steps:

[0007] Pre-defined cruise speed and optimal cruise requirements;

[0008] Based on the road condition information of the road segment ahead and the current driving dynamics of the vehicle as defined by the vehicle's driving dynamic parameters, the possible speed trajectory of the vehicle on the road segment ahead is determined. The road condition information includes slope information, curvature information, and speed limit information.

[0009] Select the optimal speed trajectory from the possible speed trajectories, wherein the optimal speed trajectory corresponds to the speed trajectory with the lowest overall cost while satisfying the optimal cruise requirements;

[0010] The optimal speed trajectory is used as the target vehicle speed trajectory for predictive cruise control of the vehicle.

[0011] For example, the method according to the invention is used for commercial vehicles, preferably trucks or buses used for long-distance transportation.

[0012] Cruise speed is the speed a vehicle maintains during long-distance travel. For predictive cruise control, in order to meet specific cruise requirements, such as the desire to accelerate in advance before going uphill to save time, or the desire to decelerate in advance before going downhill or turning to save fuel and reduce the use of the service brake, the vehicle speed is allowed to temporarily exceed or fall below the cruise speed and then return to the cruise speed. Therefore, the pre-set cruise speed also includes a pre-set cruise speed with upper and lower deviations, so that the optimal speed trajectory selected in predictive cruise control can fluctuate within a certain range around the cruise speed.

[0013] The road condition information ahead includes terrain information, such as slope and curvature information, as well as speed limit information, such as speed limit zone signs or temporary speed limit signs.

[0014] The possible speed trajectories on the road ahead include the following speed trajectory nodes. These speed trajectory nodes represent the possible speed values ​​of the vehicle at various points along the road ahead. The nodes of the speed trajectory constitute a 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 acceleration or deceleration capability at its current position.

[0015] The optimal speed trajectory is the speed trajectory with the lowest overall cost while meeting optimal cruising requirements. Examples include a time-saving uphill speed trajectory, a fuel-saving downhill speed trajectory and / or one that does not use the service brakes, and a fuel-saving downhill speed trajectory with curvature changes that does not use the service brakes. "Overall cost" means that at least one of several costs is considered, such as time cost, fuel cost, and service brake usage cost.

[0016] According to the present invention, the vehicle speed at each vehicle position along the optimal speed trajectory is used as the target speed for predictive cruise control of the vehicle. This target speed can further be used to drive the vehicle so that the current speed matches the cruise speed in a way that satisfies the optimal cruise requirements. Driving the vehicle includes driving the vehicle's engine and / or transmission to set appropriate acceleration, and driving the vehicle's brakes, particularly auxiliary brakes such as retarders, to set appropriate deceleration. In other words, the method according to the present invention does not merely provide a recommended speed to the vehicle driver, but rather provides a target speed for predictive cruise control.

[0017] In a preferred embodiment, an upper and lower limit for the cruise speed are predefined, allowing the vehicle speed to match the cruise speed within the upper and lower limits. This limits the range of cruise speed fluctuations, enabling the vehicle to follow the predefined cruise speed as closely as possible.

[0018] For example, the upper and lower limits of the cruise speed are pre-defined by the driver or automatically defined by the vehicle's predictive cruise control electronics.

[0019] In a preferred embodiment, the optimal cruise requirement includes at least one of the following: energy saving, time saving, and reduced use of the service brakes. Thus, when multiple road condition information is superimposed on the road ahead, such as gradient information, curvature information, and speed limit information, the desired cruise requirement can be adaptively set.

[0020] 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 time; when the road ahead is a curved section (e.g., a curve or lane change), it is desirable to reduce the use of the service brakes. Optionally, the driver pre-determines the optimal cruise requirements for the road ahead based on experience. Alternatively, the electronic equipment for predictive cruise control of the vehicle pre-determines the optimal cruise requirements for the road ahead according to a pre-set strategy.

[0021] In a preferred embodiment, traffic information is provided by the vehicle's electronic map and environmental sensors. The vehicle's electronic map provides traffic information over a longer distance ahead, enabling more accurate and comprehensive predictive cruise planning. The vehicle's environmental sensors provide real-time traffic information, such as when the distance to the vehicle ahead is too close, a new speed limit sign is added, or the road direction changes; this latest traffic information can be obtained through the vehicle's radar or cameras.

[0022] In a preferred embodiment, the following parameters are used as vehicle driving dynamics parameters: vehicle mass, current position, current speed, current maximum available driving torque, and current maximum available braking torque. Thus, the current driving dynamics of the vehicle can be defined by these parameters, and if necessary, by incorporating road condition information; that is, for example, how quickly the vehicle can decelerate or accelerate from its current position and current speed.

[0023] When calculating the current maximum available driving torque and the current maximum available braking torque, the vehicle's lateral acceleration is considered. The vehicle's lateral acceleration can be determined by detecting the yaw rate generated by the vehicle's steering wheel. Alternatively, when calculating the current maximum available braking torque, only the braking torque generated by the vehicle's auxiliary brakes, such as a retarder, is considered.

[0024] In a preferred embodiment, a cost function is calculated for each possible speed trajectory, and the speed trajectory with the smallest 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 requirements. The calculation coefficient of the cost function depends on at least one of the optimal cruise requirements; minimizing the cost function value means minimizing the overall cost of meeting these requirements. Therefore, the selected optimal speed trajectory corresponds to the speed trajectory that meets the optimal cruise requirements with the minimum overall cost.

[0025] In a preferred embodiment, 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.

[0026] For example, the vehicle energy consumption function is a function related to vehicle energy consumption, which is derived from engine torque and engine speed interpolated from an engine fuel consumption map. The first calculated coefficient corresponds to the weight of energy savings in the optimal cruise requirement. The driving time function is a function related to the vehicle's average speed. The second calculated coefficient corresponds to the weight of time savings in the optimal cruise requirement.

[0027] In the preferred embodiment described above, in order to calculate the optimal speed trajectory, the acceleration function related to the vehicle's acceleration is additionally weighted using a third calculation coefficient. This third calculation coefficient corresponds to the weighting of reducing the use of the service brakes in the optimal cruise requirement.

[0028] According to another aspect of the present invention, an apparatus for predictive cruise control of a vehicle is provided, characterized in that it comprises:

[0029] A pre-defined module, which is used to pre-determine the cruise speed and optimal cruise requirements;

[0030] The calculation module is used to determine the possible speed trajectory of the vehicle on the road ahead based on the road condition information of the road ahead and the current driving dynamics of the vehicle as defined by the vehicle's driving dynamic parameters. The road condition information includes slope information, curvature information and speed limit information. The calculation module is also used to select the optimal speed trajectory from the possible speed trajectories. The optimal speed trajectory corresponds to the speed trajectory with the lowest overall cost while meeting the optimal cruising requirements.

[0031] An output module is used to use the optimal speed trajectory as the target vehicle speed trajectory for predictive cruise control of the vehicle.

[0032] According to another aspect of the present invention, an electronic device for predictive cruise control of a vehicle is provided, characterized in that it comprises:

[0033] One or more processors;

[0034] Storage device for storing one or more programs.

[0035] 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.

[0036] According to another aspect of the present invention, a vehicle is provided having an electronic map and environmental sensors, characterized in that the vehicle has electronic equipment for predictive cruise control of the vehicle according to the present invention.

[0037] According to another aspect of the present invention, a computer-readable medium is provided having a computer program stored thereon, characterized in that, when the program is executed by a processor, it implements a method for predictive cruise control of a vehicle according to the present invention.

[0038] The advantages or beneficial effects described in 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.

[0039] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0040] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0041] Figure 1 It is a vehicle according to an embodiment of the present invention;

[0042] Figure 2a This is the optimal cruising speed trajectory planned in road conditions with varying gradients according to an embodiment of the present invention;

[0043] Figure 2b This is the optimal cruising speed trajectory planned in road conditions with curvature variations according to an embodiment of the present invention;

[0044] Figure 2c This is the optimal cruising speed trajectory planned in road conditions with varying speed limits according to an embodiment of the present invention;

[0045] Figure 3 This is an exemplary diagram illustrating the selection of the optimal cruising speed trajectory using a dynamic programming algorithm.

[0046] Figure 4 This is a schematic diagram of the main flow of the predictive cruise control method for vehicles according to the present invention;

[0047] Figure 5 This is a schematic diagram of the main modules of the predictive cruise control device for a vehicle according to the present invention. Detailed Implementation

[0048] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0049] Figure 1 A vehicle 100 according to an embodiment of the present invention is shown, such as a commercial vehicle, preferably a truck or bus for long-distance transportation. Vehicle 100 is preferably an internal combustion engine-driven vehicle, equipped with an engine 1 and a transmission 2. Vehicle 100 is also equipped with brakes, including, for example, a service brake 3 and an auxiliary brake, such as a retarder 4. For vehicles equipped with a retarder 4, for example when going downhill, in order to continuously reduce or maintain vehicle speed for a longer period and to reduce or relieve the load on the service brake 3, i.e., to minimize brake pad wear, the retarder 4 is typically used preferentially for braking.

[0050] Vehicle 100 has electronic grounding Figure 5It can provide road condition information for sections of road hundreds or even thousands of meters ahead. This road condition information takes into account terrain, such as uphill, flat, downhill, and changes in curvature, but also speed limits. Vehicle 100 has environmental sensors that can provide distance to the vehicle ahead, and as an alternative to electronic maps when they are unavailable, provide road condition information for, for example, up to 200 meters ahead, or supplement electronic maps to provide up-to-date road condition information, such as temporary changes in the radius of curvature of the road ahead or temporary speed limit signs. Environmental sensors include, for example, radar 6 and / or cameras 7.

[0051] Vehicle 100 also includes electronic equipment or device 200 for predictive cruise control, such as a predictive cruise control device (PECC). The electronic equipment or device 200 is used to plan an optimal speed trajectory within a pre-given cruise speed range and use it as the target speed trajectory for predictive cruise control of the vehicle. The target speed trajectory is ultimately used to generate signals controlling engine 1, transmission 2, service brake 3, and retarder 4 to match the current vehicle speed to the pre-given cruise speed in a way that meets optimal cruise requirements, including energy saving, time saving, and reduced use of the service brake.

[0052] Figures 2a to 2c The figures illustrate three exemplary road conditions according to embodiments of the invention, along with the optimal speed trajectories planned for each. In these figures, the horizontal axis represents the vehicle position, and the vertical axes v_max, v_set, v_min represent the vehicle speed and / or a_y represent the vehicle's lateral acceleration (see figure). Figure 2b v_set is the pre-defined cruise speed (e.g., user or system setting), v_max is the upper limit of the cruise speed, and v_min is the lower limit of the cruise speed. Figure 2b Maximum lateral acceleration and comfortable lateral acceleration are also shown. In each figure, the speed and acceleration values ​​are given illustratively. Furthermore, a conventional cruise control speed trajectory and an optimal cruise speed trajectory according to the present invention are shown, wherein the optimal cruise speed trajectory is determined according to a dynamic programming algorithm within the upper boundary v_max and lower boundary v_min of the cruise speed, which has the lowest overall cost in satisfying the optimal cruise requirements between vehicle positions. The vehicle speed at each vehicle position on the optimal cruise speed trajectory is used as the target vehicle speed v_tar of the predictive cruise control system.

[0053] Figure 2a The image shows a road condition with a gradient change ahead, where the electronic ground... Figure 1 And / or environmental sensor 2 obtains road condition information indicating that the road ahead has an uphill-flat-downhill section. The optimal cruising speed trajectory planned by electronic device 200 using a dynamic programming algorithm includes the following six sub-segments:

[0054] 1. Before reaching the uphill section, based on the actual slope of the road and other conditions, the target vehicle speed v_tar is increased in advance to be higher than the cruising speed v_set in order to accumulate more kinetic energy. During the acceleration process, the engine is kept within the high-efficiency operating range.

[0055] 2. During the uphill process, the target vehicle speed v_tar gradually decreases, and the previously accumulated kinetic energy is gradually converted into potential energy, reducing the engine output;

[0056] 3. If there are no changes in slope or gradient within a certain range of the road ahead, i.e., it is a flat road section, then the target vehicle speed v_tar will always be equal to the cruising vehicle speed v_set;

[0057] 4. Before reaching the downhill section, reduce the target vehicle speed v_tar in advance, and if necessary, use neutral or geared coasting, which saves unnecessary fuel consumption;

[0058] 5. During downhill driving, the target vehicle speed v_tar is frozen and maintained at a smaller value corresponding to the gradient, between the upper boundary v_max and the lower boundary v_min of the cruising speed. Engine torque output is stopped to avoid unnecessary fuel injection. When the vehicle speed becomes too high, braking is gradually increased (preferably using the retarder) to prevent exceeding the speed limit.

[0059] 6. After driving downhill, gradually restore the target speed v_tar to the cruising speed v_set.

[0060] Compared with conventional cruise control, the predictive cruise control of this invention saves time by ensuring that the average target vehicle speed v_tar is greater than the pre-set cruise speed v_set during the entire uphill process; and saves fuel consumption and reduces mechanical wear on the service brakes during the entire downhill process.

[0061] Figure 2b The diagram illustrates road conditions with varying curvature ahead, specifically left curves (positive curvature) and right curves (negative curvature). Regardless of whether the road curvature is positive or negative, the method and process for predicting the cruise speed remain consistent. The optimal cruise speed trajectory planned by the electronic device 200 using a dynamic programming algorithm comprises the following three sub-segments:

[0062] 1. When a change in road curvature is predicted ahead, 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 cornering, avoiding unnecessary braking;

[0063] 2. During cornering, the vehicle can safely and "comfortably" corner at the target speed v_tar without causing a rollover or triggering the vehicle's electronic stability control (ESC) system.

[0064] 3. After cornering, increase the target speed v_tar appropriately until the cruising speed v_set is reached.

[0065] Compared to conventional cruise control, the predictive cruise control of this invention maintains the engine within a high-efficiency operating range throughout the cornering process by optimizing the target vehicle speed based on dynamic programming. Reducing the entry speed to a lower level before each corner enhances vehicle stability; it ensures driver safety and comfort during cornering while minimizing speed loss, saving fuel, and reducing mechanical wear on the service brakes.

[0066] Figure 2c The road ahead shows a change in speed limits. The optimal speed trajectory planned by electronic device 200 using a dynamic programming algorithm includes the following three sub-segments:

[0067] 1. Before reaching the speed limit zone, reduce the target vehicle speed v_tar from the cruise speed v_set to the speed limit in advance. If necessary, use the retarder 4 or even the service brake to slow down.

[0068] 2. Within the speed-limited zone, make the target vehicle speed v_tar equal to the speed limit;

[0069] 3. After exiting the speed-limited zone, appropriately increase the target vehicle speed v_tar until the cruising speed v_set, while keeping the engine within its high-efficiency operating range during acceleration.

[0070] Compared with conventional cruise control, the predictive cruise control of this invention ensures that the speed limit requirement is always met within the speed limit zone throughout the entire process of driving through the speed limit zone, while saving fuel consumption and reducing mechanical wear on the service brakes.

[0071] Figure 3 This diagram illustrates an example of selecting the optimal velocity trajectory using a dynamic programming algorithm. The horizontal axis represents position, and the vertical axis represents velocity. The circles in the diagram are velocity nodes, representing the possible velocities at that position.

[0072] Within the entire road segment from P0 to P4, the cost function values ​​of two connected nodes within each of the four sub-segments are calculated sequentially. From the possible speed trajectories between the upper boundary v_max and the lower boundary v_min of the cruising speed, a dynamic programming algorithm is used to select the optimal speed trajectory, i.e., the one with the smallest cost function value. The speed of this optimal trajectory at each vehicle position is then used as the target speed v_tar for predictive cruise control. For example, the minimum cost function value for the entire road segment from P0 to P4 corresponds to the optimal speed trajectory, which is the trajectory V0-V12-V22-V13-V14 marked with a thick solid line.

[0073] According to Figures 2a to 2c As described in the three road condition diagrams, the cost function needs to consider cost factors including fuel consumption, time consumption, vehicle passenger comfort, and the use of service brakes. Preferably, the cost function used is: W1*f_FC + W2*f_T + W3*f_a.

[0074] The first term of the cost function includes the vehicle energy consumption function f_FC, which is related to the cost factor of fuel consumption, 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 related to the cost factor of time consumption, and a second calculation coefficient W2. The third term of the cost function includes the acceleration function f_a, which is related to the cost factor of vehicle occupant comfort and the use of service brakes, and a third calculation coefficient W3 corresponding to the weight of vehicle acceleration.

[0075] The calculation coefficients W1, W2, and W3 are given by the vehicle's predictive cruise control electronics based on optimal cruise requirements and actual usage. The following given strategies are taken into account: if more attention is paid to fuel consumption during vehicle transport 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 attention is paid to comfort, the third calculation coefficient W3 is increased to avoid excessive braking.

[0076] Additionally, if the goal is to minimize deviations from the cruise speed to achieve the most uniform cruising speed possible, the magnitude of cruise speed fluctuations can be incorporated 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 cruise speed can be calculated and multiplied by a fourth calculation coefficient to form the fourth term of the cost function.

[0077] According to the present invention, the road segment ahead can be divided into several equal parts, or the segmentation point can be used as a point where one or more road information changes. Based on... Figure 2a In sloping road conditions, up to six sub-segments can be set. If multiple road conditions are superimposed, for example, based on... Figure 2a With slope variation and Figure 2b Even when two road conditions with varying curvatures are superimposed, they can still be treated as follows: Figure 2a The gradient change is set into 6 sub-segments, and the corresponding curvature is calculated at each gradient change point to plan the optimal cruising speed trajectory based on optimal cruising requirements; or it can be done according to... Figure 2b The corresponding sub-segments are set at the curvature change points, and then the corresponding slope is calculated at each curvature change point.

[0078] Figure 4 This is a schematic diagram of the main flow of a predictive cruise control method for a vehicle according to the present invention. The method according to the present invention includes the following steps:

[0079] Step S101: Pre-determine the cruise speed v_set and optimal cruise requirements. Preferably, simultaneously pre-determine the upper boundary v_max and the lower boundary v_min of the cruise speed, so that the vehicle speed during cruise can fluctuate within the upper boundary v_max and the lower boundary v_min. Preferably, the optimal cruise requirements include saving energy and / or saving time and / or improving vehicle occupant comfort by avoiding excessive use of the service brakes.

[0080] Step S102: Based on the road condition information of the road segment ahead and the current driving dynamics defined by the vehicle's driving dynamic parameters, determine the possible speed trajectory of the vehicle on the road segment ahead. 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 following parameters are used as the vehicle's driving dynamics parameters: vehicle mass, current position, current speed, current maximum available driving torque, and current maximum available braking torque.

[0081] Step S103: Based on the optimal cruise requirements, select the optimal speed trajectory from the possible speed trajectories, wherein the optimal speed trajectory corresponds to the speed trajectory with the minimum overall cost while satisfying the optimal cruise requirements. Optionally, calculate the cost function of each possible speed trajectory, and select the speed trajectory with the minimum cost function value as the optimal speed trajectory, wherein at least one calculation coefficient of the cost function is determined according to the optimal cruise requirements. Preferably, in order 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. More preferably, the acceleration function f_a is also weighted with a third calculation coefficient W3.

[0082] Step S104: Use the optimal speed trajectory as the target vehicle speed trajectory for predictive cruise control of the vehicle.

[0083] Figure 5This is a schematic diagram of the main modules of a predictive cruise control device 200 for a vehicle according to the present invention. The device is preferably a predictive cruise control (PECC) device, which includes:

[0084] The pre-setting module 201 is used to pre-set the cruise speed and optimal cruise requirements.

[0085] The calculation module 202 is used to determine the possible speed trajectory of the vehicle on the road ahead based on the road condition information of the road ahead and the current driving dynamics of the vehicle as defined by the vehicle's passing driving dynamic parameters. The road condition information includes slope information, curvature information and speed limit information. The calculation module 202 is also used to select the optimal speed trajectory from the possible speed trajectories. The optimal speed trajectory corresponds to the speed trajectory with the lowest overall cost while meeting the optimal cruising requirements.

[0086] Output module 203 is used to use the optimal speed trajectory as the target vehicle speed trajectory for predictive cruise control of the vehicle.

[0087] The present invention also provides a computer-readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for predictive cruise control of a vehicle according to the present invention.

[0088] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, 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, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0090] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for predictive cruise control of a vehicle, characterized by, Includes the following steps: Pre-determine the cruise speed (v_set) and optimal cruise requirements; Based on the road condition information of the road segment ahead and the current driving dynamics of the vehicle as defined by the vehicle's driving dynamic parameters, the possible speed trajectory of the vehicle on the road segment ahead is determined. The road condition information includes slope information, curvature information, and speed limit information. Calculate the cost function of each possible speed trajectory composed of speed trajectory nodes, and select the speed trajectory with the smallest cost function value from the possible speed trajectories as the optimal speed trajectory. The optimal speed trajectory corresponds to the speed trajectory with the smallest comprehensive cost while satisfying the optimal cruise requirements. The cost function includes the following items: a vehicle energy consumption function (f_FC) weighted by a first calculation coefficient (W1), a driving time function (f_T) weighted by a second calculation coefficient (W2), and an acceleration function (f_a) weighted by a third calculation coefficient (W3). The first calculation coefficient (W1), the second calculation coefficient (W2), and the third calculation coefficient (W3) correspond to the weights of saving energy, saving time, and reducing the use of the service brake in the optimal cruise requirements, respectively. The optimal speed trajectory is used as the target vehicle speed trajectory for predictive cruise control of the vehicle.

2. The method of claim 1, wherein, The upper limit (v_max) and lower limit (v_min) of the cruise speed are given in advance, so that the vehicle speed is allowed to match the cruise speed (v_set) within the upper and lower limits of the cruise speed.

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

4. The method of claim 1, wherein, Used as dynamic parameters for vehicle operation: vehicle mass, current position, current speed, current maximum available driving torque, and current maximum available braking torque.

5. An apparatus for predictive cruise control of a vehicle, characterized by include: A pre-defined module, which is used to pre-determine the cruise speed (v_set) and the optimal cruise requirements; The calculation module is used to determine the possible speed trajectory of the vehicle on the road ahead based on the road condition information of the road segment ahead and the current driving dynamics of the vehicle as defined by the vehicle's driving dynamic parameters. The road condition information includes slope information, curvature information, and speed limit information. The calculation module is also used to calculate the cost function of each possible speed trajectory composed of speed trajectory nodes, and select the speed trajectory with the smallest cost function value from the possible speed trajectories as the optimal speed trajectory. The optimal speed trajectory corresponds to the speed trajectory with the smallest comprehensive cost while meeting the optimal cruise requirements. The cost function includes the following items: a vehicle energy consumption function (f_FC) weighted by a first calculation coefficient (W1), a driving time function (f_T) weighted by a second calculation coefficient (W2), and an acceleration function (f_a) weighted by a third calculation coefficient (W3). The first calculation coefficient (W1), the second calculation coefficient (W2), and the third calculation coefficient (W3) correspond to the weights of saving energy, saving time, and reducing the use of the service brake in the optimal cruise requirements, respectively. An output module is used to use the optimal speed trajectory as the target vehicle speed trajectory for predictive cruise control of the vehicle.

6. An electronic device for predictive cruise control of a vehicle, characterized by include: One or more processors; 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 as described in any one of claims 1-5.

7. A vehicle having an electronic map and an environmental sensor, characterized by The vehicle has the device according to claim 5 or the electronic device according to claim 6.

8. A computer readable medium having stored thereon a computer program, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-4.

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