Method, device and equipment for controlling vehicle to enter adaptive cruise, and medium

Abstract

The invention discloses a control method, device, equipment and medium for a vehicle to enter self-adaptive cruise, and when the vehicle is in a sliding energy recovery working condition and a self-adaptive cruise function is activated, a corresponding target torque is determined according to a target acceleration of the self-adaptive cruise function; according to the running state of the vehicle and the variable quantity of the target acceleration, the torque change calibration quantity of the vehicle in each control period is determined; and according to the difference between the motor torque and the target torque, the motor torque and the hydraulic braking torque are gradually adjusted according to the torque change calibration quantity until the whole vehicle torque reaches the target torque, the change direction of the motor torque is opposite to that of the hydraulic braking torque, and the purpose that in the self-adaptive cruise function activation process, the motor torque and the hydraulic braking torque are not changed is achieved. And the motor torque and the hydraulic braking torque are controlled to change smoothly until the whole vehicle torque reaches the target torque, and therefore the smoothness and comfort of vehicle control in the self-adaptive cruise function activation process are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a control method, device, equipment and medium for a vehicle to enter adaptive cruise control. Background Art

[0002] With the increasing popularity of new energy vehicles, Adaptive Cruise Control (ACC) has become a standard feature on many models. ACC automatically adjusts vehicle speed to maintain a safe distance from the vehicle ahead, providing a comfortable driving experience and effectively reducing driver stress.

[0003] When the vehicle is traveling at a certain speed and the driver releases the accelerator pedal, the vehicle enters coasting energy recovery mode. In this mode, the motor recovers energy through reverse drag, generating negative torque to help slow the vehicle. If ACC is activated in this situation, the vehicle may experience jerking, affecting driving comfort.

[0004] The specific reason for the jerking phenomenon is that after the ACC function is activated, the vehicle's control authority switches from the motor's negative torque control to the ACC function. At this time, the vehicle's vehicle controller (VCU) responds to the intelligent driving system's request for torque control and exits the motor's negative torque control. The motor needs to return from the current negative torque state to zero torque and then change to the ACC function's target torque. If the intelligent driving system cannot smoothly control this process, the vehicle will experience jerking. The jerking phenomenon caused by this uneven torque transition not only affects vehicle stability but also reduces driving smoothness and comfort.

[0005] Therefore, solving the problem of vehicle jerking when the ACC function is activated during coasting energy recovery is a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The present application provides a control method, device, equipment and computer-readable storage medium for a vehicle entering adaptive cruise control, which can solve the problem in the prior art that activating adaptive cruise control during vehicle coasting energy recovery may cause vehicle jerking.

[0007] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle to enter adaptive cruise control, the method comprising: When the vehicle is in coasting energy recovery mode and the adaptive cruise control function is activated, the corresponding target torque is determined based on the target acceleration of the adaptive cruise control function; Determining a torque change calibration amount of the vehicle in each control cycle according to the vehicle's operating state and the change in the target acceleration; According to the difference between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque, wherein the motor torque and the hydraulic brake torque change in opposite directions.

[0008] In conjunction with the first aspect, in one embodiment, the operating state of the vehicle includes vehicle speed and brake pedal travel, and determining the calibrated torque change amount of the vehicle in each control cycle based on the operating state of the vehicle and the change in the target acceleration includes: Determining an acceleration growth threshold value of the vehicle in each control period according to the vehicle speed and brake pedal travel in each control period, and determining a torque increase calibration amount in the corresponding control period according to the acceleration growth threshold value; The acceleration reduction threshold of the vehicle in each control cycle is determined based on the vehicle speed, brake pedal travel, and the acceleration difference between each control cycle and the target acceleration of the previous control cycle, and the torque reduction calibration amount of the corresponding control cycle is determined based on the acceleration reduction threshold.

[0009] In conjunction with the first aspect, in one embodiment, determining the acceleration growth threshold of the vehicle in each control period according to the vehicle speed and brake pedal travel in each control period includes: Searching a preset first table according to the vehicle speed to obtain a first limiting coefficient of the acceleration increase; Searching a preset second table according to the vehicle speed and the brake pedal travel to obtain a second limiting coefficient of the acceleration increase; The first acceleration growth limit coefficient and the second acceleration growth limit coefficient are multiplied to obtain an acceleration growth threshold.

[0010] In conjunction with the first aspect, in one embodiment, determining the vehicle acceleration reduction threshold for each control cycle based on the vehicle speed, brake pedal travel, and the acceleration difference between each control cycle and the target acceleration of the previous control cycle includes: Searching a preset third table according to the vehicle speed to obtain a first limiting coefficient of acceleration reduction; Searching a preset fourth table according to the vehicle speed and the brake pedal travel to obtain a second limiting coefficient of the acceleration reduction; According to the acceleration difference, the preset fifth table is searched to obtain the third control coefficient of the acceleration reduction amount; The first acceleration reduction limit coefficient, the second acceleration reduction limit coefficient, and the third acceleration reduction limit coefficient are multiplied together to obtain an acceleration reduction threshold.

[0011] In combination with the first aspect, in one embodiment, gradually adjusting the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the difference between the motor torque and the target torque until the vehicle torque reaches the target torque includes: If the target torque is less than zero and the target acceleration is within a preset first acceleration range, the motor torque is controlled to be gradually reduced according to a torque reduction calibration amount in each control cycle until the motor torque reaches the target torque; The upper limit acceleration of the first acceleration interval is less than 0, and the lower limit is less than the upper limit acceleration.

[0012] In combination with the first aspect, in one embodiment, the step of gradually adjusting the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the difference between the motor torque and the target torque until the vehicle torque reaches the target torque further includes: If the target torque is less than zero and the target acceleration is less than the first acceleration interval, calculating a first torque difference between the target torque and the limit torque corresponding to the lower limit acceleration of the interval; After controlling the hydraulic braking torque to reach the first torque difference, controlling the motor torque to gradually decrease to zero according to the torque reduction calibration amount, and controlling the hydraulic braking torque to increase to the target torque according to the torque increase calibration amount starting from the first torque difference.

[0013] In combination with the first aspect, in one embodiment, based on the difference between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque, further comprising: When the target torque is greater than zero and there is an accelerator pedal signal, determining the accelerator drive torque according to the accelerator pedal travel; If the throttle driving torque is less than the target torque, a second torque difference between the throttle driving torque and the target torque is calculated, and the hydraulic braking torque is controlled to gradually increase to the second torque difference according to the torque increase calibration amount.

[0014] In a second aspect, an embodiment of the present application provides a control device for a vehicle entering adaptive cruise control, the control device for a vehicle entering adaptive cruise control comprising: a first determination module configured to determine a corresponding target torque according to a target acceleration of the adaptive cruise function when the vehicle acceleration is less than zero and the adaptive cruise function is activated; a calibration module, configured to determine a torque change calibration amount of the vehicle in each control cycle according to the operating state of the vehicle and the change amount of the target acceleration; A control module is used to gradually adjust the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the gap between the motor torque and the target torque, until the vehicle torque reaches the target torque, wherein the motor torque and the hydraulic brake torque change in opposite directions.

[0015] In a third aspect, an embodiment of the present application provides a control device for a vehicle entering adaptive cruise control, wherein the control device for a vehicle entering adaptive cruise control comprises a processor, a memory, and a control program for a vehicle entering adaptive cruise control stored in the memory and executable by the processor, wherein when the control program for a vehicle entering adaptive cruise control is executed by the processor, the steps of the control method for a vehicle entering adaptive cruise control as described in any one of the above items are implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that a control program for a vehicle entering adaptive cruise is stored on the computer-readable storage medium, wherein when the control program for a vehicle entering adaptive cruise is executed by a processor, the steps of the control method for a vehicle entering adaptive cruise as described in any one of the above items are implemented.

[0017] The embodiments of the present application provide a control method, apparatus, device and medium for a vehicle to enter adaptive cruise control. When the vehicle is in a coasting energy recovery condition and the adaptive cruise function is activated, the corresponding target torque is determined according to the target acceleration of the adaptive cruise function; the torque change calibration amount of the vehicle in each control cycle is determined according to the operating state of the vehicle in combination with the change in the target acceleration; based on the gap between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the whole vehicle torque reaches the target torque, wherein the change directions of the motor torque and the hydraulic brake torque are opposite, thereby achieving smooth control of the motor torque and the hydraulic brake torque during the activation of the adaptive cruise function until the whole vehicle torque reaches the target torque, thereby improving the smoothness and comfort of vehicle control during the activation of the adaptive cruise function. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of an embodiment of a method for controlling a vehicle entering adaptive cruise control according to the present application; Figure 2 This is a functional module diagram of an embodiment of a control device for a vehicle entering adaptive cruise control according to the present application; Figure 3 This is a schematic diagram of the hardware structure of the control device for the vehicle entering adaptive cruise control involved in the embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0021] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle to enter adaptive cruise control.

[0022] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the control method for a vehicle entering adaptive cruise control in this application. Figure 1 As shown, the control method for a vehicle entering adaptive cruise control includes: Step S101: When the vehicle is in a coasting energy recovery state and the adaptive cruise function is activated, a corresponding target torque is determined according to a target acceleration of the adaptive cruise function.

[0023] It's worth noting that when the vehicle is coasting and regenerating energy, the actual acceleration is less than zero. When the adaptive cruise control activation flag changes from 0 to 1, the vehicle enters the CrRampIn condition, which is a slow coasting and regenerating mode. Once in the CrRampIn condition, the vehicle's intelligent driving system calculates the adaptive cruise control's target acceleration based on the vehicle's speed, the speed and distance of the preceding vehicle, safety parameters, and road conditions. This target acceleration, combined with the vehicle's transmission performance, is used to calculate the adaptive cruise control's target torque.

[0024] Step S102: Determine the torque change calibration amount of the vehicle in each control cycle according to the operating state of the vehicle and the change amount of the target acceleration.

[0025] In one embodiment, step S102 specifically includes: determining an acceleration increase threshold value of the vehicle in each control cycle based on the vehicle speed and brake pedal stroke of each control cycle, and determining a torque increase calibration value for the corresponding control cycle based on the acceleration increase threshold value; determining an acceleration decrease threshold value of the vehicle in each control cycle based on the vehicle speed, brake pedal stroke of each control cycle, and an acceleration difference between the target acceleration of each control cycle and the previous control cycle, and determining a torque decrease calibration value for the corresponding control cycle based on the acceleration decrease threshold value.

[0026] It is worth noting that the acceleration increase threshold and the acceleration decrease threshold avoid large speed fluctuations in the vehicle. The motor torque is periodically and gradually adjusted according to the torque increase calibration amount corresponding to the acceleration increase threshold and the torque decrease calibration amount corresponding to the acceleration decrease threshold, so as to achieve a smooth transition of the vehicle torque to the target torque.

[0027] Specifically, determining the vehicle acceleration increase threshold for each control cycle based on the vehicle speed and brake pedal travel during each control cycle includes: searching a first preset table based on the vehicle speed to obtain a first acceleration increase limiting coefficient aRampInc; searching a second preset table based on the vehicle speed and brake pedal travel to obtain a second acceleration increase limiting coefficient facBrkRamp; and multiplying the first acceleration increase limiting coefficient aRampInc by the second acceleration increase limiting coefficient facBrkRamp to obtain the acceleration increase threshold. The torque increase calibration is then calculated based on the acceleration increase threshold and combined with the vehicle's transmission parameters.

[0028] It's worth noting that the first table maps the vehicle speed to the first acceleration ramp limit coefficient for adaptive cruise control, while the second table maps the vehicle speed and brake pedal travel to the second acceleration ramp limit coefficient. When the brake pedal travel is zero (i.e., the driver is not braking), the second acceleration ramp limit coefficient, facBrkRamp, defaults to 1.

[0029] Furthermore, the vehicle acceleration reduction threshold for each control cycle is determined based on the vehicle speed, brake pedal travel, and the acceleration difference between the target acceleration of each control cycle and the previous control cycle. This includes: searching a preset third table based on the vehicle speed to obtain a first acceleration reduction limiting coefficient aRampDec; searching a preset fourth table based on the vehicle speed and brake pedal travel to obtain a second acceleration reduction limiting coefficient facBrkRamp; searching a preset fifth table based on the acceleration difference to obtain a third acceleration reduction limiting coefficient facaRampDec; and multiplying the first acceleration reduction limiting coefficient aRampDec, the second acceleration reduction limiting coefficient facBrkRamp, and the third acceleration reduction limiting coefficient facaRampDec to obtain the acceleration reduction threshold. The torque reduction calibration amount can be calculated based on the acceleration reduction threshold and the vehicle's transmission parameters.

[0030] It's worth noting that the third table includes mappings between vehicle speed and the first acceleration reduction limit coefficient for the adaptive cruise control function. The fourth table includes mappings between vehicle speed and brake pedal travel and the second acceleration reduction limit coefficient. The fifth table includes mappings between acceleration difference and the third acceleration reduction limit coefficient. When the brake pedal travel is zero (i.e., the driver is not braking), the second acceleration reduction limit coefficient, facBrkRamp, defaults to 1.

[0031] By calculating the torque increase and torque decrease calibration amounts for each control cycle, the torque variation in each cycle is limited, improving vehicle smoothness while ensuring safety.

[0032] Step S103: According to the difference between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque, wherein the motor torque and the hydraulic brake torque change in opposite directions.

[0033] It is worth noting that when the target torque trqDes>0, the intelligent driving system can control the motor to output driving torque; when the target torque trqDes<0, the intelligent driving system can control the hydraulic brake to output negative torque.

[0034] In one embodiment, if the target torque is less than zero and the target acceleration is in a preset first acceleration range, the motor torque is controlled to gradually decrease according to the torque reduction calibration amount in each control cycle until the motor torque reaches the target torque; wherein the upper limit acceleration of the first acceleration range is less than 0, and the lower limit is less than the upper limit acceleration.

[0035] For example, when the vehicle is in a coasting energy recovery state (the actual vehicle acceleration is less than 0), the adaptive cruise control function is activated. At this time, the target acceleration calculated by the intelligent driving system may have different values. In this embodiment, the first acceleration range is: 0> acceleration>-2m / s 2 When the target acceleration ax is in the range of 0>ax>-2m / s2, for example, the current motor torque is -1000N·m, the target torque calculated based on the target acceleration is -3000N·m, and the calculated torque reduction calibration amount is 100N·m. The intelligent driving system controls the motor torque from the current -1000N·m, reducing it by 100N·m per cycle until it reaches the target torque of -300N·m.

[0036] It's worth noting that, because only the motor is outputting torque at this point, the motor torque is considered the vehicle torque. The torque reduction calibration calculated for each control cycle may vary, and therefore the torque reduction may also vary. The 10 N·m mentioned above is for ease of understanding only.

[0037] Furthermore, according to the gap between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque, and also includes: if the target torque is less than zero and the target acceleration is less than the first acceleration interval, then calculating a first torque difference between the target torque and the limiting torque corresponding to the lower limit acceleration of the interval; after controlling the hydraulic brake torque to reach the first torque difference, controlling the motor torque to gradually decrease to zero according to the torque reduction calibration amount, and at the same time controlling the hydraulic brake torque to increase to the target torque according to the torque increase calibration amount starting from the first torque difference.

[0038] For example, when the target acceleration ax ≤ -2 m / s², the corresponding target torque is -3000 N·m. The lower acceleration limit of the first interval corresponds to a torque limit of -2000 N·m. The first torque difference between the target torque and the torque limit can be calculated as -3000 - (-2000) = -1000 N·m. Therefore, the -1000 N·m torque is converted into braking torque, which is then applied by the hydraulic braking system. Specifically, the intelligent driving system controls the hydraulic braking torque to gradually increase according to the torque increase calibration amount during each control cycle until it reaches the first torque difference of -1000 N·m. The motor torque is then gradually reduced from -2000 N·m to 0 according to the torque reduction calibration amount. While the motor torque is being gradually reduced, the hydraulic braking torque is gradually increased from -1000 N·m to -3000 N·m according to the torque increase calibration amount. When the motor torque reaches 0 and the hydraulic braking torque reaches -3000 N·m, the vehicle torque reaches the target torque of -3000 N·m.

[0039] It is worth noting that, in this embodiment, the first acceleration interval is set to perform torque limitation, so as to avoid emergency braking conditions during vehicle driving, thereby ensuring the safety of vehicle operation.

[0040] In one embodiment, based on the gap between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque. The embodiment also includes: when the target torque is greater than zero and there is an accelerator pedal signal, the throttle drive torque is determined according to the accelerator pedal travel; if the throttle drive torque is less than the target torque, a second torque difference between the throttle drive torque and the target torque is calculated, and the hydraulic brake torque is controlled to gradually increase to the second torque difference according to the torque increase calibration amount.

[0041] It's worth noting that if the target torque is greater than zero, the motor is required to output drive torque. The intelligent driving system receives an accelerator pedal signal, indicating that the driver is pressing the accelerator to control the vehicle. When the accelerator drive torque corresponding to the accelerator pedal travel is less than the target drive torque, the hydraulic brake torque is controlled to gradually increase to a second torque difference value according to the torque increase calibration. This ensures that the vehicle torque smoothly transitions to match the accelerator drive torque, ensuring the vehicle operates in accordance with the driver's control, thereby ensuring both smooth and safe operation. If the accelerator drive torque is greater than or equal to the target drive torque, indicating that the driver intends to accelerate the vehicle, the hydraulic brake torque state position is controlled to zero, and no brake torque is output.

[0042] The control method for a vehicle entering adaptive cruise control provided in an embodiment of the present application obtains a torque increase calibration amount and a torque decrease calibration amount through multi-parameter dynamic mapping, and controls the hydraulic braking torque of the motor torque according to the torque increase calibration amount and the torque decrease calibration amount, so that the torque of the entire vehicle smoothly reaches the target torque, avoiding the jerk caused by the motor changing from negative torque control to 0 to target torque during the adaptive cruise function entry process when the vehicle is in the process of coasting energy recovery, and at the same time avoiding deceleration fluctuations in the vehicle, optimizing the smoothness and comfort of the vehicle, improving the driving experience, and achieving the performance of smooth activation of the adaptive cruise function.

[0043] In a second aspect, an embodiment of the present application also provides a control device for a vehicle to enter adaptive cruise control.

[0044] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of a control device for a vehicle entering adaptive cruise control in this application. Figure 2 As shown, the control device for the vehicle to enter adaptive cruise control includes: a first determination module configured to determine a corresponding target torque according to a target acceleration of the adaptive cruise function when the vehicle acceleration is less than zero and the adaptive cruise function is activated; a calibration module, configured to determine a torque change calibration amount of the vehicle in each control cycle according to the operating state of the vehicle and the change amount of the target acceleration; A control module is used to gradually adjust the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the gap between the motor torque and the target torque, until the vehicle torque reaches the target torque, wherein the motor torque and the hydraulic brake torque change in opposite directions.

[0045] Furthermore, in one embodiment, the second determining module is further configured to: determine an acceleration increase threshold value of the vehicle in the corresponding control period according to the vehicle speed and brake pedal travel in each control period, and determine a torque increase calibration amount in the corresponding control period according to the acceleration increase threshold value; The acceleration reduction threshold of the vehicle in each control cycle is determined based on the vehicle speed, brake pedal travel, and the acceleration difference between each control cycle and the target acceleration of the previous control cycle, and the torque reduction calibration amount of the corresponding control cycle is determined based on the acceleration reduction threshold. Furthermore, in one embodiment, the second determining module is further configured to: Searching a preset first table according to the vehicle speed to obtain a first limiting coefficient of the acceleration increase; Searching a preset second table according to the vehicle speed and the brake pedal travel to obtain a second limiting coefficient of the acceleration increase; The first acceleration growth limiting coefficient and the second acceleration growth limiting coefficient are multiplied to obtain an acceleration growth threshold.

[0046] Furthermore, in one embodiment, the second determining module is further configured to: Searching a preset third table according to the vehicle speed to obtain a first limiting coefficient of acceleration reduction; Searching a preset fourth table according to the vehicle speed and the brake pedal travel to obtain a second limiting coefficient of the acceleration reduction; According to the acceleration difference, the preset fifth table is searched to obtain the third coefficient of acceleration reduction limit; The first acceleration reduction limit coefficient, the second acceleration reduction limit coefficient, and the third acceleration reduction limit coefficient are multiplied together to obtain an acceleration reduction threshold.

[0047] Furthermore, in one embodiment, the control module is further configured to: If the target torque is less than zero and the target acceleration is within a preset first acceleration range, the motor torque is controlled to be gradually reduced according to a torque reduction calibration amount in each control cycle until the motor torque reaches the target torque; The upper limit acceleration of the first acceleration interval is less than 0, and the lower limit is less than the upper limit acceleration of the first acceleration interval.

[0048] Furthermore, in one embodiment, the control module is further configured to: If the target torque is less than zero and the target acceleration is less than the first acceleration interval, calculating a first torque difference between the target torque and the limit torque corresponding to the lower limit acceleration of the interval; After controlling the hydraulic braking torque to reach the first torque difference, controlling the motor torque to gradually decrease to zero according to the torque reduction calibration amount, and controlling the hydraulic braking torque to increase to the target torque according to the torque increase calibration amount starting from the first torque difference.

[0049] Furthermore, in one embodiment, the control module is further configured to: When the target torque is greater than zero and there is an accelerator pedal signal, determining the accelerator drive torque according to the accelerator pedal travel; If the throttle driving torque is less than the target torque, a second torque difference between the throttle driving torque and the target torque is calculated, and the hydraulic braking torque is controlled to gradually increase to the second torque difference according to the torque increase calibration amount.

[0050] Among them, the functional implementation of each module in the above-mentioned control device for vehicle entering adaptive cruise corresponds to the various steps in the above-mentioned control method embodiment for vehicle entering adaptive cruise, and their functions and implementation processes will not be repeated here one by one.

[0051] On the third aspect, an embodiment of the present application provides a control device for a vehicle to enter adaptive cruise control. The control device for a vehicle to enter adaptive cruise control can be a vehicle controller, an onboard computer, or other device with data processing capabilities.

[0052] Reference Figure 3 , Figure 3 Schematic diagram of the hardware structure of the control device for vehicle entering adaptive cruise control involved in the embodiment of the present application. In the embodiment of the present application, the control device for vehicle entering adaptive cruise control may include a processor, a memory, a communication interface and a communication bus.

[0053] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0054] Communication interfaces include input / output (I / O), physical, and logical interfaces, which interconnect components within the adaptive cruise control device and other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber, or ATM interfaces; user devices can include displays and keyboards.

[0055] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0056] The processor may be a general-purpose processor that can invoke a vehicle adaptive cruise control program stored in a memory and execute the vehicle adaptive cruise control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the vehicle adaptive cruise control program is invoked can be referenced to the various embodiments of the vehicle adaptive cruise control method of the present application and will not be further described here.

[0057] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0058] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0059] The computer-readable storage medium of the present application stores a control program for the vehicle to enter adaptive cruise control, wherein when the control program for the vehicle to enter adaptive cruise control is executed by the processor, the steps of the control method for the vehicle to enter adaptive cruise control as described above are implemented.

[0060] Among them, the method implemented when the control program for the vehicle entering adaptive cruise is executed can refer to the various embodiments of the control method for the vehicle entering adaptive cruise in this application, and will not be repeated here.

[0061] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0062] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0063] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0064] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0065] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0066] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.

[0067] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling a vehicle to enter adaptive cruise control, characterized in that: The control method for a vehicle entering adaptive cruise control includes: When the vehicle is in coasting energy recovery mode and the adaptive cruise control function is activated, the corresponding target torque is determined based on the target acceleration of the adaptive cruise control function; Determining a torque change calibration amount of the vehicle in each control cycle according to the vehicle's operating state and the change in the target acceleration; According to the difference between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque, wherein the motor torque and the hydraulic brake torque change in opposite directions.

2. The method for controlling a vehicle entering adaptive cruise control according to claim 1, wherein: The vehicle's operating state includes vehicle speed and brake pedal travel. Determining the torque change calibration amount of the vehicle in each control cycle based on the vehicle's operating state and the change in the target acceleration includes: Determining an acceleration growth threshold value of the vehicle in each control period according to the vehicle speed and brake pedal travel in each control period, and determining a torque increase calibration amount in the corresponding control period according to the acceleration growth threshold value; The acceleration reduction threshold of the vehicle in each control cycle is determined based on the vehicle speed, brake pedal travel, and the acceleration difference between each control cycle and the target acceleration of the previous control cycle, and the torque reduction calibration amount corresponding to the control cycle is determined based on the acceleration reduction threshold.

3. The method for controlling a vehicle entering adaptive cruise control according to claim 2, wherein: Determining the acceleration growth threshold of the vehicle in the corresponding control period according to the vehicle speed and brake pedal travel in each control period includes: Searching a preset first table according to the vehicle speed to obtain a first limiting coefficient of the acceleration increase; Searching a preset second table according to the vehicle speed and the brake pedal travel to obtain a second limiting coefficient of the acceleration increase; The first acceleration growth limiting coefficient and the second acceleration growth limiting coefficient are multiplied to obtain an acceleration growth threshold.

4. The method for controlling a vehicle entering adaptive cruise control according to claim 2, wherein: Determine the acceleration reduction threshold of the vehicle in each control cycle based on the vehicle speed, brake pedal travel, and the acceleration difference between the target acceleration in each control cycle and the target acceleration in the previous control cycle, including: Searching a preset third table according to the vehicle speed to obtain a first limiting coefficient of acceleration reduction; Searching a preset fourth table according to the vehicle speed and the brake pedal travel to obtain a second limiting coefficient of the acceleration reduction; According to the acceleration difference, the preset fifth table is searched to obtain the third coefficient of acceleration reduction limit; The first acceleration reduction limit coefficient, the second acceleration reduction limit coefficient, and the third acceleration reduction limit coefficient are multiplied together to obtain an acceleration reduction threshold.

5. The method for controlling a vehicle entering adaptive cruise control as claimed in claim 2, wherein: The step of gradually adjusting the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the difference between the motor torque and the target torque until the vehicle torque reaches the target torque includes: If the target torque is less than zero and the target acceleration is within a preset first acceleration range, the motor torque is controlled to be gradually reduced according to a torque reduction calibration amount in each control cycle until the motor torque reaches the target torque; The upper limit acceleration of the first acceleration interval is less than 0, and the lower limit is less than the upper limit acceleration.

6. The method for controlling a vehicle entering adaptive cruise control according to claim 5, wherein: The step of gradually adjusting the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the difference between the motor torque and the target torque until the vehicle torque reaches the target torque further includes: If the target torque is less than zero and the target acceleration is less than the first acceleration interval, calculating a first torque difference between the target torque and the limit torque corresponding to the lower limit acceleration of the interval; After controlling the hydraulic braking torque to reach the first torque difference, controlling the motor torque to gradually decrease to zero according to the torque reduction calibration amount, and controlling the hydraulic braking torque to increase to the target torque according to the torque increase calibration amount starting from the first torque difference.

7. The method for controlling a vehicle entering adaptive cruise control as claimed in claim 2, wherein: According to the difference between the motor torque and the target torque, the motor torque and the hydraulic brake torque are gradually adjusted according to the torque change calibration amount until the vehicle torque reaches the target torque, further comprising: When the target torque is greater than zero and there is an accelerator pedal signal, determining the accelerator drive torque according to the accelerator pedal travel; If the throttle driving torque is less than the target torque, a second torque difference between the throttle driving torque and the target torque is calculated, and the hydraulic braking torque is controlled to gradually increase to the second torque difference according to the torque increase calibration amount.

8. A control device for a vehicle entering adaptive cruise control, characterized in that: The control device for the vehicle to enter adaptive cruise control includes: a first determination module configured to determine a corresponding target torque according to a target acceleration of the adaptive cruise function when the vehicle acceleration is less than zero and the adaptive cruise function is activated; a calibration module, configured to determine a torque change calibration amount of the vehicle in each control cycle according to the operating state of the vehicle and the change amount of the target acceleration; A control module is used to gradually adjust the motor torque and the hydraulic brake torque according to the torque change calibration amount based on the gap between the motor torque and the target torque, until the vehicle torque reaches the target torque, wherein the motor torque and the hydraulic brake torque change in opposite directions.

9. A control device for a vehicle entering adaptive cruise control, characterized in that: The control device for the vehicle entering adaptive cruise includes a processor, a memory, and a control program for the vehicle entering adaptive cruise stored in the memory and executable by the processor, wherein when the control program for the vehicle entering adaptive cruise is executed by the processor, the steps of the control method for the vehicle entering adaptive cruise as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a control program for the vehicle entering adaptive cruise control, wherein when the control program for the vehicle entering adaptive cruise control is executed by the processor, the steps of the control method for the vehicle entering adaptive cruise control according to any one of claims 1 to 7 are implemented.

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