Vehicle control method, control system and vehicle

Abstract

A vehicle control method, a control system and a vehicle, the vehicle control method comprising: collecting road information through a sensor of the vehicle, the road information comprising information of a gradient road section in a road section to be driven, determining whether the vehicle is driven on the gradient road section according to the road information, and when the vehicle is driven on the gradient road section, determining whether the vehicle is driven on the gradient road section; the vehicle is driven to run according to the first torque, the first torque is used for maintaining the conversion amount between mechanical energy of the vehicle and energy supply of the vehicle to be smaller than or equal to an energy threshold value, and the purpose of controlling energy conversion between kinetic energy and gravitational potential energy of the vehicle in the slope road section is achieved. The energy conversion loss caused by the fact that the vehicle resists or recovers gravitational potential energy is reduced, and therefore the purposes of reducing the energy consumption of the vehicle and improving the vehicle using economical efficiency are achieved.

Description

Vehicle control method, control system, and vehicle Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a control system, and a vehicle. Background Art

[0002] In intelligent driving scenarios, such as autonomous driving, the vehicle controller, based on intelligent driving control algorithms, will control the vehicle to maintain a constant speed even on a slope. This results in significant energy consumption. Therefore, how to control the vehicle on slopes to reduce energy consumption is a pressing issue.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a vehicle control method, a control system, and a vehicle, which are designed to reduce the energy consumption of a vehicle traveling on a sloped road and improve the economy of the vehicle.

[0005] In the first aspect, an embodiment of the present application provides a method for controlling a vehicle. The executor of the method may be a control device, which may be implemented as an electronic device or a component in an electronic device, such as a chip, a chip system, or other functional module that can call and execute a program. The electronic device may be implemented as a vehicle, a vehicle controller in a vehicle, etc.

[0006] The method includes: a control device collects road information through vehicle sensors, the road information including information about a slope section in a section to be traveled, and determines whether the vehicle is traveling on a slope section based on the road information; when the vehicle is traveling on the slope section, the vehicle is driven according to a first torque, and the first torque is used to maintain the conversion amount between the vehicle's mechanical energy and the vehicle's energy supply (i.e., the energy provided by the vehicle's power system) to be less than or equal to an energy threshold, so as to achieve the purpose of controlling the energy conversion between the vehicle's kinetic energy and gravitational potential energy in the slope section, thereby reducing the energy provided by the vehicle to resist or recover changes in gravitational potential energy, thereby achieving the purpose of reducing the vehicle's energy consumption and improving the economy of vehicle use.

[0007] Furthermore, the vehicle determines whether it is traveling on a sloping road section based on road information collected by sensors. This road preview-based method of determining whether the vehicle is traveling on a sloping road section and the vehicle determining whether the vehicle is traveling on a sloping road section based on map data can, on the one hand, avoid the problem of not being able to obtain online map data in a timely manner when the network is unstable, thereby reducing the accuracy of vehicle control. On the other hand, it can avoid the problem of network load overhead caused by downloading map data affecting the communication quality of the vehicle.

[0008] In some embodiments, to improve the accuracy of vehicle control, the control device can combine road information collected by sensors and vehicle driving information to determine whether the vehicle is traveling on a sloping road section. The driving information may include the vehicle's current acceleration and the torque currently driving the vehicle. For example, the control device can determine the slope of the road section the vehicle is currently traveling on based on the vehicle's current acceleration and the torque currently driving the vehicle. Further, the control device can determine whether the vehicle is traveling on a sloping road section based on the road information collected by sensors and the slope of the road section the vehicle is currently traveling on.

[0009] In one example, the energy threshold may reflect the allowable error range for maintaining mechanical energy stability. In this case, the first torque may be used to counteract a first resistance experienced by the vehicle at the current speed, which affects the vehicle's ability to maintain mechanical energy stability. Optionally, the first resistance includes wind resistance and / or rolling resistance at the current speed.

[0010] In another example, consider that, in addition to counteracting the aforementioned first resistance, the first torque also counteracts the partial resistance generated by gravitational potential energy when the vehicle travels on a slope. It should be noted that the partial resistance generated by gravitational potential energy counteracted by this first torque is less than the resistance generated by gravitational potential energy when controlling the vehicle to travel at a constant speed on a slope. In other words, while the control device controls the vehicle's travel according to the first torque, energy conversion still occurs between the vehicle's kinetic energy and gravitational potential energy.

[0011] The above two examples can be applied to different scenarios. For example, in the first example, the energy consumption of the vehicle can be better reduced, and in the second example, the driving speed of the vehicle can be better controlled.

[0012] In some embodiments, to prevent the vehicle from being driven too slowly on a sloping road, affecting driving efficiency, or from being driven too fast, affecting driving safety, the control device may constrain the vehicle's speed according to a speed threshold, such as by adjusting the drive torque to keep the vehicle speed within the speed threshold constraint. The speed threshold may include a first threshold constraining the lower speed limit and / or a second threshold constraining the upper speed limit.

[0013] For example, when a vehicle is traveling on an uphill section, the control device determines whether the vehicle speed is less than or equal to a first threshold. If the vehicle speed is less than or equal to the first threshold, the control device may control the vehicle to travel at a constant speed at the current speed until the end of the uphill section, thereby preventing the vehicle from slowing down and affecting driving efficiency.

[0014] For example, when a vehicle is traveling on a downhill section, the control device determines whether the vehicle's speed is greater than or equal to a second threshold. If the vehicle's speed is greater than or equal to the second threshold, the control device can control the vehicle to travel at a constant speed at the current speed until the end of the downhill section, thereby avoiding driving safety hazards caused by excessive speed.

[0015] Exemplarily, the control device can determine the first threshold value based on the length information of the uphill section, the slope information of the uphill section and the energy conversion efficiency of the vehicle's drive device, so that the first threshold value can accurately match the lower speed limit of the current uphill section, thereby avoiding the impact of too low speed on driving efficiency.

[0016] Exemplarily, the control device can determine the second threshold value based on the length information of the downhill section, the slope information of the downhill section and the energy conversion efficiency of the vehicle's drive device, so that the second threshold value can accurately match the upper limit of the vehicle speed of the current downhill section, thereby avoiding the impact of high vehicle speed on driving safety.

[0017] In some embodiments, in order to ensure that the vehicle can control the vehicle to travel at a safe and efficient speed according to the first torque on a slope section, the control device can determine the first speed of the vehicle based on information about the slope section, such as the length information of the slope section and / or the slope information of the slope section, and the vehicle can start traveling on the slope section at the first speed.

[0018] Furthermore, the control device controls the vehicle to travel to the sloping section at a first speed based on the position information of the sloping section. The position information is collected by the vehicle through sensors, thereby realizing vehicle control based on road preview. Compared with the vehicle determining whether the vehicle is traveling on a sloping section based on map data, on the one hand, it can avoid the problem of not being able to obtain online map data in time when the network is unstable, thereby reducing the accuracy of vehicle control. On the other hand, it can avoid the problem of network load overhead caused by downloading map data affecting the communication quality of the vehicle.

[0019] Optionally, the information of the slope section includes at least one of position information, length information and slope information of the slope section.

[0020] In some embodiments, the control device can determine whether the vehicle has completed driving on a sloped road section based on road information and / or vehicle driving information. When the vehicle has completed driving on the sloped road section, the control device can determine the vehicle's driving torque according to any intelligent driving control algorithm. For example, the control device can drive the vehicle according to the control algorithm used before driving on the sloped road section. As an example, the control device can control the vehicle to travel at a constant speed at the current speed or a preset speed, thereby automatically switching driving modes between different road sections.

[0021] In a second aspect, an embodiment of the present application provides a control device, comprising: an acquisition module for collecting road information through vehicle sensors, the road information including information of a slope section in a road section to be traveled; a processing module for determining whether the vehicle is traveling on a slope section based on the road information; and a control module for driving the vehicle according to a first torque when the vehicle is traveling on a slope section, the first torque being used to maintain the conversion amount between the vehicle's mechanical energy and the vehicle's energy supply being less than or equal to an energy threshold, and there being energy conversion between the vehicle's kinetic energy and gravitational potential energy in the slope section, wherein the vehicle's energy supply is energy provided by the vehicle's power system.

[0022] In some embodiments, the processing module is also used to: determine the slope of the current driving section of the vehicle based on the vehicle's driving information, the driving information including the vehicle's current acceleration and the torque currently driving the vehicle; and determine whether the vehicle is traveling on a sloping section based on the road information and the slope of the current driving section of the vehicle.

[0023] In some embodiments, the first torque is used to resist a first resistance encountered by the vehicle when traveling at a current vehicle speed, and the first resistance affects the mechanical energy of the vehicle to maintain stability.

[0024] In some embodiments, the first resistance includes wind resistance and / or rolling resistance when the vehicle is traveling at a current vehicle speed.

[0025] In some embodiments, the first torque is further used to resist a portion of the resistance generated by gravitational potential energy when the vehicle travels on a slope.

[0026] In some embodiments, the slope section includes an uphill section, and the processing module is further used to determine whether the vehicle speed is less than or equal to a first threshold when the vehicle is traveling on the uphill section; the control module is further used to control the vehicle to travel at a constant speed according to the current speed to the end of the uphill section when the vehicle speed is less than or equal to the first threshold.

[0027] In some embodiments, the processing module is further configured to determine the first threshold value based on length information of the uphill section, gradient information of the uphill section, and energy conversion efficiency of a driving device of the vehicle.

[0028] In some embodiments, the slope section also includes a downhill section, and the processing module is further used to determine whether the vehicle speed is greater than or equal to a second threshold when the vehicle is traveling on the downhill section; the control module is further used to control the vehicle to travel at a constant speed according to the current speed to the end of the downhill section when the vehicle speed is greater than or equal to the second threshold.

[0029] In some embodiments, the processing module is further configured to determine a second threshold value based on length information of the downhill section, gradient information of the downhill section, and energy conversion efficiency of a driving device of the vehicle.

[0030] In some embodiments, the processing module is also used to determine the first vehicle speed based on the length information of the slope section, the slope information of the slope section and the energy conversion efficiency of the vehicle's drive device; the control module is also used to control the vehicle to travel to the slope section at the first vehicle speed based on the position information of the slope section.

[0031] In some embodiments, the information of the slope road section includes at least one of position information, length information, and slope information of the slope road section.

[0032] In some embodiments, the processing module is also used to determine whether the vehicle has completed driving on the slope section based on road information and / or vehicle driving information; the control module is also used to control the vehicle to travel at the current speed or the preset speed when the vehicle completes driving on the slope section.

[0033] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a control device, the control device being configured to execute the method in the first aspect or each possible implementation manner.

[0034] In some embodiments, the vehicle further includes: a sensor; and the control device collects road information through the sensor.

[0035] In some embodiments, the vehicle further includes: a driving device; the control device sends a first torque to the driving device; and the driving device drives the vehicle according to the first torque.

[0036] In a fourth aspect, an embodiment of the present application provides a chip, comprising: a processor for calling and executing computer instructions from a memory, so that a device equipped with the chip executes a method as in the first aspect or each possible implementation manner.

[0037] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method in the first aspect or each possible implementation method.

[0038] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium for storing computer program instructions, wherein the computer program enables a computer to execute the method in the first aspect or each possible implementation manner.

[0039] In a seventh aspect, an embodiment of the present application provides a computer program product, comprising computer program instructions, which enable a computer to execute the method in the first aspect or each possible implementation manner.

[0040] The beneficial effects of the above-mentioned second aspect, third aspect, fourth aspect, fifth aspect, sixth aspect, seventh aspect or each possible implementation method can be referred to the beneficial effects brought about by the above-mentioned first aspect and each possible implementation method of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG1 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0042] FIG2 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0043] FIG3 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0044] FIG4a is a schematic diagram of road information collection provided by an embodiment of the present application;

[0045] FIG4 b is a schematic diagram of road information collection provided by an embodiment of the present application;

[0046] FIG5 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0047] FIG6 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0048] FIG7 is a schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0050] The vehicle in the embodiments of the present application may be an intelligent vehicle, such as an autonomous driving vehicle that automatically controls all functions, or an assisted driving vehicle that automatically controls some functions to provide driving assistance, or may be an ordinary vehicle. For ease of description, the vehicle will be collectively referred to as a vehicle below. When the vehicle in the embodiments of the present application is an ordinary vehicle, the vehicle may be automatically controlled by external devices of the vehicle.

[0051] The present application can realize vehicle control for any type of vehicle, such as fuel vehicles, new energy vehicles or extended-range vehicles. When the vehicle is a fuel vehicle, the fuel is used to provide kinetic energy and the control logic functions of the vehicle; when the vehicle is a new energy vehicle, the new energy is used to provide kinetic energy and the control logic functions of the vehicle, wherein the new energy may include electric energy, methane, etc.; when the vehicle is an extended-range vehicle, the fuel and electric energy are used to provide kinetic energy and the control logic functions of the vehicle, or the fuel and electric energy are used in combination. The above energy that provides kinetic energy for the vehicle, or the energy provided for the vehicle power system, and the energy provided for the control logic functions of the vehicle can be collectively referred to as vehicle energy supply. For ease of understanding, the following explanation is given by taking the example of providing kinetic energy and the control logic functions of the vehicle by electric energy, which should not be understood as a restrictive description.

[0052] Intelligent driving uses artificial intelligence to assist or replace human driving, potentially addressing the shortcomings of human driving. Through extensive research and development, the performance and technology of the various sensors and computers required for intelligent driving have significantly improved, while costs are also gradually decreasing. As a result, intelligent driving has been widely applied in a variety of areas, including automated parking, adaptive cruise control (ACC) following, automatic emergency braking, lane departure warning, and autonomous driving.

[0053] In the scenario of intelligent driving, in an obstacle-free or curve-free driving environment, the control algorithm based on intelligent driving will control the vehicle to maintain a constant speed. When the vehicle is driving on an undulating road surface (such as a sloped section), in order to keep the vehicle at a constant speed, when driving on an uphill section, the driving torque is increased to resist the gravitational potential energy to prevent the conversion of kinetic energy into gravitational potential energy and cause deceleration. When driving on a downhill section, the torque is recovered to prevent the conversion of gravitational potential energy into kinetic energy and cause acceleration. Therefore, when driving on an uphill section, the vehicle's energy (such as electrical energy) is converted into gravitational potential energy, and when driving on a downhill section, the gravitational potential energy is converted into the vehicle's energy (such as electrical energy). Such energy conversion processes will result in chemical energy loss due to conversion efficiency, resulting in a large energy consumption of the vehicle.

[0054] In response to the problem of high energy consumption of the above-mentioned vehicles when traveling on a slope, the vehicle control solution provided in the present application drives the vehicle according to the first torque when the vehicle is traveling on a slope, so as to maintain the conversion amount between the vehicle's mechanical energy and the vehicle's energy supply (or the change in mechanical energy) less than or equal to the energy threshold, so that when the energy conversion between the vehicle's kinetic energy and gravitational potential energy is carried out, the conversion of the vehicle's energy supply into gravitational potential energy is avoided as much as possible, so as to reduce the energy conversion loss caused by the vehicle resisting or recovering gravitational potential energy, thereby achieving the purpose of reducing the vehicle's energy consumption and improving the economy of vehicle use.

[0055] FIG1 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. As shown in FIG1 , a control device 110 , a sensor 120 , and a drive device 130 are deployed in the vehicle 100 .

[0056] The sensor 120 can be used to sense the vehicle's driving environment. The sensor 120 may include at least one of the following types of sensors: a radar (such as a lidar, millimeter-wave radar, etc.), an infrared device, or a camera (such as a monocular camera, a binocular camera, etc.). This application does not limit the number of sensors 120. When multiple sensors 120 are implemented, the multiple sensors can be of the same or different types, and this application does not impose any restrictions on this.

[0057] The control device 110 can be implemented as a vehicle controller or as a component within a vehicle controller. The control device 110 can be used to implement intelligent driving based on a control algorithm. For example, the control device 110 can utilize the sensor 120 to sense the surrounding environment at any time while the vehicle is traveling, thereby identifying static and dynamic objects and road types (e.g., sloped sections, straight roads, curved roads, etc.). The control device 110 can analyze the perceived environmental information to generate a driving torque for the vehicle, and then drive the vehicle based on the driving torque.

[0058] The driving device 130 can drive the vehicle to travel using energy provided by the vehicle's energy supply device according to the driving torque determined by the control device 110 .

[0059] In some embodiments, vehicle 100 may further include a cabin controller 140, which can control a human-machine interface device in the vehicle to interact with the user. For example, cabin controller 140 can receive a driving mode control command input by the user via the human-machine interface device. This driving mode control command may be, for example, a control command to enable energy-saving mode. Optionally, the human-machine interface device may include at least one of a speaker, a microphone, and a display screen.

[0060] FIG2 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present application. As shown in FIG2 , the control device 110 may include a regulation and control module 111 and a torque control module 112. The regulation and control module 111 may determine the road environment based on the information collected by the sensor 120, such as whether there is a slope ahead. The regulation and control module 111 may also obtain the slope of the current driving section of the vehicle to determine whether the vehicle is traveling on the slope, or determine the driving position on the slope. The information collected by the regulation and control module 111 and / or the current driving information of the vehicle are used to determine the driving torque, and then send the driving torque to the torque control module 112. The torque control module 112 may drive the vehicle based on the driving torque sent by the regulation and control module 111, and may also detect the current vehicle speed and send the vehicle speed to the regulation and control module 111, so that the regulation and control module 111 can determine the driving torque based on the current vehicle speed. In some embodiments, the torque control module 112 can also determine the slope of the vehicle's current driving section based on the vehicle's driving information, such as the vehicle's current acceleration, current driving torque, etc., and then send the slope of the current driving section to the regulation and control module 111.

[0061] The regulation module 111 may include a slope estimation module 111 - 1 and a torque control rule module 111 - 2 , and the torque control module 112 may include a slope detection module 112 - 1 and a torque execution module 112 - 2 .

[0062] In some embodiments, the slope estimation module 111-1 can obtain the collected information sent by the sensor 120 and determine whether the vehicle is traveling on a sloped road section based on the collected information. In other embodiments, the slope estimation module 111-1 can also obtain the slope of the vehicle's current road section determined by the slope detection module 112-1 and combine the collected information with the slope of the vehicle's current road section to determine whether the vehicle is traveling on a sloped road section. The slope estimation module 111-1 can send the estimation result to the torque control rule module 111-2. The torque planning module 111-2 determines the driving torque based on the slope estimation result and the vehicle speed.

[0063] In some embodiments, the regulation module further includes a mode switching module 111 - 3 , which responds to the mode control instruction sent by the cabin controller 140 to activate the corresponding driving mode, so that the torque control rule module 111 - 2 determines the driving torque in combination with the driving mode.

[0064] The torque control rule module 111 - 2 sends the driving torque to the torque execution module 112 - 2 , so that the torque execution module 112 - 2 controls the driving device 130 to drive the vehicle.

[0065] It should be noted that the division of the units / modules in the above devices is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated.

[0066] The vehicle control method provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0067] The following is only for the convenience of understanding and explanation, and the method provided by the embodiment of the present application is described with the control device as the execution subject. The control device can be, for example, the control device 110 in Figures 1 and 2 above. This application does not limit the execution subject of the method. As long as it is possible to run a program that records the code of the method provided by the embodiment of the present application, it can serve as the execution subject of the method provided by the embodiment of the present application according to the method provided by the embodiment of the present application. For example, the control device can be implemented as a vehicle, a vehicle controller in a vehicle, a chip or chip system in a vehicle, or other functional modules that can call and execute programs.

[0068] FIG3 is a flow chart of a vehicle control method 300 provided in an embodiment of the present application. As shown in FIG3 , the method 300 may include some or all of the following processes.

[0069] S310, collecting road information through vehicle sensors;

[0070] S320, determining whether the vehicle is traveling on a sloped road section based on the road information;

[0071] S330, when the vehicle is traveling on a slope section, the vehicle is driven according to the first torque, the first torque is used to maintain the conversion amount between the vehicle's mechanical energy and the vehicle's energy supply less than or equal to the energy threshold, and there is energy conversion between the vehicle's kinetic energy and gravitational potential energy on the slope section.

[0072] The road information may include information about a slope section in the road section to be traveled. The slope section may include at least one of an uphill section and a downhill section. The information about the slope section may include at least one of the slope information, length information, and position information of the slope section. The position information of the slope section may be the distance between the slope section and the current vehicle position, or the position of the vehicle in the slope section. It should be noted that a slope section, also known as a ramp or a sloped road, is generally a section of road with an inclination greater than an angle threshold and a maintained inclination reaching a distance threshold. The angle threshold and distance threshold for determining whether a road is a slope section are not limited.

[0073] As shown in Figures 4a and 4b , the vehicle's sensors can collect real-time information about the surrounding road while the vehicle is in motion, acquiring road information. Based on this collected road information, the vehicle can determine whether it is traveling on a sloped road section. This road-preview-based method of determining whether the vehicle is traveling on a sloped road section, compared to determining whether the vehicle is traveling on a sloped road section based on map data, can, on the one hand, avoid the problem of not being able to obtain online map data in a timely manner when the network is unstable, which can reduce vehicle control accuracy. On the other hand, it can also avoid the problem of network load overhead caused by downloading map data, which can affect vehicle communication quality.

[0074] Whether on an uphill section (see Figure 4a) or a downhill section (see Figure 4b), the vehicle's sensors can collect information about the slope section. As shown in Figure 4a, the sensors can collect at least one of the following: the length of the uphill section, the slope of the uphill section, the distance from the uphill section to the current vehicle position, or the vehicle's position within the uphill section. As shown in Figure 4b, the sensors can collect at least one of the following: the length of the downhill section, the slope of the downhill section, the distance from the downhill section to the current vehicle position, or the vehicle's position within the downhill section.

[0075] When the vehicle does not travel to the slope section, the control device can control the vehicle to travel according to any control algorithm, for example, in an obstacle-free, bend-free section, control the vehicle to travel at a constant speed. When the vehicle travels to the slope section, in order to reduce the energy loss of the vehicle, the embodiment of the present application considers determining a driving torque (such as referred to as the first torque) that can make the kinetic energy of the vehicle and the gravitational potential energy as lossless as possible, that is, to maintain the mechanical energy of the vehicle stable. Therefore, when the vehicle travels on the slope section, the control device can drive the vehicle to travel according to the first torque, and the first torque is used to maintain the conversion amount between the mechanical energy of the vehicle and the vehicle energy supply less than or equal to the energy threshold. It should be understood that the smaller the conversion amount between mechanical energy and vehicle energy supply, the more stable the mechanical energy of the vehicle, and the less energy the vehicle uses to resist changes in mechanical energy, that is, the less energy the vehicle consumes.

[0076] Ideally, the control device can maintain the vehicle's mechanical energy stability by applying the first torque. However, errors are inevitable. Therefore, in one understanding, the energy threshold can represent the allowable error range for maintaining mechanical energy stability. In this case, the first torque can be used to counteract the first resistance experienced by the vehicle at the current speed, which affects the vehicle's mechanical energy stability. Optionally, the first resistance includes wind resistance and / or rolling resistance at the current speed.

[0077] Another interpretation is that, in addition to counteracting the aforementioned first resistance, the first torque also counteracts the partial resistance generated by gravitational potential energy when the vehicle is traveling on a slope. It should be noted that the partial resistance generated by gravitational potential energy counteracted by this first torque is less than the resistance generated by gravitational potential energy when controlling the vehicle to travel at a constant speed on a slope. In other words, while the control device controls the vehicle's travel according to the first torque, energy conversion still occurs between the vehicle's kinetic energy and gravitational potential energy.

[0078] In some embodiments, to improve vehicle control accuracy, the control device can combine road information collected by sensors and vehicle driving information to determine whether the vehicle is traveling on a slope. Driving information may include the vehicle's current acceleration and the torque currently driving the vehicle. Optionally, the control device can obtain the vehicle's acceleration in real time via an acceleration sensor.

[0079] The control device can determine the slope of the road section currently traveled by the vehicle based on the current acceleration of the vehicle and the torque currently driving the vehicle. Further, the control device can determine whether the vehicle is traveling on a sloping road section based on road information collected by sensors and the slope of the road section currently traveled by the vehicle.

[0080] It should be understood that the control device can also determine whether the vehicle is traveling on a sloping section based on the vehicle's driving information. For example, the control device determines the slope of the vehicle's current driving section based on the vehicle's current acceleration and the torque currently driving the vehicle, and then determines whether the vehicle is traveling on a sloping section based on the slope of the vehicle's current driving section.

[0081] When the vehicle is not traveling on a sloping road section, the control device may determine the distance between the vehicle's current driving position and the sloping road section based on the road information and / or the slope of the road section the vehicle is currently traveling on. When the vehicle is traveling on a sloping road section, the control device may determine the vehicle's current position on the sloping road section based on the road information and / or the slope of the road section the vehicle is currently traveling on.

[0082] In some embodiments, to prevent the vehicle from being driven too slowly on a sloping road, affecting driving efficiency, or from being driven too fast, affecting driving safety, the control device may constrain the vehicle's speed according to a speed threshold, such as by adjusting the drive torque to keep the vehicle speed within the speed threshold constraint. The speed threshold may include a first threshold constraining the lower speed limit and / or a second threshold constraining the upper speed limit.

[0083] For example, when a vehicle is traveling on an uphill section, the control device determines whether the vehicle speed is less than or equal to a first threshold. If the vehicle speed is less than or equal to the first threshold, the control device may control the vehicle to travel at a constant speed at the current speed until the end of the uphill section to avoid the vehicle speed being too low and affecting driving efficiency. If the vehicle speed is greater than the first threshold, the control device may continue to drive the vehicle according to the determined first torque to reduce the vehicle's energy consumption.

[0084] It should be noted that the control device can obtain the vehicle's speed in real time, such as periodically at regular intervals. When the vehicle's speed gradually decreases to a first threshold on an uphill section, the control device controls the vehicle to travel at a constant speed until the end of the uphill section. However, considering that there may be a time delay in the control device obtaining the vehicle's speed, resulting in the obtained speed having fallen below the first threshold, the control device also controls the vehicle to travel at a constant speed until the end of the uphill section even when the vehicle speed is less than the first threshold.

[0085] In another possible implementation of the above example, when the vehicle speed is less than or equal to the first threshold, the control device may further control the vehicle to travel at a constant speed according to the first threshold until the end of the uphill section.

[0086] For example, when a vehicle is traveling on a downhill section, the control device determines whether the vehicle speed is greater than or equal to a second threshold. If the vehicle speed is greater than or equal to the second threshold, the control device may control the vehicle to travel at a constant speed at the current speed until the end of the downhill section to avoid driving safety hazards caused by excessive speed. If the vehicle speed is less than the second threshold, the control device may continue to drive the vehicle according to the determined first torque to reduce vehicle energy consumption.

[0087] It should be noted that the control device can obtain the vehicle's speed in real time, such as periodically at regular intervals. When the vehicle's speed gradually increases to a second threshold on a downhill section, the control device controls the vehicle to travel at a constant speed until the end of the downhill section. However, given that there may be a time delay in the control device obtaining the vehicle's speed, resulting in the obtained speed having already risen above the second threshold, the control device also controls the vehicle to travel at a constant speed until the end of the downhill section when the vehicle speed exceeds the second threshold.

[0088] In another possible implementation of the above example, when the vehicle speed is greater than or equal to the second threshold, the control device may further control the vehicle to travel at a constant speed according to the second threshold until the end of the downhill section.

[0089] The above-mentioned vehicle speed thresholds (such as the first threshold and / or the second threshold) can be preset or determined by the control device. For example, the control device can determine the first threshold based on information about the length of the uphill section, information about the slope of the uphill section, and the energy conversion efficiency of the vehicle's drive device. For example, the control device can determine the second threshold based on information about the length of the downhill section, information about the slope of the downhill section, and the energy conversion efficiency of the vehicle's drive device.

[0090] In some embodiments, in order to ensure that the vehicle can control the vehicle to travel at a safe and efficient speed according to the first torque on the slope section, the control device can determine the initial speed of the vehicle on the slope section based on information about the slope section, such as the length information of the slope section and / or the slope information of the slope section, hereinafter referred to as the first speed, and the vehicle can start traveling on the slope section at the first speed.

[0091] Exemplarily, the control device may determine the first vehicle speed based on the length information of the slope section, the slope information of the slope section, and the energy conversion efficiency of the vehicle's drive device. Furthermore, the control device may control the vehicle to travel to the slope section at the first vehicle speed based on the position information of the slope section. Specifically, in an uphill section, the control device may determine the first vehicle speed based on the length information, slope information of the uphill section, and the energy conversion efficiency of the vehicle's drive device. In a downhill section, the control device may determine the first vehicle speed based on the length information, slope information of the downhill section, and the energy conversion efficiency of the vehicle's drive device. In a section with continuous ups and downs (such as first uphill and then downhill, or first downhill and then uphill), the control device may determine the first vehicle speed based on the length information, slope information, and energy conversion efficiency of the vehicle's drive device of the entire slope section (including the uphill section and the downhill section).

[0092] The control device controlling the vehicle to travel at a first speed may include: controlling the vehicle to accelerate to the first speed when the current vehicle speed is less than the first speed; and controlling the vehicle to decelerate to the first speed when the current vehicle speed is greater than the first speed. Optionally, if the current vehicle speed is greater than or equal to the first speed, the control device may control the vehicle to travel at the current speed.

[0093] On a continuous uphill and downhill road, information on some sections of the slope may not be collected. For example, a vehicle may not be able to collect information on a downhill section while traveling uphill. In some embodiments, the vehicle's sensors may begin collecting information on the downhill section when the vehicle reaches or is about to reach the top of the slope. In this case, the control device may first determine the first vehicle speed corresponding to the uphill section, and then determine the first vehicle speed corresponding to the downhill section. In other embodiments, the control device may combine map data, such as the vehicle's navigation information, to determine information on the downhill section that could not be collected, and then determine the vehicle's first speed by combining the information on the uphill and downhill sections.

[0094] The above process for determining the first vehicle speed is also applicable to determining the above vehicle speed threshold. It should also be understood that the above vehicle speed threshold and the first vehicle speed may be generated simultaneously. For example, the control device may determine an optimal vehicle speed value and an optimal vehicle speed range based on information about the length of the sloping road section, information about the gradient of the sloping road section, and the energy conversion efficiency of the vehicle's drive device, where the optimal vehicle speed value is the first vehicle speed, and the upper limit of the vehicle speed range is the second threshold, and the lower limit is the first threshold.

[0095] In some embodiments, the control device can determine whether the vehicle has completed driving on a sloped road section based on road information and / or vehicle driving information. When the vehicle has completed driving on the sloped road section, the control device can determine the vehicle's driving torque according to any intelligent driving control algorithm. For example, the control device can drive the vehicle according to the control algorithm used before driving on the sloped road section. As an example, the control device can control the vehicle to travel at a constant speed at the current speed or a preset speed.

[0096] Therefore, in an embodiment of the present application, when the vehicle is traveling on a slope section, the control device drives the vehicle according to the first torque, and the first torque is used to maintain the conversion amount between the vehicle's mechanical energy and the vehicle's energy supply less than or equal to the energy threshold, so as to achieve the purpose of controlling the energy conversion between the vehicle's kinetic energy and gravitational potential energy in the slope section, reducing the energy provided by the vehicle to resist or recover changes in gravitational potential energy, and thereby achieving the purpose of reducing the vehicle's energy consumption and improving the economy of vehicle use.

[0097] Furthermore, the control device determines whether the vehicle is traveling on a sloped road section based on road information collected by the vehicle's sensors, without relying on map data. On the one hand, this can avoid the problem of not being able to obtain online map data in a timely manner when the network is unstable, thereby reducing the accuracy of vehicle control. On the other hand, it can avoid the problem of network load overhead caused by downloading map data affecting the vehicle's communication quality.

[0098] In the following, the vehicle control method is exemplarily described with reference to FIG. 5 , taking the case where the vehicle is traveling on a continuous uphill and downhill road as an example.

[0099] FIG5 is a flow chart of a vehicle control method provided by an embodiment of the present application. Referring to FIG5 , method 400 may include at least some of the following steps:

[0100] S401: In response to a mode control instruction, the first mode is activated. In the first mode, the control device can drive the vehicle to travel on a sloped road section according to a first torque.

[0101] The mode control instruction may be generated in response to user input, such as a cockpit controller generating a mode control instruction in response to a user selecting the first mode on a human-computer interaction interface, and transmitting the mode control instruction to the control device. Alternatively, the mode control instruction may be generated by the control device based on the vehicle's remaining energy or remaining range, such as generating a mode control instruction to activate the first mode when the vehicle's remaining energy falls below an energy threshold.

[0102] It is understandable that, in the first mode, the present application does not limit the driving torque of the vehicle when it is not traveling on a sloped road section.

[0103] The present application does not limit the control device to driving the vehicle on a sloped section according to the first torque after the first mode is turned on. For example, the control device driving the vehicle on a sloped section according to the first torque may be a default setting.

[0104] S402: The control device determines whether there is a slope section in the road section ahead of the vehicle based on the road information.

[0105] If the control device determines that there is a slope section in the road section ahead of the vehicle to be driven, execute the following S403; if the control device determines that there is no slope section in the road section ahead of the vehicle to be driven, continue to drive according to the current state, or in other words, continue to control the vehicle to drive according to the current control algorithm.

[0106] S403: The control device determines whether the current vehicle speed is the first vehicle speed.

[0107] If the control device determines that the current vehicle speed is the first vehicle speed, the following S404 is executed; if the control device determines that the current vehicle speed is not the first vehicle speed, the following S405 is executed.

[0108] S404, the control device controls the vehicle to travel to the slope section at a constant speed.

[0109] S405, if the current vehicle speed is less than the first vehicle speed, the control device controls the vehicle to accelerate to the first vehicle speed; if the current vehicle speed is greater than the first vehicle speed, the control device controls the vehicle to decelerate to the first vehicle speed and drive to the slope section at the first vehicle speed.

[0110] In some embodiments, when the current vehicle speed is greater than the first vehicle speed, the control device can control the vehicle to travel at a constant speed to the slope section.

[0111] S406: The control device determines whether the vehicle is traveling on an uphill section based on the road information and / or the vehicle's driving information.

[0112] If the control device determines that the vehicle is traveling on an uphill section, such as starting to go uphill, the following S407 is executed; if the control device determines that the vehicle is not traveling on an uphill section, such as not reaching the uphill section, the vehicle continues to travel according to the current state.

[0113] S407: The control device drives the vehicle according to the first torque.

[0114] S408: The control device determines whether the vehicle speed is less than or equal to a first threshold.

[0115] If the control device determines that the vehicle speed is less than or equal to the first threshold, the following S409 is executed; if the control device determines that the vehicle speed is greater than the first threshold, the following S410 is executed.

[0116] S409, the control device controls the vehicle to travel at a constant speed according to the current vehicle speed or the first threshold until the end of the uphill section.

[0117] S410: The control device continues to drive the vehicle according to the first torque until it is detected that the vehicle speed is less than or equal to the first threshold or the uphill section is completed.

[0118] S411, the control device determines whether the vehicle is traveling on a downhill section based on road information and / or vehicle driving information.

[0119] If the control device determines that the vehicle is traveling on a downhill section, such as starting to go downhill, the following S412 is executed; if the control device determines that the vehicle is not traveling on a downhill section, such as not reaching the downhill section, the vehicle continues to travel according to the current state.

[0120] S412: The control device drives the vehicle according to the first torque.

[0121] S413, the control device determines whether the vehicle speed is greater than or equal to a second threshold.

[0122] If the control device determines that the vehicle speed is greater than or equal to the second threshold, the following S414 is executed; if the control device determines that the vehicle speed is less than the second threshold, the following S415 is executed.

[0123] S414, the control device controls the vehicle to travel at a constant speed according to the current vehicle speed or the second threshold until the end of the downhill section.

[0124] S415 , the control device continues to drive the vehicle according to the first torque until it detects that the vehicle speed is greater than or equal to the second threshold or the downhill section is completed.

[0125] S416: The control device determines whether the vehicle has completed the downhill section based on the road information and / or the vehicle's driving information.

[0126] If the control device determines that the vehicle has completed traveling on the downhill section, the vehicle is controlled to travel at the current speed or the preset speed.

[0127] The embodiment shown in FIG5 can be combined with any of the foregoing embodiments. Some steps in the embodiment shown in FIG5 are the same as or similar to those in the foregoing embodiments. For steps or implementation methods not described in detail, reference can be made to the foregoing embodiments.

[0128] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0129] FIG6 is a schematic block diagram of a control device provided in an embodiment of the present application. As shown in FIG6 , the device 500 may include an acquisition module 510 , a processing module 520 , and a control module 530 .

[0130] Among them, the acquisition module 510 can be used to collect road information through the vehicle's sensors, and the road information includes information about the slope section in the road section to be traveled; the processing module 520 can be used to determine whether the vehicle is traveling on a slope section based on the road information; the control module 530 can be used to drive the vehicle according to the first torque when the vehicle is traveling on the slope section, and the first torque is used to maintain the conversion amount between the vehicle's mechanical energy and the vehicle's energy supply less than or equal to the energy threshold, and there is energy conversion between the vehicle's kinetic energy and gravitational potential energy in the slope section.

[0131] In some embodiments, the processing module 520 is also used to: determine the slope of the current driving section of the vehicle based on the vehicle's driving information, the driving information including the vehicle's current acceleration and the torque currently driving the vehicle; and determine whether the vehicle is traveling on a sloped section based on the road information and the slope of the current driving section of the vehicle.

[0132] In some embodiments, the first torque is used to resist a first resistance encountered by the vehicle when traveling at a current vehicle speed, and the first resistance affects the mechanical energy of the vehicle to maintain stability.

[0133] In some embodiments, the first resistance includes wind resistance and / or rolling resistance when the vehicle is traveling at a current vehicle speed.

[0134] In some embodiments, the first torque is further used to resist a portion of the resistance generated by gravitational potential energy when the vehicle travels on a slope.

[0135] In some embodiments, the slope section includes an uphill section, and the processing module 520 is also used to determine whether the vehicle speed is less than or equal to a first threshold when the vehicle is traveling on the uphill section; the control module 530 is also used to control the vehicle to travel at a constant speed according to the current speed to the end of the uphill section when the vehicle speed is less than or equal to the first threshold.

[0136] In some embodiments, the processing module 520 is further configured to determine a first threshold value based on the length information of the uphill section, the gradient information of the uphill section, and the energy conversion efficiency of the driving device of the vehicle.

[0137] In some embodiments, the slope section also includes a downhill section, and the processing module 520 is also used to determine whether the vehicle speed is greater than or equal to a second threshold when the vehicle is traveling on the downhill section; the control module 530 is also used to control the vehicle to travel at a constant speed according to the current speed to the end of the downhill section when the vehicle speed is greater than or equal to the second threshold.

[0138] In some embodiments, the processing module 520 is further configured to determine a second threshold value based on the length information of the downhill section, the gradient information of the downhill section, and the energy conversion efficiency of the driving device of the vehicle.

[0139] In some embodiments, the processing module 520 is also used to determine the first vehicle speed based on the length information of the slope section, the slope information of the slope section and the energy conversion efficiency of the vehicle's drive device; the control module 530 is also used to control the vehicle to travel to the slope section at the first vehicle speed based on the position information of the slope section.

[0140] In some embodiments, the information of the slope road section includes at least one of position information, length information, and slope information of the slope road section.

[0141] In some embodiments, the processing module 520 is also used to determine whether the vehicle has completed driving on the slope section based on road information and / or vehicle driving information; the control module 530 is also used to control the vehicle to travel at the current speed or the preset speed when the vehicle completes driving on the slope section.

[0142] The specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0143] The division of the units / modules in the above devices is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated.

[0144] Figure 7 is a schematic block diagram of an electronic device 600 provided in an embodiment of the present application. The electronic device 600 can be implemented as a server or terminal device, or the electronic device 600 can be replaced by a component in an electronic device, such as a chip or chip system. The electronic device 600 may include a processor 610 and a memory 620. The processor 610 and the memory 620 communicate with each other via an internal connection path. The memory 620 is used to store instructions, and the processor 610 is used to execute the instructions stored in the memory 620.

[0145] Optionally, the memory 620 may include a read-only memory and a random access memory, and provide instructions and data to the processor 610. The memory 620 may be a separate device or may be integrated into the processor 610.

[0146] In some embodiments, the electronic device 600 may further include an input interface 630. The processor 610 may control the input interface 630 to communicate with other devices or chips, and specifically, may obtain information or data sent by other devices or chips.

[0147] In some embodiments, the electronic device 600 may further include an output interface 640. The processor 610 may control the output interface 640 to communicate with other devices or chips, and specifically, may output information or data to other devices or chips.

[0148] In some embodiments, the electronic device 600 can implement the corresponding processes of each method in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0149] It should be understood that the processor of the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0150] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0151] The present application also provides a computer-readable storage medium for storing a computer program. In some embodiments, the computer program enables a computer to execute the corresponding processes in the various methods of the present application. For the sake of brevity, the details are not repeated here.

[0152] The present application also provides a computer program product including computer program instructions. In some embodiments, the computer program instructions enable a computer to execute the corresponding processes in the various methods of the present application, which will not be described in detail here for the sake of brevity.

[0153] The present application also provides a computer program. In some embodiments, when the computer program is run on a computer, it causes the computer to execute the corresponding processes in the various methods of the present application. For the sake of brevity, the details are not repeated here.

[0154] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0155] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: include: Collecting road information through sensors of the vehicle, wherein the road information includes information of a slope section in the road section to be traveled; Determining, based on the road information, whether the vehicle is traveling on the slope section; When the vehicle is traveling on the slope section, the vehicle is driven to travel according to a first torque, the first torque being used to maintain a conversion amount between the mechanical energy of the vehicle and the vehicle energy supply being less than or equal to an energy threshold, and there is energy conversion between the kinetic energy and gravitational potential energy of the vehicle on the slope section, and the vehicle energy supply is energy provided by the vehicle power system.

2. The method according to claim 1, characterized in that Also includes: Determining the slope of a road section on which the vehicle is currently traveling according to driving information of the vehicle, wherein the driving information includes a current acceleration of the vehicle and a current torque driving the vehicle to travel; The determining, based on the road information, whether the vehicle is traveling on the slope section includes: According to the road information and the slope of the current driving section of the vehicle, it is determined whether the vehicle is driving on the slope section.

3. The method according to claim 1 or 2, characterized in that: The first torque is used to resist a first resistance encountered by the vehicle when the vehicle is traveling at a current vehicle speed, and the first resistance affects the mechanical energy of the vehicle to maintain stability.

4. The method according to claim 3, characterized in that The first resistance includes wind resistance and / or rolling resistance when the vehicle is traveling at a current vehicle speed.

5. The method according to claim 3 or 4, characterized in that: The first torque is also used to resist part of the resistance generated by gravitational potential energy when the vehicle travels on the slope section.

6. The method according to any one of claims 1 to 5, characterized in that: The slope road section includes an uphill road section, and the method further includes: When the vehicle is traveling on the uphill section, determining whether the vehicle speed is less than or equal to a first threshold; When the vehicle speed is less than or equal to the first threshold, the vehicle is controlled to travel at a constant speed according to the current vehicle speed until the uphill section ends.

7. The method according to claim 6, characterized in that Also includes: The first threshold is determined according to the length information of the uphill section, the gradient information of the uphill section, and the energy conversion efficiency of the driving device of the vehicle.

8. The method according to any one of claims 1 to 7, characterized in that: The slope road section also includes a downhill road section, and the method further includes: When the vehicle is traveling on the downhill section, determining whether the vehicle speed is greater than or equal to a second threshold; When the vehicle speed is greater than or equal to the second threshold, the vehicle is controlled to travel at a constant speed according to the current vehicle speed until the downhill section ends.

9. The method according to claim 8, characterized in that Also includes: The second threshold is determined according to the length information of the downhill section, the gradient information of the downhill section, and the energy conversion efficiency of the driving device of the vehicle.

10. The method according to any one of claims 1 to 9, characterized in that: Also includes: determining a first vehicle speed according to the length information of the slope section, the slope information of the slope section, and the energy conversion efficiency of the driving device of the vehicle; According to the position information of the slope section, the vehicle is controlled to travel to the slope section at the first vehicle speed.

11. The method according to any one of claims 1 to 10, characterized in that: The information of the slope road section includes at least one of position information, length information and slope information of the slope road section.

12. The method according to any one of claims 1 to 11, characterized in that: Also includes: Determining whether the vehicle has completed driving on the slope section according to the road information and / or the driving information of the vehicle; When the vehicle completes traveling on the slope section, the vehicle is controlled to travel at a current speed or a preset speed.

13. A control device, characterized in that: include: The acquisition module is used to collect road information through the vehicle's sensors, and the road information includes the slope of the road section to be traveled. Segment information; A processing module, used for determining whether the vehicle is traveling on the slope section according to the road information; A control module is used to drive the vehicle to travel according to a first torque when the vehicle is traveling on the slope section, the first torque is used to maintain the conversion amount between the mechanical energy of the vehicle and the vehicle energy supply is less than or equal to an energy threshold, there is energy conversion between the kinetic energy and gravitational potential energy of the vehicle in the slope section, and the vehicle energy supply is energy provided by the vehicle power system.

14. The device according to claim 13, characterized in that The processing module is also used for: Determining the slope of a road section on which the vehicle is currently traveling according to driving information of the vehicle, wherein the driving information includes a current acceleration of the vehicle and a current torque driving the vehicle to travel; According to the road information and the slope of the current driving section of the vehicle, it is determined whether the vehicle is driving on the slope section.

15. The device according to claim 13 or 14, characterized in that The first torque is used to resist a first resistance encountered by the vehicle when the vehicle is traveling at a current vehicle speed, and the first resistance affects the mechanical energy of the vehicle to maintain stability.

16. The device according to claim 15, characterized in that The first resistance includes wind resistance and / or rolling resistance when the vehicle is traveling at a current vehicle speed.

17. The device according to claim 15 or 16, characterized in that The first torque is also used to resist part of the resistance generated by gravitational potential energy when the vehicle travels on the slope section.

18. The device according to any one of claims 13 to 17, characterized in that The slope section includes an uphill section, The processing module is also used to determine whether the vehicle speed is less than or equal to a first threshold when the vehicle is traveling on the uphill section; The control module is also used to control the vehicle to travel at a constant speed according to the current vehicle speed until the end of the uphill section when the vehicle speed is less than or equal to the first threshold.

19. The device according to claim 18, characterized in that The processing module is also used for: The first threshold is determined according to the length information of the uphill section, the gradient information of the uphill section, and the energy conversion efficiency of the driving device of the vehicle.

20. The device according to any one of claims 13 to 19, characterized in that The slope road section also includes a downhill road section. The processing module is also used to determine whether the vehicle speed is greater than or equal to a second threshold when the vehicle is traveling on the downhill section; The control module is also used to control the vehicle to travel at a constant speed according to the current vehicle speed until the end of the downhill section when the vehicle speed is greater than or equal to the second threshold.

21. The device according to claim 20, characterized in that The processing module is also used for: The second threshold is determined according to the length information of the downhill section, the gradient information of the downhill section, and the energy conversion efficiency of the driving device of the vehicle.

22. The device according to any one of claims 13 to 21, characterized in that The processing module is further used to determine a first vehicle speed according to the length information of the slope section, the slope information of the slope section and the energy conversion efficiency of the driving device of the vehicle; The control module is further configured to control the vehicle to travel to the slope section at the first vehicle speed according to the position information of the slope section.

23. The device according to any one of claims 13 to 22, characterized in that The information of the slope road section includes at least one of position information, length information and slope information of the slope road section.

24. The device according to any one of claims 13 to 23, characterized in that The processing module is further used to determine whether the vehicle has completed the driving of the slope section according to the road information and / or the driving information of the vehicle; The control module is also used to control the vehicle to travel at a current speed or a preset speed when the vehicle completes traveling on the slope section.

25. A vehicle, characterized in that: include: A control device, wherein the control device is used to execute the method according to any one of claims 1 to 12.

26. The vehicle according to claim 25, characterized in that Also includes: sensor; The control device collects the road information through the sensor.

27. A vehicle according to claim 25 or 26, characterised in that Also includes: Drive device; The control device sends the first torque to the driving device; The driving device drives the vehicle according to the first torque.

28. A chip, characterized in that: include: A processor, configured to call and execute computer instructions from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 12.

29. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 12.

30. A computer-readable storage medium, characterized in that: Used to store computer program instructions, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 12.

31. A computer program product, characterized in that The method comprises computer program instructions which enable a computer to execute the method as claimed in any one of claims 1 to 12.

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