Vehicle control method, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a storage medium, and relates to the field of vehicles. The method comprises the steps that under the condition that a cruise control function of the vehicle is started, whether the vehicle starts a constant-speed braking function or not is detected; under the condition that the constant-speed braking function of the vehicle is started, a second vehicle speed threshold value is determined based on the constant-speed braking function; and controlling the vehicle based on the vehicle speed of the vehicle and the second vehicle speed threshold. According to the method, under the condition that the cruise control function and the constant-speed braking function of the vehicle are started, cooperative work of the cruise control function and the constant-speed braking function can be achieved, and operation of a driver is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a vehicle control method, a vehicle, and a storage medium in the field of vehicles. Background Technology

[0002] In existing technology, when cruise control is activated, the vehicle automatically travels at the set cruise speed. Cruise control (CC) provides positive torque (drive torque), and the torque output becomes zero when the vehicle exceeds the set cruise speed. Constant speed braking is a function that reduces or stabilizes the vehicle speed within a certain range, providing negative torque (braking torque). When the vehicle speed is lower than the target speed corresponding to constant speed braking, the torque provided by constant speed braking is zero.

[0003] However, when both cruise control and constant speed braking are engaged, one of the functions usually deactivates or is suppressed, causing inconvenience for the driver. Therefore, how to achieve coordinated operation of cruise control and constant speed braking to reduce driver intervention when both are engaged is a technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a vehicle control method, a vehicle, and a storage medium. When the vehicle's cruise control function is activated, if the vehicle's constant speed braking function is detected to be activated, the method controls the vehicle based on the vehicle speed and a second speed threshold corresponding to the constant speed braking function, thereby achieving coordinated operation of the cruise control function and the constant speed braking function, thus reducing the driver's operation.

[0005] Firstly, a vehicle control method is provided, the method comprising:

[0006] With cruise control activated, check if constant speed braking is engaged.

[0007] When the vehicle's constant speed braking function is activated, a second vehicle speed threshold is determined based on the constant speed braking function.

[0008] The vehicle is controlled based on its speed and a second speed threshold.

[0009] In one implementation, controlling the vehicle includes controlling the vehicle via cruise control or by constant speed braking.

[0010] In the embodiments of this application, when the vehicle's cruise control function is activated, if the vehicle's constant speed braking function is detected to be activated, the vehicle is controlled according to the vehicle's speed and the speed threshold corresponding to the constant speed braking function. Since the vehicle is controlled based on the vehicle speed and the speed threshold corresponding to the constant speed braking function when both cruise control and constant speed braking functions are activated, that is, when both functions are activated, an appropriate control method is selected based on the vehicle speed and the speed threshold corresponding to the constant speed braking function to control the vehicle, thereby achieving coordinated operation of the cruise control and constant speed braking functions and reducing driver operation.

[0011] In conjunction with the first aspect, in certain implementations of the first aspect, vehicle control is based on the vehicle's speed and a second speed threshold, including:

[0012] When the vehicle speed is less than or equal to the second speed threshold, the vehicle is controlled by the cruise control function.

[0013] When the vehicle speed exceeds the second speed threshold, the vehicle is controlled by constant speed braking function.

[0014] In the embodiments of this application, the cruise control function provides positive torque, enabling the vehicle to travel stably at the speed set by the cruise control function, while the constant speed braking function provides negative torque, enabling the vehicle to travel at the speed limit set by the constant speed braking function. When the vehicle speed is less than or equal to the speed threshold corresponding to the constant speed braking function, it indicates that the vehicle speed is low; therefore, by controlling the vehicle through the cruise control function, it is ensured that the vehicle can travel stably at the speed set by the cruise control function when the vehicle speed is low. When the vehicle speed is greater than the speed threshold corresponding to the constant speed braking function, it indicates that the vehicle speed is high; therefore, by controlling the vehicle through the constant speed braking function, it is ensured that when the vehicle speed is high, the constant speed braking function can provide negative torque, enabling the vehicle to travel at the speed limit according to the second speed threshold corresponding to the constant speed braking function.

[0015] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the vehicle is controlled via cruise control, including:

[0016] If a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, the first torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command; if a second torque command is received, but a first torque command is not received, the vehicle is controlled to prevent it from responding to the second torque command; if both the first and second torque commands are received simultaneously, the first torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command.

[0017] Vehicle control via constant speed braking includes:

[0018] If a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, the vehicle is prevented from responding to the first torque command. If a second torque command is received, but a first torque command is not received, the second torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command. If both the first and second torque commands are received simultaneously, the second torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command.

[0019] In the embodiments of this application, when controlling the vehicle via cruise control, the first torque command generated by the cruise control function is determined as the target torque command, and the vehicle is controlled according to the target torque command; and the response to the second torque command corresponding to the constant speed braking function is prohibited. This ensures that when controlling the vehicle via cruise control, only the torque command of the cruise control function is responded to, avoiding the influence of the constant speed braking function on the vehicle speed. When controlling the vehicle via constant speed braking, the second torque command generated by the constant speed braking function is determined as the target torque command, and the vehicle is controlled according to the target torque command; and the response to the torque command of the cruise control function is prohibited, ensuring that when controlling the vehicle via constant speed braking, only the torque command of the constant speed braking function is responded to, avoiding the influence of the cruise control function on the vehicle speed.

[0020] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, controlling the vehicle based on the vehicle speed and a second vehicle speed threshold includes:

[0021] The first vehicle speed threshold is determined based on the cruise control function;

[0022] When the vehicle speed is less than the first speed threshold, the cruise control function generates a positive torque command and controls the vehicle through the positive torque command.

[0023] When the vehicle speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, the cruise control function generates a zero torque command and controls the vehicle through the zero torque command.

[0024] When the vehicle speed exceeds the second speed threshold, the constant speed braking function generates a negative torque command to control the vehicle.

[0025] In the embodiments of this application, when the vehicle speed is less than the first speed threshold corresponding to the cruise control function, the vehicle is controlled by a positive torque command generated by the cruise control function. Since a speed less than the first speed threshold indicates a low vehicle speed, the positive torque command of the cruise control function controls the vehicle to ensure that the vehicle speed increases and travels stably according to the first speed threshold set by the cruise control function. When the vehicle speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, it indicates that the vehicle speed meets the speed limits corresponding to the cruise control function and the constant speed braking function; therefore, no additional positive or negative torque is required. When the vehicle speed is greater than the second speed threshold, it indicates a high vehicle speed. To ensure that the vehicle does not exceed the speed threshold set by the constant speed braking function, the vehicle is controlled by a negative torque command generated by the constant speed braking function; ensuring that the vehicle can simultaneously meet the speed limits set by the cruise control function and the constant speed braking function.

[0026] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, controlling the vehicle based on the vehicle speed and a second vehicle speed threshold includes:

[0027] Based on the second vehicle speed threshold, determine the target vehicle speed threshold for the cruise control function;

[0028] The vehicle is controlled via cruise control based on its speed and target speed threshold.

[0029] In the embodiments of this application, the cruise control function controls the vehicle based on the vehicle speed and the target speed threshold. Since the target speed threshold is determined based on the second speed threshold corresponding to the constant speed braking function, the cruise control function controls the vehicle based on the vehicle speed and the target speed threshold, ensuring that the constant speed braking function can limit the vehicle speed through the cruise control function, thereby realizing the coordinated operation of the cruise control function and the constant speed braking function.

[0030] Combining the first aspect and the above-described implementations, in some implementations of the first aspect, the vehicle is controlled via cruise control based on the vehicle's speed and a target speed threshold, including:

[0031] When the vehicle speed is less than the target speed threshold, the cruise control function generates a positive torque command and controls the vehicle through the positive torque command.

[0032] When the vehicle speed equals the target speed threshold, the cruise control function generates a zero torque command or a negative torque command, and controls the vehicle through the zero torque command or negative torque command.

[0033] When the vehicle speed exceeds the target speed threshold, the cruise control function generates a negative torque command to control the vehicle.

[0034] In the embodiments of this application, when the vehicle speed is less than the target speed threshold, indicating a low vehicle speed, the positive torque command generated by the cruise control function controls the vehicle to ensure that the vehicle speed can be increased to meet the target speed threshold limit, thus ensuring that the vehicle speed remains stable. When the vehicle speed is equal to the target speed threshold, indicating that the vehicle speed meets the target speed threshold limit, a zero torque command or a negative torque command is output to keep the vehicle speed stable or below the target speed threshold. When the vehicle speed is greater than the target speed threshold, indicating a high vehicle speed, the negative torque command generated by the cruise control function controls the vehicle to ensure that the vehicle speed can be reduced to meet the target speed threshold limit.

[0035] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the vehicle is controlled via a negative torque command, including:

[0036] The vehicle's drive motor is controlled by a negative torque command to generate negative torque, thereby controlling the vehicle's deceleration and converting the drive motor's kinetic energy into electrical energy.

[0037] In the embodiments of this application, when controlling the vehicle through a negative torque command, the vehicle's drive motor is controlled to generate negative torque. While controlling the vehicle to decelerate through the negative torque generated by the drive motor, the kinetic energy generated by the drive motor can be converted into electrical energy, thereby realizing energy recovery and reducing energy consumption during vehicle operation.

[0038] In conjunction with the first aspect and the above-described implementations, some implementations of the first aspect that control the vehicle through constant speed braking function further include:

[0039] The cruise control function generates a first target signal, which is used to indicate that the cruise control function will not participate in the control of the vehicle.

[0040] In the embodiments of this application, when the vehicle is controlled by the constant speed braking function, the cruise control function generates a first target signal. Under the action of the first target signal, the cruise control function does not participate in vehicle control; thereby, when the vehicle is controlled by the constant speed braking function, interference from the cruise control function can be avoided.

[0041] Secondly, a vehicle control device is provided, the device comprising:

[0042] The detection module is used to detect whether the vehicle has activated constant speed braking function when the vehicle's cruise control function is activated.

[0043] The control module is used to determine a second vehicle speed threshold based on the constant speed braking function when the vehicle is in constant speed braking mode; and to control the vehicle based on the vehicle speed and the second vehicle speed threshold.

[0044] Thirdly, a vehicle is provided, including a memory and a processor, the memory for storing executable program code, and the processor for calling and running the executable program code from the memory, causing the vehicle to perform the methods of the first aspect or any possible implementation thereof.

[0045] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0046] Fifthly, a computer-readable storage medium is provided that stores a computer program, which, when executed, implements the method described in the first aspect or any possible implementation thereof. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of a vehicle powertrain system architecture provided in an embodiment of this application;

[0048] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the frame of a vehicle provided in an embodiment of this application;

[0050] Figure 4 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the frame of another vehicle provided in an embodiment of this application;

[0052] Figure 6 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

[0053] Figure 7 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application;

[0054] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0055] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0057] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0058] In existing technology, when a vehicle's cruise control function is activated, the vehicle automatically travels at the set cruise speed. Cruise control provides positive torque (i.e., drive torque), and the torque output becomes zero once the vehicle exceeds the set cruise speed. Cruise control typically only provides positive torque. In scenarios with clear roads and long-distance driving, this function can reduce driver fatigue.

[0059] The vehicle achieves auxiliary braking function through the auxiliary braking system in the vehicle. The auxiliary braking function can reduce the vehicle speed or stabilize it within a certain speed range. Compared with the vehicle's main braking system, the auxiliary braking system absorbs less power in a short time, but the absorbed power can remain stable over a long period of time. The auxiliary braking system is suitable for long-term braking or frequent braking conditions.

[0060] For example, taking commercial vehicles as an example, the auxiliary braking function only provides negative torque. When the vehicle speed is lower than the target vehicle speed corresponding to the auxiliary braking (for example, the vehicle speed corresponding to the constant speed gear of the auxiliary braking), the torque value provided by the auxiliary braking is 0, but no positive torque drive is provided.

[0061] It should be noted that the vehicle's auxiliary braking system can provide negative torque through auxiliary braking sources within the vehicle. These auxiliary braking sources include, but are not limited to, hydraulic retarder, engine cylinder braking, engine exhaust braking, and for hybrid vehicles, electric motor braking. The auxiliary braking system includes different auxiliary braking levels, such as constant speed, automatic, and fixed levels (e.g., fixed levels may include first, second, and third gears), with a constant speed auxiliary braking level. Under different auxiliary braking levels, the vehicle brakes in different ways.

[0062] For example, in fixed gear mode, different auxiliary braking sources operate according to preset power and provide negative torque; in automatic mode, a fixed gear is automatically selected; in constant speed mode, the vehicle is controlled to travel steadily at a predetermined speed; the predetermined speed is usually the constant speed gear speed, which is the actual vehicle speed at the moment the constant speed gear is activated. On long downhill sections, constant speed gear is a frequently used auxiliary braking gear, preventing excessive vehicle speed and potential safety issues.

[0063] It should be noted that activating the auxiliary braking function at constant speed is equivalent to activating the constant speed braking function; that is, the auxiliary braking at constant speed and the constant speed braking function have the same meaning.

[0064] Since cruise control and constant speed braking are common functions of a vehicle, when both cruise control and auxiliary control functions are activated, one of the functions will usually be deactivated or suppressed, causing inconvenience to the driver.

[0065] For example, when the vehicle's cruise control function is activated, if the vehicle's constant speed braking function (i.e., the constant speed setting of the auxiliary braking function) is detected, and the cruise control function disengages, when the vehicle is traveling on a flat road or uphill section, the vehicle cannot output positive torque commands through the cruise control function, resulting in a lack of driving force and a decrease in vehicle speed. To maintain a stable speed, the driver needs to press the accelerator pedal to provide driving force, or the driver needs to first disengage the auxiliary braking function and then reactivate the cruise control function, at which point the vehicle will resume constant speed cruise control. If the driver encounters the next downhill section and reactivates the constant speed setting of the auxiliary braking function, the cruise control function will disengage again. This frequent activation and deactivation of the cruise control function is cumbersome and inconvenient for the driver.

[0066] For example, if the vehicle's cruise control function is activated and the constant speed braking function is detected, the vehicle's cruise control function will not disengage. Both the cruise control function and the constant speed braking function will output torque commands. Regardless of whether the torque command of the cruise control function or the torque command of the constant speed braking function is given higher priority for torque control, there are certain problems in specific application scenarios, making it inconvenient to use.

[0067] For example, if the torque command of the cruise control function is prioritized for speed control, the auxiliary braking function will fail. When encountering a downhill section, the vehicle may continue to accelerate, easily leading to excessive speed and increasing safety risks. When the speed is too high, the driver will usually step on the brake pedal to slow down, which will cause the cruise control function to disengage. Once the vehicle reaches the bottom of the slope / flat road / uphill section, the driver needs to reactivate the cruise control function. Frequent activation of the cruise control function causes inconvenience to the driver.

[0068] If the torque command of the constant speed braking function is prioritized for speed control, then when the vehicle is traveling on a slope, flat road, or uphill section, and its speed is lower than the constant speed, the vehicle lacks driving force and its speed decreases. The vehicle cannot output positive torque commands through the cruise control function, resulting in a lack of driving force and a decrease in speed. The driver needs to turn off the constant speed braking function or press the accelerator pedal to provide driving force; this operation is cumbersome and inconvenient for the driver. Furthermore, when the driver turns off the constant speed braking function, the vehicle will travel at the previously set cruise speed, which may generate a large amount of driving torque and acceleration in a short period of time, causing the driver to feel abrupt or panicked, affecting the overall vehicle economy; in scenarios with other vehicles ahead or on slippery roads, there are certain safety risks.

[0069] Therefore, when both cruise control and constant speed braking are engaged, how to achieve coordinated operation of cruise control and constant speed braking to reduce driver intervention is a technical problem that needs to be solved.

[0070] In view of this, this application provides a vehicle control method, a vehicle, and a storage medium. Through the embodiments of this application, when the vehicle's cruise control function is activated, if the vehicle's constant speed braking function is detected to be activated, the vehicle is controlled according to the vehicle speed and a second speed threshold corresponding to the constant speed braking function; so as to realize the coordinated operation of the cruise control function and the constant speed braking function, thereby reducing the driver's operation.

[0071] Figure 1 This is a schematic diagram of a vehicle powertrain architecture provided in an embodiment of this application.

[0072] For example, Figure 1 The vehicle powertrain architecture shown includes an engine 101, an electric motor 102, a clutch 103, a gearbox 104, a sliding sleeve 105, a hydraulic retarder 106, drive wheels 107, and a drive axle reducer 108.

[0073] The vehicle's engine 101 and motor 102 provide driving force; clutch 103 separates or engages the engine and gearbox to cut off or transmit power from the engine to the gearbox; gearbox 104 changes the speed and torque from the engine; sliding sleeve 105 is a connecting component in the gearbox, used to move and rotate gears through engagement to ensure normal operation of the gearbox; hydraulic retarder 106 reduces the vehicle's speed via a hydraulic device; drive 107 are wheels connected to the drive axle, supporting the vehicle's weight and outputting power and torque; drive axle reducer 108 transmits the power from the engine or motor to the drive wheels through reduction and torque amplification to ensure the vehicle receives appropriate driving force under different driving conditions.

[0074] For example, the vehicle's engine 101 and motor 102 input power to the transmission 104. A hydraulic retarder 106 is installed between the transmission 104 and the drive axle reducer 108. A clutch 103 connects the engine 101 and the transmission 104, enabling the engine power to be switched on and off. The motor 102 switches power on and off via a sliding sleeve 105 inside the transmission. The internal structure of the transmission will not be described in detail here. The component providing positive torque may be either the engine or the motor; the component providing negative torque (i.e., the auxiliary braking source) may be the engine, the hydraulic retarder, or the motor.

[0075] It should be noted that, Figure 1 The example of a power system consisting of two motors is used for illustration. This application does not limit the number of motors. The vehicle control method in this application is also applicable to hybrid architectures with different numbers of motors, such as one or three.

[0076] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0077] For example, Figure 2 The method 200 shown can be executed by the vehicle; or by the vehicle's vehicle controller; or by a processor or chip in the vehicle.

[0078] like Figure 2 As shown, the vehicle control method 200 includes S210 to S230, which are described in detail below.

[0079] S210 detects whether the vehicle's constant speed braking function is activated when the vehicle's cruise control function is on.

[0080] For example, when the vehicle's cruise control function is activated, a first torque command for the cruise control function is determined; the vehicle is then controlled according to this first torque command. There are two possible implementation methods for determining the first torque command for the cruise control function; these two implementation methods are described in detail below.

[0081] Method 1: Obtain the cruise speed set by the cruise control function and the actual vehicle speed; based on the vehicle's cruise speed and actual vehicle speed, determine the first torque command for the cruise control function.

[0082] Specifically, when the vehicle's actual speed is less than the cruise speed, the cruise control function outputs a positive torque command (i.e., the first torque command is a positive torque command). The Vehicle Control Unit (VCU) controls the vehicle's engine or electric motor to provide driving force based on the positive torque command, so that the vehicle speed increases. When the vehicle's actual speed is greater than or equal to the cruise speed, the cruise control function outputs a zero torque command (i.e., the first torque command is a zero torque command), so that the vehicle speed no longer increases.

[0083] For example, if the vehicle's cruise speed is 50 km / h, and the actual vehicle speed is 40 km / h, which is less than the cruise speed, the first torque command for cruise control is a positive torque command; the vehicle controller controls the vehicle based on this positive torque command. When the actual vehicle speed is 60 km / h, which is greater than the cruise speed, the first torque command for cruise control is a zero torque command; the vehicle controller controls the vehicle based on this zero torque command. Cruise control allows the vehicle speed to be maintained at a preset cruise speed without requiring the driver to operate the accelerator and brake pedals, thus reducing driver fatigue.

[0084] Method 2: Obtain the cruise speed, the actual vehicle speed, and the safe speed threshold; based on the cruise speed, the actual vehicle speed, and the safe speed threshold, determine the first torque command for the cruise control function; wherein, the safe speed threshold is greater than the cruise speed.

[0085] Specifically, when the vehicle's actual speed is less than the cruise speed, the first torque command of the cruise control function is a positive torque command; the vehicle controller controls the vehicle based on the positive torque command output by the cruise control function. When the vehicle's actual speed is greater than or equal to the cruise speed but less than the safe speed threshold, the first torque command of the cruise control function is a zero torque command; when the actual speed is greater than or equal to the safe speed threshold, the first torque command of the cruise control function is a negative torque command, and the vehicle controller calls the vehicle's drive motor based on the negative torque command to generate negative torque through the drive motor.

[0086] For example, the cruise control function corresponds to a cruise speed of 50 km / h and a safe speed threshold of 55 km / h. When the actual vehicle speed is 40 km / h, the first torque command of the cruise control function is a positive torque command. When the actual vehicle speed is 52 km / h, the first torque command of the cruise control function is a zero torque command; when the actual vehicle speed is 60 km / h, the first torque command of the cruise control function is a negative torque command.

[0087] It should be noted that the above are examples illustrating the values ​​of cruising speed, actual vehicle speed, and safe speed threshold, and this application does not impose any limitations on them.

[0088] In the embodiments of this application, the safe speed threshold is the maximum speed at which the vehicle can safely operate. When the actual vehicle speed is greater than the first speed threshold (i.e., the cruise speed of the cruise control function) and less than the safe speed threshold, the vehicle speed is greater than the cruise speed with a small difference. In this case, the cruise control function generates a zero torque command instead of a negative torque command, thereby improving the economy of the cruise control function and reducing the vehicle's power consumption. When the vehicle speed is greater than the safe speed threshold, it indicates that the vehicle speed is greater than the cruise speed with a large difference. In this case, the cruise control function generates a negative torque command to reduce the vehicle speed, thus preventing the vehicle speed from being too high and posing a safety risk.

[0089] For example, a vehicle can detect whether the constant speed braking function is activated by the vehicle controller.

[0090] S220, when the vehicle's constant speed braking function is activated, determines a second vehicle speed threshold based on the constant speed braking function.

[0091] The second speed threshold can be the constant speed gear speed corresponding to the vehicle's constant speed braking function.

[0092] For example, the second speed threshold can be a preset constant speed gear speed; for example, when the vehicle's constant speed braking function is activated, if the preset constant speed gear speed (second speed threshold) is 50 km / h, if the vehicle speed is higher than 50 km / h, the constant speed braking function outputs a negative torque command, and the vehicle controller controls the vehicle's auxiliary braking source to brake the vehicle according to the negative torque command, so that the vehicle speed is reduced to less than or equal to the constant speed gear speed.

[0093] Optionally, the second speed threshold can be the actual vehicle speed at the moment the constant speed braking function is activated. For example, if the constant speed braking function is activated when the vehicle speed is 60 km / h, then the second speed threshold for the constant speed braking function is 60 km / h. When the vehicle speed is greater than 60 km / h, the constant speed braking function outputs a negative torque command. The vehicle controller controls the vehicle's auxiliary braking source to brake the vehicle according to the negative torque command, so that the vehicle speed is reduced to less than or equal to the second speed threshold.

[0094] It should be noted that the above is an example of the second vehicle speed threshold, and this application does not specifically limit the specific value of the second vehicle speed threshold.

[0095] For example, when the vehicle's cruise control function is activated, the vehicle's constant speed braking function is detected. This is an illustrative explanation of situations where both the vehicle's cruise control and auxiliary braking functions are activated. For instance, when the vehicle's cruise control function is activated, the vehicle travels at the cruise speed set by the cruise control function. When the vehicle travels downhill, due to gravity, the vehicle's speed will gradually increase. To avoid excessive speed and potential safety risks, the vehicle's constant speed braking function is usually activated. In this situation, both the vehicle's cruise control function and the constant speed braking function are activated.

[0096] In one possible implementation, if the vehicle activates cruise control and travels at the cruise speed corresponding to the cruise control function, and if the vehicle reaches a section of road where speed limits are enforced, then constant speed braking needs to be activated to limit the vehicle's speed. In this case, both the vehicle's cruise control function and constant speed braking function are active.

[0097] It should be noted that the above is an illustrative example of the situation where both the vehicle's cruise control and constant speed braking functions are activated. In actual applications, it is not limited to the downhill sections and speed-limited sections mentioned above.

[0098] S230 controls the vehicle based on its speed and a second speed threshold.

[0099] The methods of controlling the vehicle include controlling the vehicle through cruise control or through auxiliary braking. For example, when cruise control and constant speed braking are activated, an appropriate control method is selected to control the vehicle based on the vehicle speed and the second speed threshold of the constant speed braking function.

[0100] Example 1: When the vehicle speed is less than or equal to the second speed threshold, the vehicle is controlled by cruise control; when the vehicle speed is greater than the second speed threshold, the vehicle is controlled by constant speed braking.

[0101] For example, when the vehicle speed is less than or equal to the second speed threshold, it means that the current vehicle speed is lower than the speed threshold corresponding to the constant speed braking function, i.e., the vehicle speed is low. Therefore, to avoid the vehicle lacking braking force, the cruise control function is used to control the vehicle (i.e., cruise control has a higher priority than constant speed braking), ensuring that the vehicle can travel stably at the speed set by the cruise control function when the vehicle speed is low. When the vehicle speed is greater than the second speed threshold, it means that the current vehicle speed is higher than the speed threshold corresponding to the constant speed braking function. The constant speed braking function is used to control the vehicle (i.e., the constant speed braking function has a higher priority than cruise control), ensuring that when the vehicle speed is high, the constant speed braking function can provide negative torque, allowing the vehicle to travel at the speed limit according to the second speed threshold corresponding to the constant speed braking function.

[0102] For example, the second speed threshold for constant speed braking is 60 km / h. This second speed threshold represents the maximum safe speed for the vehicle when constant speed braking is activated. When the vehicle speed is 40 km / h, it is less than the second speed threshold, meaning the vehicle meets the maximum safe speed limit for constant speed braking. Therefore, the vehicle does not need to be controlled by constant speed braking; instead, cruise control is used. When the vehicle speed is 70 km / h, it is greater than the second speed threshold, meaning the vehicle does not meet the speed limit for constant speed braking. Therefore, constant speed braking is used to control the vehicle.

[0103] It should be noted that the above is an example illustrating the relationship between the second speed threshold and the vehicle speed, and this application does not limit this.

[0104] For example, when the vehicle's cruise control function and constant speed braking function are activated, an appropriate control method is selected based on the vehicle's speed and a second speed threshold to achieve vehicle control. In the above embodiment one, the vehicle control methods include controlling the vehicle through the cruise control function or controlling the vehicle through the auxiliary braking function; the two vehicle control methods are described in detail below.

[0105] Method 1: Control the vehicle via cruise control.

[0106] For example, controlling a vehicle via cruise control includes: if a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, determining the first torque command as a target torque command and controlling the vehicle based on the target torque command; if a second torque command is received, but a first torque command is not received, controlling the vehicle to prevent it from responding to the second torque command; if both the first torque command and the second torque command are received simultaneously, determining the first torque command as the target torque command and controlling the vehicle based on the target torque command.

[0107] In the embodiments of this application, when both the vehicle's cruise control function and constant speed braking function are activated, if the vehicle is controlled via cruise control, the first torque command generated by the cruise control function is determined as the target torque command, and the vehicle is controlled according to the target torque command; while responding to the second torque command corresponding to the constant speed braking function is prohibited. This ensures that when the vehicle is controlled via cruise control, the torque command of the cruise control function is responded to, avoiding the influence of the constant speed braking function on the vehicle speed.

[0108] In one possible implementation, when determining the first torque command for the cruise control function, the method described in S210 above for determining the torque command for the cruise control function can be used to determine the first torque command.

[0109] Specifically, a first speed threshold for the cruise control function and the vehicle speed are determined; based on the first speed threshold and the vehicle speed, a first torque command is determined; wherein, the first speed threshold is the speed threshold corresponding to the cruise control function, and the first speed threshold can be the cruise speed.

[0110] Optionally, a first speed threshold, the vehicle speed, and a safe speed threshold are determined for the cruise control function; a first torque command for the cruise control function is determined based on the vehicle speed, the first speed threshold, and the safe speed threshold; wherein the safe speed threshold is greater than the first speed threshold corresponding to the cruise control function, and the safe speed threshold is less than the second speed threshold corresponding to the constant speed braking function.

[0111] It should be noted that the method for determining the first torque command described above can be found in the implementation of determining the torque command for the cruise control function in S210; it will not be repeated here.

[0112] Method 2: Control the vehicle through constant speed braking function.

[0113] For example, if a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, the vehicle is controlled to prevent it from responding to the first torque command; if a second torque command is received, but a first torque command is not received, the second torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command; if both the first torque command and the second torque command are received simultaneously, the second torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command.

[0114] In the embodiments of this application, when both the vehicle's cruise control function and constant speed braking function are activated, if the vehicle is controlled through the cruise control function, the second torque command generated by the constant speed braking function is determined as the target torque command, and the vehicle is controlled according to the target torque command; and the response to the torque command of the cruise control function is prohibited, so as to ensure that the influence of the cruise control function on the vehicle speed can be avoided when the vehicle is controlled through the constant speed braking function.

[0115] In one implementation, when controlling the vehicle via constant speed braking, a second vehicle speed threshold corresponding to the constant speed braking function and the vehicle speed are determined; based on the second vehicle speed threshold and the vehicle speed, a second torque command is determined; when the vehicle speed is greater than the second vehicle speed threshold, the second torque command is a negative torque command; the vehicle controller controls the vehicle's auxiliary braking source to brake the vehicle according to the negative torque command of the constant speed braking function.

[0116] It should be understood that when both cruise control and constant speed braking are engaged, if the vehicle is controlled via cruise control, the first torque command output by cruise control is valid, and the vehicle is prohibited from responding to the second torque command to avoid affecting the vehicle's output torque through constant speed braking. Conversely, when the vehicle is controlled via constant speed braking, the second torque command output by constant speed braking is valid, and the vehicle is prohibited from responding to the first torque command to avoid affecting the vehicle's output torque through cruise control.

[0117] It should be noted that the first speed threshold is the speed threshold corresponding to the cruise control function, while the second speed threshold is the speed threshold corresponding to the constant speed braking function. During vehicle operation, to avoid excessive speed and potential danger, the constant speed braking function is activated to control the vehicle speed, and the speed value corresponding to the moment the constant speed setting is engaged is set as the constant speed speed, i.e., the second speed threshold. Therefore, the second speed threshold corresponding to the vehicle's constant speed braking function is usually higher than the first speed threshold corresponding to the cruise control function.

[0118] In one possible implementation, when the vehicle's cruise control and constant speed braking functions are activated, the vehicle's controller comprehensively processes the first torque command from the cruise control function and the second torque command from the constant speed braking function; wherein, the first torque command from the cruise control function has a higher priority. When controlling the vehicle through the constant speed braking function, the cruise control function generates a first target signal, which indicates that the cruise control function should not participate in vehicle control; that is, under the action of the first target signal, the higher-priority cruise control function no longer participates in vehicle control, but instead controls the vehicle through the second torque command from the constant speed braking function.

[0119] In the embodiments of this application, when the vehicle is controlled by the constant speed braking function, the cruise control function generates a first target signal. Under the action of the first target signal, the cruise control function does not participate in vehicle control; thereby, when the vehicle is controlled by the constant speed braking function, interference from the cruise control function can be avoided.

[0120] Optionally, if there is no priority between the first torque command and the second torque command, when controlling the vehicle via constant speed braking, the cruise control function generates a first target signal, which indicates that the cruise control function will not participate in vehicle control. When controlling the vehicle via cruise control, the constant speed braking function generates a second target signal, which indicates that the constant speed braking function will not participate in vehicle control.

[0121] In one implementation, controlling the vehicle based on the vehicle speed and a second speed threshold includes: determining a first speed threshold based on a cruise control function; when the vehicle speed is less than the first speed threshold, the cruise control function generates a positive torque command and controls the vehicle using the positive torque command; when the vehicle speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, the cruise control function generates a zero torque command and controls the vehicle using the zero torque command; when the vehicle speed is greater than the second speed threshold, a constant speed braking function generates a negative torque command and controls the vehicle using the negative torque command.

[0122] For example, when the vehicle speed is less than the first speed threshold corresponding to the cruise control function, the vehicle is controlled by a positive torque command generated by the cruise control function. Since a speed less than the first speed threshold indicates a low vehicle speed, the positive torque command from the cruise control function ensures that the vehicle speed increases and travels stably according to the first speed threshold set by the cruise control function. When the vehicle speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, it indicates that the vehicle speed meets the speed limits corresponding to both the cruise control function and the constant speed braking function; therefore, no additional positive or negative torque is required. When the vehicle speed is greater than the second speed threshold, it indicates a high vehicle speed. To ensure that the vehicle does not exceed the speed threshold set by the constant speed braking function, the vehicle is controlled by a negative torque command generated by the constant speed braking function; this ensures that the vehicle can simultaneously meet the speed limits set by both the cruise control function and the constant speed braking function.

[0123] For example, the first speed threshold for cruise control is 50 km / h, and the second speed threshold is 60 km / h. When the vehicle speed is less than 50 km / h, the positive torque command generated by the cruise control function controls the vehicle to increase its speed. When the vehicle speed is greater than or equal to 50 km / h and less than or equal to 60 km / h, the zero torque command generated by the cruise control function controls the vehicle to keep its speed stable. When the vehicle speed is greater than 60 km / h, the negative torque command generated by the constant speed braking function controls the vehicle to decrease its speed.

[0124] It should be noted that the above are examples illustrating the first preset threshold and the second preset threshold, and this application does not limit them.

[0125] Example 2: Controlling the vehicle based on the vehicle speed and a second vehicle speed threshold, including: determining a target vehicle speed threshold for the cruise control function based on the second vehicle speed threshold; and controlling the vehicle through the cruise control function based on the vehicle speed and the target vehicle speed threshold.

[0126] For example, the second vehicle speed threshold corresponding to the constant speed braking function can be determined as the target vehicle speed threshold. The cruise control function controls the vehicle based on the vehicle speed and the target vehicle speed threshold to ensure that the constant speed braking function can limit the vehicle speed through the cruise control function, thereby realizing the coordinated operation of the cruise control function and the constant speed braking function.

[0127] In one implementation, when the vehicle speed is less than the target speed threshold, the cruise control function generates a positive torque command to control the vehicle; when the vehicle speed is equal to the target speed threshold, the cruise control function generates a zero torque command or a negative torque command to control the vehicle; when the vehicle speed is greater than the target speed threshold, the cruise control function generates a negative torque command to control the vehicle.

[0128] For example, when the vehicle speed is less than the target speed threshold, indicating a low speed, the cruise control function generates a positive torque command to control the vehicle, ensuring the vehicle speed is increased to meet the target speed threshold. When the vehicle speed is equal to the target speed threshold, indicating the speed meets the threshold, a zero torque command or negative torque command is output to keep the vehicle speed stable or below the target speed threshold. When the vehicle speed is greater than the target speed threshold, indicating a high speed, the cruise control function generates a negative torque command to control the vehicle, ensuring the speed is reduced to meet the target speed threshold.

[0129] For example, the first speed threshold for cruise control is 50 km / h. When cruise control is activated, it controls the vehicle's movement based on this threshold. If constant speed braking is detected while cruise control is active, and the second speed threshold for constant speed braking is 60 km / h, the target speed threshold is determined to be 60 km / h. When the vehicle speed is less than 60 km / h, positive torque commands generated by cruise control control are used to control the vehicle. When the speed is equal to 60 km / h, zero torque or negative torque commands generated by cruise control control are used to control the vehicle. Specifically, when a zero torque command is generated, the vehicle speed is kept stable; when a negative torque command is generated, the vehicle speed is ensured to be below the target speed threshold, complying with the target speed limit. When the speed is greater than 60 km / h, negative torque commands generated by cruise control control are used to control the vehicle.

[0130] It should be noted that the above are illustrative examples of the values ​​of the first speed threshold, the second speed threshold, and the vehicle speed; this application does not impose any limitations on these values.

[0131] In one implementation, controlling the vehicle via a negative torque command includes: controlling the vehicle's drive motor to generate negative torque to control the vehicle to decelerate and convert the kinetic energy of the drive motor into electrical energy.

[0132] Optionally, when controlling the vehicle via a negative torque command, the vehicle's auxiliary braking source can be invoked through the vehicle controller to generate negative torque in order to control the vehicle's deceleration; wherein, the auxiliary braking source includes the vehicle's hydraulic retarder and engine, etc.

[0133] It should be noted that when the drive motor is in generator mode, it can convert kinetic energy into electrical energy and store it, thus achieving energy recovery. Simultaneously, in generator mode, the drive motor can generate negative torque, which is used to control the vehicle's deceleration. Other auxiliary braking sources in the vehicle (such as retarders, engine cylinder braking, and engine exhaust braking) cannot perform energy recovery.

[0134] For example, when controlling a vehicle via a negative torque command, the vehicle's drive motor generates negative torque. While controlling the vehicle to decelerate via the negative torque generated by the drive motor, the kinetic energy generated by the drive motor can be converted into electrical energy, thereby achieving energy recovery and reducing energy consumption during vehicle operation.

[0135] Optionally, when generating positive and negative torque commands, the values ​​of the positive and negative torque commands are determined by a proportional-integral (PI) controller. The PI controller is a linear controller that can generate a control deviation based on the given value and the actual output value. The proportional and integral components of this deviation are then linearly combined to form the control quantity, which is used to control the controlled object.

[0136] For example, the PI controller determines the torque value of the positive torque command output by the cruise control function based on a first vehicle speed threshold and the vehicle speed; the greater the difference between the first vehicle speed threshold and the vehicle speed, the greater the torque value (i.e., the absolute value of the torque) of the positive torque command. Similarly, the PI controller determines the torque value of the negative torque command output by the constant speed braking function based on a second vehicle speed threshold and the vehicle speed; the greater the difference between the second vehicle speed threshold and the vehicle speed, the greater the torque value of the negative torque command.

[0137] In the above embodiments, when the vehicle's cruise control function is activated, if the vehicle's constant speed braking function is detected to be activated, the vehicle is controlled according to the vehicle's speed and the speed threshold corresponding to the constant speed braking function. Since the vehicle is controlled based on the vehicle speed and the speed threshold corresponding to the constant speed braking function when both cruise control and constant speed braking functions are activated, that is, when both functions are activated, an appropriate control method is selected based on the vehicle speed and the speed threshold corresponding to the constant speed braking function to control the vehicle, thereby achieving coordinated operation of the cruise control and constant speed braking functions and reducing driver operation.

[0138] Figure 3 This is a schematic diagram of the frame of a vehicle provided in an embodiment of this application.

[0139] For example, such as Figure 3As shown, the cruise control controller generates a cruise control torque command (CC torque command) based on collected data (including actual vehicle speed, throttle, brake pedal opening, and other vehicle information) and cruise control function on / off commands, and sends the CC torque command to the vehicle controller. Other vehicle information may include the vehicle's cruise speed and constant speed. The auxiliary braking controller generates a constant speed torque command based on collected data (including actual vehicle speed, throttle, brake pedal opening, and other vehicle information) and auxiliary braking gear commands, and sends the constant speed torque command to the vehicle controller. The vehicle controller processes the two commands to determine the processed torque command; the CC torque command has higher priority, but when the cruise control controller issues a control relinquishment signal (i.e., the first target signal), it indicates that it is actively relinquishing control. The vehicle controller then sends the processed torque command to actuators such as the motor, engine, and hydraulic retarder.

[0140] For example, when the vehicle controller only receives the CC torque command, it outputs the processed CC torque command as the final torque command. When the vehicle controller only receives the constant speed torque command, it outputs the processed constant speed torque command. When both the CC torque command and the constant speed torque command are received simultaneously, the processed torque command is determined based on whether a CC permission yielding signal is received. If a CC permission yielding signal is received, the constant speed torque command is determined as the processed torque command; if no CC permission yielding signal is received, the CC torque command is determined as the processed torque command.

[0141] The following is combined Figure 3 The framework diagram in the middle Figure 4 The vehicle control method shown will be further explained.

[0142] Figure 4 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application.

[0143] Figure 4 The method 400 shown can be performed by a vehicle; or it can be performed by a processor or chip in the vehicle.

[0144] like Figure 4 The vehicle control method 400 shown includes S401 to S409, which are described in detail below.

[0145] S401, if the vehicle's cruise control function is activated, the vehicle's movement can be controlled through the cruise control function.

[0146] For example, when the vehicle's cruise control function is activated, the vehicle acquires its speed in real time and compares it with the cruise control speed set by the cruise control function to determine the torque command output by the cruise control function. When the vehicle speed is lower than the preset cruise speed, the cruise control function outputs a positive torque command, and the vehicle controller controls the vehicle's engine or electric motor to provide driving force to increase the vehicle speed. When the vehicle speed is greater than or equal to the set cruise speed, the cruise controller no longer outputs a positive torque command.

[0147] S402, Is the vehicle's constant speed braking function activated? If yes, proceed to S403; if no, proceed to S401.

[0148] For example, it is determined whether the vehicle's constant speed braking function is activated. If the vehicle's constant speed braking function is activated, the vehicle's cruise speed is kept constant, and the vehicle is controlled according to the vehicle's cruise speed, actual speed, and constant speed gear speed; if the vehicle's constant speed braking function is not activated, the vehicle's movement is controlled through the cruise control function.

[0149] Alternatively, the implementation methods of S401 and S402 can be found in [reference needed]. Figure 2 The relevant description of S210 will not be repeated here.

[0150] S403, maintain a constant cruise speed.

[0151] For example, if the vehicle's constant speed braking function is activated, both the current vehicle's cruise control function and constant speed braking function are activated, keeping the vehicle's cruise speed constant.

[0152] S404 determines whether to issue a transfer of authority signal based on the actual vehicle speed.

[0153] For example, the authority transfer signal is a control signal issued by the cruise controller. The authority transfer signal is used to indicate that the cruise controller will no longer participate in vehicle control and will transfer control authority to the auxiliary braking controller. Specifically, the decision execution steps of S404 include S4041 to S4043.

[0154] S4041, if the actual vehicle speed is less than the cruise speed, the cruise controller retains control.

[0155] For example, if the actual vehicle speed is less than the cruise speed, the cruise controller retains control; that is, when the actual vehicle speed is less than the cruise speed, the cruise controller will not send a transfer signal.

[0156] S4042: If the actual vehicle speed is greater than or equal to the cruise speed, and the actual vehicle speed is less than or equal to the constant speed gear speed, the cruise controller retains control.

[0157] For example, when the vehicle's actual speed is greater than or equal to the cruise speed, but less than or equal to the constant speed speed, the cruise controller retains control; that is, the cruise controller will not issue a permission transfer signal.

[0158] S4043 If the actual vehicle speed is greater than the constant speed gear speed, the cruise control controller will issue a permission transfer signal.

[0159] For example, if the actual vehicle speed is greater than the constant speed vehicle speed, the cruise controller sends a permission transfer signal, which transfers the control authority of the cruise controller to the auxiliary braking controller.

[0160] S405 controls the vehicle based on the positive torque commands generated by the cruise controller.

[0161] For example, when the actual vehicle speed is less than the cruise speed, and the cruise controller retains control, the vehicle speed is low. In order to ensure that the vehicle can travel at the cruise speed, the cruise controller generates a positive torque command, and controls the vehicle according to the positive torque command generated by the cruise controller.

[0162] S406 controls the vehicle based on zero-torque commands generated by the cruise controller.

[0163] For example, when the vehicle's actual speed is greater than or equal to the cruise speed, and the actual speed is less than or equal to the constant speed speed, it means that the vehicle's actual speed meets the speed limits corresponding to the cruise controller and the auxiliary braking controller; therefore, no additional positive or negative torque is required, and the vehicle is controlled according to the zero torque command generated by the cruise controller.

[0164] S407 controls the vehicle based on the negative torque command generated by the auxiliary braking controller.

[0165] For example, when the actual vehicle speed is greater than the constant speed vehicle speed, in order to ensure that the vehicle does not reach the speed threshold set by the auxiliary brake controller, the vehicle is controlled by a negative torque command generated by the auxiliary brake controller.

[0166] S408, Is the vehicle's constant speed braking function turned off? If yes, proceed to S409; if no, proceed to S404.

[0167] For example, it is determined whether the vehicle has turned off the constant speed braking function; if the vehicle has turned off the constant speed braking function, the cruise control function controls the vehicle to drive according to the set cruise speed; if the vehicle has not turned off the constant speed braking function, the steps in S4041 to S4043 are executed.

[0168] S409, the cruise control function controls the vehicle's movement according to the set cruise speed.

[0169] For example, since the vehicle's cruise control function is activated when the constant speed braking function is deactivated, the cruise control function controls the vehicle's movement according to the set cruise speed.

[0170] In the embodiments of this application, when both the vehicle's cruise control and constant speed braking functions are activated, the cruise controller maintains a higher priority. Based on the actual vehicle speed, cruise speed, and constant speed, it is determined whether the cruise controller should issue a control transfer signal. By adding control transfer logic to the cruise controller, the coordinated operation of the vehicle's cruise control and constant speed braking functions is achieved. This ensures that the constant speed braking function keeps the vehicle speed within the constant speed range on downhill sections, while also preventing the vehicle from losing power due to the driver forgetting to turn off the constant speed braking function.

[0171] Figure 5 This is a schematic diagram of the frame of another vehicle provided in an embodiment of this application.

[0172] For example, such as Figure 5 As shown, the cruise control controller generates a cruise control torque command (CC torque command) based on collected data (including actual vehicle speed, throttle, brake pedal opening, and other vehicle information) and cruise control function on / off commands, and sends the CC torque command to the vehicle controller. The auxiliary braking controller generates a constant speed torque command based on collected data (including actual vehicle speed, throttle, brake pedal opening, and other vehicle information) and auxiliary braking gear commands, and sends the constant speed torque command to the vehicle controller. The vehicle controller comprehensively processes the two types of commands to determine the processed torque command; the CC torque command has higher priority. The vehicle controller then sends the processed torque command to actuators such as the motor, engine, and hydraulic retarder.

[0173] For example, when the vehicle controller only receives the CC torque command, it treats the CC torque command as the processed torque command and outputs it; when the vehicle controller only receives the constant speed torque command, it determines the constant speed torque command as the processed torque command and outputs it. When both the CC torque command and the constant speed torque command are received simultaneously, the CC torque command is determined as the processed torque command.

[0174] The following is combined with Figure 5 The framework diagram in the middle Figure 6 The vehicle control methods described in the text are described in detail.

[0175] Figure 6 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application.

[0176] Figure 6The method 600 shown can be executed by a vehicle; or it can be executed by a processor or chip in the vehicle.

[0177] like Figure 6 The vehicle control method 600 shown includes S601 to S608, which are described in detail below.

[0178] S601, if the vehicle's cruise control function is activated, the vehicle's movement can be controlled through the cruise control function.

[0179] Alternatively, the implementation of S601 can be found in [reference needed]. Figure 4 The relevant description of S401 will not be repeated here.

[0180] S602, Is the vehicle's constant speed braking function activated? If yes, proceed to S603; if no, proceed to S601.

[0181] Alternatively, the implementation of S602 can be found in [reference needed]. Figure 4 The relevant description of S402 is omitted here.

[0182] S603, the cruise control controller sets the constant speed as the temporary target speed threshold for vehicle control.

[0183] For example, the cruise control controller determines the constant speed as a temporary target speed threshold and controls the vehicle based on the target speed threshold.

[0184] Optionally, when the constant speed is set as the temporary target speed threshold, the cruise controller stores the cruise speed set when the cruise control function is activated in the background, so that when the constant speed braking function is turned off, the cruise controller can control the vehicle according to the stored cruise speed.

[0185] S604, Is the vehicle speed less than the target speed threshold? If yes, proceed to S605; if no, proceed to S606.

[0186] For example, it is determined whether the vehicle speed is less than the target speed threshold; if the vehicle speed is less than the target speed threshold, the cruise controller outputs a positive torque command; if the vehicle speed is greater than or equal to the target speed threshold, the cruise controller outputs a negative torque command and calls the vehicle's auxiliary braking source.

[0187] S605, the cruise controller outputs a positive torque command.

[0188] For example, since the cruise control controller sets the constant speed gear speed as a temporary target speed threshold, when both cruise control and constant speed braking are engaged, the vehicle is controlled according to the constant speed gear speed (target speed threshold) corresponding to the constant speed braking function. When the vehicle speed is lower than the target speed threshold, the vehicle speed is low, and in order to ensure that the vehicle can travel at the target speed threshold, the cruise control controller outputs a positive torque command.

[0189] In the S606, the cruise controller outputs a negative torque command and activates the vehicle's auxiliary braking source.

[0190] For example, when the vehicle speed is greater than the target speed threshold, it means that the vehicle speed is too high. In order to ensure that the vehicle speed does not exceed the target speed threshold, the cruise controller outputs a negative torque command.

[0191] For example, the cruise controller can invoke the vehicle's auxiliary braking sources, which include, but are not limited to, motors, hydraulic retarder, engine cylinder brakes, exhaust brakes, etc.

[0192] S607, Is the vehicle's constant speed braking function turned off? If yes, proceed to S608; if no, proceed to S603.

[0193] For example, it determines whether the vehicle has turned off the constant speed braking function; if the vehicle has turned off the constant speed braking function, the cruise controller controls the vehicle to drive according to the cruise speed; if the vehicle has not turned off the constant speed braking function, the cruise controller determines the constant speed gear speed as a temporary target speed threshold to control the vehicle.

[0194] The S608's cruise control system adjusts the vehicle's movement based on the cruise speed.

[0195] Alternatively, the implementation of S608 can be found in [reference needed]. Figure 4 The relevant description of S409 will not be repeated here.

[0196] In the embodiments of this application, when both cruise control and constant speed braking are activated, the cruise controller maintains higher priority, but it can set the constant speed gear speed as a temporary target speed threshold. When the constant speed gear is deactivated, the vehicle is controlled at the previously stored cruise speed. After setting the constant speed gear speed as the temporary target speed threshold, when the vehicle speed is greater than or equal to the target speed threshold, the cruise controller can output a negative torque command and rationally utilize all auxiliary braking sources based on the torque magnitude. This solves the problem of inconvenience when both cruise control and constant speed braking are activated. It ensures that the vehicle is controlled within the speed range corresponding to the target speed threshold on downhill sections according to the driver's intention; it also avoids the problem of unexpected loss of power due to the driver forgetting to deactivate the constant speed braking function.

[0197] Figure 7 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application.

[0198] Figure 7 The method 700 shown can be executed by a vehicle; or it can be executed by a processor or chip in the vehicle.

[0199] For example, Figure 7 The vehicle control method shown is a method for determining the torque command for the vehicle cruise control function, including S701 to S706.

[0200] S701, obtains the vehicle speed, cruising speed and safe speed threshold.

[0201] The cruise speed can be a preset speed or the vehicle's actual speed when the cruise control function is activated; the safe speed threshold is the maximum speed at which the vehicle can safely operate.

[0202] S702, Is the vehicle speed less than the cruise speed? If yes, proceed to S703; if no, proceed to S704.

[0203] For example, it is determined whether the vehicle speed is less than the cruise speed; if the vehicle speed is less than the cruise speed, the cruise controller outputs a positive torque command; if not, it is further determined whether the vehicle speed is greater than or equal to the safe speed threshold.

[0204] S703, the cruise controller outputs a positive torque command.

[0205] For example, if the vehicle speed is less than the cruise speed, the cruise controller outputs a positive torque command, and controls the vehicle to output positive torque according to the positive torque command.

[0206] S704, Is the vehicle speed greater than or equal to the safe speed threshold? If yes, proceed to S705; if no, proceed to S706.

[0207] For example, the system determines whether the vehicle speed is greater than or equal to a safe speed threshold; if so, the cruise controller calls the drive motor to provide negative torque; if not, the cruise controller outputs a zero torque command.

[0208] S705, the cruise controller calls on the drive motor to provide negative torque.

[0209] S706, the cruise controller outputs a zero torque command.

[0210] In the embodiments of this application, the vehicle speed is collected throughout the journey and compared with the set cruise speed and safe speed threshold. When the vehicle speed is lower than the cruise speed, the cruise controller outputs a positive torque command; when the vehicle speed is between the cruise speed and the safe speed threshold, the cruise controller outputs a zero torque command, and the vehicle neither drives nor brakes; only when the actual vehicle speed is higher than the safe speed threshold does the cruise controller call in negative torque to appropriately control the vehicle speed to ensure driving safety. By calling in the negative torque of the motor through the cruise controller, as much energy as possible is recovered and stored to reduce the vehicle's energy consumption.

[0211] It should be noted that the vehicle control method in this application is applicable to various cruise control-assisted driving functions, including but not limited to: Adaptive Cruise Control (ACC), Predictive Cruise Control (PCC), Intelligent Cruise Control (ICC), etc.

[0212] The above text combined Figures 1 to 7 The vehicle control method provided in the embodiments of this application has been described in detail; the following will be combined with Figure 8 and Figure 9 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0213] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0214] For example, such as Figure 8 As shown, the vehicle control device 800 includes:

[0215] The detection module 810 is used to detect whether the constant speed braking function is activated when the vehicle's cruise control function is activated.

[0216] The control module 820 is used to determine a second vehicle speed threshold based on the constant speed braking function when the vehicle is in constant speed braking mode; and to control the vehicle based on the vehicle speed and the second vehicle speed threshold.

[0217] Optionally, as an embodiment, the control module 820 is specifically used to: control the vehicle through cruise control function when the vehicle speed is less than or equal to the second vehicle speed threshold; and control the vehicle through constant speed braking function when the vehicle speed is greater than the second vehicle speed threshold.

[0218] Optionally, as an embodiment, when controlling the vehicle via the cruise control function, the control module 820 is specifically configured to: if a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, determine the first torque command as the target torque command, and control the vehicle based on the target torque command; if a second torque command is received, but a first torque command is not received, control the vehicle to prevent it from responding to the second torque command; if both the first torque command and the second torque command are received simultaneously, determine the first torque command as the target torque command, and control the vehicle based on the target torque command.

[0219] When controlling the vehicle via constant speed braking, the control module 820 is specifically used to: if it receives a first torque command generated by the cruise control function but does not receive a second torque command generated by the constant speed braking function, control the vehicle to prevent it from responding to the first torque command; if it receives a second torque command but does not receive a first torque command, determine the second torque command as the target torque command and control the vehicle based on the target torque command; if it receives both the first torque command and the second torque command simultaneously, determine the second torque command as the target torque command and control the vehicle based on the target torque command.

[0220] Optionally, as an embodiment, the control module 820 is further configured to: determine a first vehicle speed threshold based on the cruise control function; when the vehicle speed is less than the first vehicle speed threshold, the cruise control function generates a positive torque command and controls the vehicle through the positive torque command; when the vehicle speed is greater than or equal to the first vehicle speed threshold and less than or equal to a second vehicle speed threshold, the cruise control function generates a zero torque command and controls the vehicle through the zero torque command; when the vehicle speed is greater than the second vehicle speed threshold, the constant speed braking function generates a negative torque command and controls the vehicle through the negative torque command.

[0221] Optionally, as an embodiment, the control module 820 is further configured to: determine a target speed threshold for the cruise control function based on a second speed threshold; and control the vehicle through the cruise control function based on the vehicle speed and the target speed threshold.

[0222] Optionally, as an embodiment, the control module 820 is specifically used to: generate a positive torque command when the vehicle speed is less than the target speed threshold, and control the vehicle through the positive torque command; generate a zero torque command or a negative torque command when the vehicle speed is equal to the target speed threshold, and control the vehicle through the zero torque command or the negative torque command; and generate a negative torque command when the vehicle speed is greater than the target speed threshold, and control the vehicle through the negative torque command.

[0223] Optionally, as an embodiment, the control module 820 is specifically used to: control the vehicle's drive motor to generate negative torque through a negative torque command, so as to control the vehicle to decelerate and convert the kinetic energy of the drive motor into electrical energy.

[0224] Optionally, as an embodiment, the control module 820 is further configured to: generate a first target signal for the cruise control function, the first target signal being used to indicate that the cruise control function does not participate in the control of the vehicle.

[0225] It should be noted that the aforementioned vehicle control device is embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0226] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

[0227] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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.

[0228] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0229] For example, vehicle 900 includes processor 910, memory 920 and executable program code 930.

[0230] For example, vehicle 900 includes one or more processors 910 that can support vehicle control methods in the method embodiments of vehicle 900. Processor 910 can be a general-purpose processor or a special-purpose processor. For example, processor 910 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0231] For example, the processor 910 can be used to control the vehicle 900, execute software programs, and process data from the software programs. The vehicle 900 may also include a communication unit for receiving and transmitting signals.

[0232] For example, the vehicle 900 may include one or more memories 920, on which executable program code 930 is stored. The executable program code 930 can be run by the processor 910 to generate instructions, causing the processor 910 to execute the vehicle control method described in the above method embodiments according to the instructions.

[0233] Optionally, the memory 920 may also store data. Optionally, the processor 910 may also read data stored in the memory 920, which may be stored at the same memory address as the executable program code 930, or the data may be stored at a different memory address than the executable program code 930.

[0234] For example, the processor 910 and memory 920 can be configured separately or integrated together, for example, integrated on a system-on-chip (SOC) of the terminal device.

[0235] For example, the memory 920 can be used to store related programs of the vehicle control method provided in the embodiments of this application, and the processor 920 can be used to call the executable program code 930 stored in the memory 920 when controlling the vehicle to execute the vehicle control method of the embodiments of this application; for example,

[0236] When the vehicle's cruise control function is activated, the system detects whether the vehicle's constant speed braking function is activated; if the vehicle's constant speed braking function is activated, a second speed threshold is determined based on the constant speed braking function; and the vehicle is controlled based on the vehicle's speed and the second speed threshold.

[0237] This application also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the vehicle control method of any of the foregoing embodiments.

[0238] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROM), microdrives, and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0239] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method as described in the above embodiments.

[0240] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a vehicle control method in the above embodiments.

[0241] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding vehicle control method provided above, and will not be repeated here.

[0242] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0243] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0244] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: With the vehicle's cruise control function activated, detect whether the vehicle's constant speed braking function is activated. When the constant speed braking function is activated in the vehicle, a second vehicle speed threshold is determined based on the constant speed braking function; The vehicle is controlled based on its speed and the second speed threshold.

2. The method according to claim 1, characterized in that, The control of the vehicle based on the vehicle speed and the second vehicle speed threshold includes: When the vehicle speed is less than or equal to the second speed threshold, the vehicle is controlled by the cruise control function; When the vehicle speed exceeds the second speed threshold, the vehicle is controlled by the constant speed braking function.

3. The method according to claim 2, characterized in that, Controlling the vehicle via the cruise control function includes: If a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, the first torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command. If the second torque command is received but the first torque command is not received, the vehicle is controlled to prevent it from responding to the second torque command. If the first torque command and the second torque command are received simultaneously, the first torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command; The control of the vehicle through the constant speed braking function includes: If a first torque command generated by the cruise control function is received, but a second torque command generated by the constant speed braking function is not received, the vehicle is controlled to prevent it from responding to the first torque command. If the second torque command is received but the first torque command is not received, the second torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command; If the first torque command and the second torque command are received simultaneously, the second torque command is determined as the target torque command, and the vehicle is controlled based on the target torque command.

4. The method according to claim 1, characterized in that, The control of the vehicle based on the vehicle speed and the second vehicle speed threshold includes: A first vehicle speed threshold is determined based on the cruise control function; When the vehicle speed is less than the first speed threshold, the cruise control function generates a positive torque command and controls the vehicle through the positive torque command. When the vehicle speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, the cruise control function generates a zero torque command and controls the vehicle through the zero torque command. When the vehicle speed exceeds the second speed threshold, the constant speed braking function generates a negative torque command, which controls the vehicle.

5. The method according to claim 1, characterized in that, The control of the vehicle based on the vehicle speed and the second vehicle speed threshold includes: Based on the second vehicle speed threshold, the target vehicle speed threshold for the cruise control function is determined; The vehicle is controlled by the cruise control function based on the vehicle speed and the target speed threshold.

6. The method according to claim 5, characterized in that, The method of controlling the vehicle through the cruise control function based on the vehicle's speed and the target speed threshold includes: When the vehicle speed is less than the target speed threshold, the cruise control function generates a positive torque command and controls the vehicle through the positive torque command. When the vehicle speed is equal to the target speed threshold, the cruise control function generates a zero torque command or a negative torque command, and controls the vehicle through the zero torque or negative torque command. When the vehicle speed exceeds the target speed threshold, the cruise control function generates a negative torque command and controls the vehicle through the negative torque command.

7. The method according to claim 4 or 6, characterized in that, The control of the vehicle via the negative torque command includes: The negative torque command controls the vehicle's drive motor to generate negative torque, thereby controlling the vehicle to decelerate and converting the kinetic energy of the drive motor into electrical energy.

8. The method according to claim 2, characterized in that, The method of controlling the vehicle through the constant speed braking function also includes: The cruise control function generates a first target signal, which indicates that the cruise control function will not participate in the control of the vehicle.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 8.

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