Vehicle cruise control method, device and equipment based on incremental pedal and medium

Abstract

The invention discloses a vehicle cruise control method, device and equipment based on an incremental pedal and a medium, and relates to the technical field of vehicle intelligent control. The method comprises the steps that a constant-speed driving state is activated based on judgment of a preset precondition, and cruise torque is correspondingly output to maintain the cruise speed; if the brake pedal acts, according to judgment of the current opening degree of the upper portion of the brake pedal, cruise speed reduction or vehicle brake control is conducted; if the accelerator pedal acts, the torque increment is obtained according to the current accelerator pedal opening degree, and cruise vehicle speed increasing control is conducted. The acceleration or deceleration requirement of a driver can be efficiently and accurately met.

Description

Technical Field

[0001] This application relates to the field of vehicle intelligent control technology, specifically to a vehicle cruise control method, device, equipment, and medium based on incremental pedals. Background Technology

[0002] According to relevant standards for classifying automotive driving automation, intelligent driving is divided into six distinct levels, from L0 to L5. Levels L0 to L2 are considered driver assistance systems; when activated, the driver remains the primary operator and is responsible for safety. Levels L3 to L5 truly fall under the category of autonomous driving, where the "intelligent driving" system becomes the primary driver. However, regardless of the level, there is a process of switching between intelligent driving and human driving. In intelligent driving mode, the acceleration changes over time as follows... Figure 1 As shown.

[0003] In current "intelligent driving" strategies, "human driving takes precedence over vehicle driving." Specifically, regarding longitudinal vehicle movement, on the one hand, when the system detects that the brake pedal has been pressed manually, it generally disengages from the "intelligent driving" system. At this point, the driver may not have enough time to react or take over in time, leading to significant potential hazards. This is especially true when the deceleration corresponding to the brake pedal travel is less than the adaptive cruise control deceleration, causing unexpected acceleration and posing an even greater risk. In such cases, not taking over the vehicle is actually safer. On the other hand, when the system detects that the accelerator pedal has been pressed manually, acceleration is only executed when the pedal travel exceeds the distance required to maintain the current speed. This reduces overall operational efficiency and provides the driver with a poor driving experience, such as initial idling and acceleration lag.

[0004] Furthermore, once the human driver intervenes, the vehicle automatically exits the "intelligent driving" mode. To re-enter "intelligent driving," manual operation according to the operating procedures is required, increasing the operational tasks while driving and posing certain safety hazards.

[0005] Therefore, ensuring driving safety during the "intelligent driving" process and efficiently and accurately meeting the driver's acceleration or deceleration needs has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a vehicle cruise control method, device, equipment, and medium based on incremental pedals, which can efficiently and accurately meet the driver's acceleration or deceleration needs.

[0007] In a first aspect, embodiments of this application provide a vehicle cruise control method based on an incremental pedal, implemented using an incremental brake pedal. The brake pedal includes an upper part and a lower part of the brake pedal that are hinged to each other and rotatable relative to each other. The vehicle cruise control method based on the incremental pedal includes: Based on preset conditions, the system activates a constant speed driving state and outputs cruise torque to maintain the cruise speed, while also monitoring the brake and accelerator pedals in real time. If the brake pedal is activated, the cruise speed will be reduced or the vehicle will be braked based on the current opening of the upper part of the brake pedal. If the accelerator pedal is activated, the torque increment is obtained based on the current accelerator pedal opening, and the cruise speed is increased accordingly.

[0008] In conjunction with the first aspect, in one implementation method, When the constant speed driving state is not activated, if the following conditions are met simultaneously: the gear is in forward gear, the accelerator pedal opening is less than the preset accelerator pedal opening, the brake pedal opening is less than the preset brake pedal opening, and the cruise control function button is in the activated state, then the constant speed driving state is determined to be activated. If the constant speed driving mode is activated but the gear is not in a forward gear or the cruise control function button is in the off state, then the constant speed driving mode is considered to have been discontinued.

[0009] In conjunction with the first aspect, in one implementation method, Once the constant speed driving state is activated, the vehicle speed when both the brake pedal and accelerator pedal are released is taken as the cruising speed.

[0010] In conjunction with the first aspect, in one implementation method, The cruise torque is the sum of the feedforward torque and the feedback torque; The feedforward torque is the compensation torque required to maintain the cruising speed, calculated based on the vehicle dynamics model. The feedback torque is the torque used for feedback control based on the feedforward torque to ensure that the actual vehicle speed is consistent with the cruise speed.

[0011] In conjunction with the first aspect, in one implementation, the step of reducing the cruise speed or controlling vehicle braking based on the current opening degree of the upper part of the brake pedal specifically includes: Determine the current upper opening of the brake pedal: If the current upper opening of the brake pedal is greater than or equal to the set brake pedal opening, then vehicle braking control will be performed and the constant speed driving state will be exited, and the braking force will correspond to the upper opening of the brake pedal. If the current upper opening of the brake pedal is less than the set brake pedal opening, the cruise torque will be gradually reduced to control the cruise speed reduction. The upper part of the brake pedal is driven by the lower part of the brake pedal, and the upper part of the brake pedal opens when the opening of the lower part of the brake pedal is greater than the preset opening.

[0012] In conjunction with the first aspect, in one implementation, the step of obtaining the torque increment based on the current accelerator pedal opening and controlling the increase in cruising speed specifically includes: Determine the current accelerator pedal opening: If the current accelerator pedal opening is greater than or equal to the set accelerator pedal opening, the torque increment is obtained based on the current accelerator pedal opening, and the cruise speed is increased accordingly. If the current accelerator pedal opening is less than the set accelerator pedal opening, no action will be taken.

[0013] In conjunction with the first aspect, in one implementation, the step of obtaining the torque increment based on the current accelerator pedal opening and controlling the increase in cruising speed specifically includes: Get the cruising torque before the current accelerator pedal is pressed, and get the accelerator pedal travel corresponding to the cruising speed corresponding to the cruising torque; Obtain the accelerator pedal travel corresponding to the current accelerator pedal opening, and add it to the accelerator pedal travel corresponding to the cruising torque before the current accelerator pedal is pressed to obtain the nominal accelerator pedal travel; Based on the nominal accelerator pedal travel, the corresponding driving torque is obtained by looking up the original acceleration MAP, thereby realizing the control of increasing cruise speed; The torque increment is the difference between the driving torque corresponding to the nominal accelerator pedal travel and the cruising torque before the current accelerator pedal is pressed.

[0014] Secondly, embodiments of this application provide a vehicle cruise control device based on an incremental pedal, the vehicle cruise control device based on an incremental pedal includes: The judgment module is used to activate the constant speed driving state based on the judgment of preset preconditions, and output cruise torque to maintain the cruise speed. It also monitors the brake pedal and accelerator pedal in real time. If the brake pedal is activated, it drives the first execution module to work. If the accelerator pedal is activated, it drives the second execution module to work. The first execution module is used to reduce the cruise speed or control the vehicle braking based on the current opening degree of the upper part of the brake pedal. The second execution module is used to obtain the torque increment based on the current accelerator pedal opening and control the increase of cruise speed.

[0015] Thirdly, embodiments of this application provide a vehicle cruise control device based on an incremental pedal. The vehicle cruise control device based on an incremental pedal includes a processor, a memory, and a vehicle cruise control program based on an incremental pedal stored in the memory and executable by the processor. When the vehicle cruise control program based on an incremental pedal is executed by the processor, it implements the steps of the vehicle cruise control method based on an incremental pedal described above.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle cruise control program based on an incremental pedal, wherein when the vehicle cruise control program based on an incremental pedal is executed by a processor, it implements the steps of the vehicle cruise control method based on an incremental pedal described above.

[0017] The beneficial effects of the technical solutions provided in this application include: Aside from requiring manual activation, cruise control can be completed using only the pedals. Once the brake and accelerator pedals are fully released, the vehicle can maintain a constant speed. The entire process only requires manually turning the cruise control on and off, with a smooth transition that aligns with driving habits. Upon releasing the brake and accelerator pedals, torque feedforward and feedback control are simultaneously implemented, maintaining a stable vehicle speed. Furthermore, the lower part of the brake pedal allows for acceleration / deceleration override control based on cruise conditions, resulting in smooth switching between drive and braking forces without abnormal deceleration. For acceleration override, the theoretical accelerator pedal travel corresponding to the drive torque is used to directly map the nominal accelerator pedal travel on a constant speed basis, combined with a lookup table, to perform acceleration operations, avoiding any drop in speed during power transitions. This application eliminates the need to recalibrate the original vehicle's acceleration and braking MAPs, effectively reducing the workload of function development. Attached Figure Description

[0018] Figure 1 A schematic diagram illustrating the change of acceleration over time under accelerated operating conditions; Figure 2 This is a flowchart illustrating the vehicle cruise control method based on incremental pedals in this application. Figure 3 This is a schematic diagram illustrating the signal interaction between the chassis domain controller and the PDCU. Figure 4 This is a schematic diagram of the synthesis of cruise torque; Figure 5 To accelerate the overdrive control flowchart Figure 6 This is a schematic diagram of the functional modules of the vehicle cruise control device based on incremental pedals in this application; Figure 7 This is a schematic diagram of the hardware structure of the vehicle cruise control device based on incremental pedals in this application. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

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

[0021] In a first aspect, embodiments of this application provide a vehicle cruise control method based on an incremental pedal, implemented using an incremental brake pedal, wherein the incremental brake pedal includes an upper part and a lower part of the brake pedal that are hinged to each other and can rotate relative to each other.

[0022] Specifically, the incremental brake pedal structure described in this application divides the traditional brake pedal into upper and lower parts. The upper part, like a traditional brake pedal, is mounted on the vehicle body; the lower part is hinged to the upper part, allowing for relative rotation. When the pedal is depressed, the lower part of the brake pedal first rotates relative to the upper part. The rotational resistance is generated by a torsion spring or linear elastic deformation connecting the upper and lower parts. This rotational angle is the incremental pedal angle, which can be used for deceleration control during constant speed driving. In one possible implementation, the spring stiffness is 5~15 N·m / rad. When the force applied to the brake pedal reaches a certain level and is sufficient to overcome the resistance of the upper part of the brake pedal around the pedal rotation pivot, the upper part of the brake pedal rotates. The brake pedal opening signal is determined by the amount of movement (opening) of the upper part of the brake pedal.

[0023] In one embodiment, reference is made to Figure 2 , Figure 2 This is a flowchart illustrating the vehicle cruise control method based on incremental pedals according to this application. Figure 2 As shown, the vehicle cruise control method based on incremental pedals includes: S1: Based on the judgment of preset preconditions, activate the constant speed driving state and output cruise torque to maintain the cruise speed. Monitor the brake pedal and accelerator pedal that are already in the released state in real time. If the brake pedal is activated, go to S2. If the accelerator pedal is activated, go to S3. S2: Based on the current opening of the upper part of the brake pedal, reduce the cruise speed or control the vehicle braking. S3: Based on the current accelerator pedal opening, the torque increment is obtained, and the cruise speed is increased accordingly.

[0024] Furthermore, in one embodiment, when the constant speed driving state is not activated, if the following conditions are met simultaneously: the gear is in forward gear, the accelerator pedal opening is less than the preset accelerator pedal opening, the brake pedal opening is less than the preset brake pedal opening, and the cruise control function button is in the activated state, then the constant speed driving state is determined to be activated. If the constant speed driving mode is activated but the gear is not in a forward gear or the cruise control function button is in the off state, then the constant speed driving mode is considered to have been discontinued.

[0025] Specifically, for ease of description, the accelerator pedal opening can be represented by A, and the brake pedal opening by B. A chassis domain controller is responsible for determining driver intent and outputting cruise torque. The chassis domain controller interacts with the PDCU (Power Domain Control Unit, drive system controller) via signals. These interactions include the cruise state (constant speed driving state) valid bit (Cruis_sta), cruise torque output (Cruis_torq), and actual output torque (Torq_actual). The signal interaction is as follows: Figure 3 As shown.

[0026] When the constant speed driving state is activated (Cruis_sta=1), the PDCU executes the cruise torque Cruis_torq as the output torque; when the constant speed driving state is not activated (Cruis_sta=0), the PDCU executes the original drive and braking torques calibrated by the brake pedal and accelerator pedal as the output torque.

[0027] The constant speed driving state is activated when the following conditions are met simultaneously: Cruis_sta=1: the gear is in forward gear (D gear), the accelerator pedal opening is less than the preset accelerator pedal opening (calibrable), the brake pedal opening is less than the preset brake pedal opening (calibrable), and the cruise control function button is in the activated state.

[0028] The constant speed driving state will exit when any of the following conditions are met: Cruis_sta=1: the gear is not in forward gear and the cruise control function button is turned off.

[0029] Furthermore, in one embodiment, the cruise speed is determined after the constant speed driving state is activated by using the speed when both the brake pedal and the accelerator pedal are released as the cruise speed; that is, when the vehicle is in normal driving state in forward gear, both the brake pedal and the accelerator pedal are released, and Cruise_sta is set to 1, the memory records the speed at this moment and uses it as the cruise speed.

[0030] Furthermore, in one embodiment, the cruise torque is the sum of the feedforward torque and the feedback torque; the feedforward torque is the compensation torque required to maintain the cruise speed, calculated based on the vehicle dynamics model; the feedback torque is the torque used for feedback control based on the feedforward torque to ensure that the actual vehicle speed is consistent with the cruise speed.

[0031] Specifically, once the drive pedal is released to a certain degree, the original drive force calibrated by the drive pedal will be insufficient to maintain a constant vehicle speed. Therefore, torque feedforward control is required to maintain the previously activated cruise speed as much as possible. At the same time, to further ensure that the actual vehicle speed is consistent with the cruise speed, feedback torque control is required based on the feedforward torque.

[0032] In this application, the cruise torque is the sum of the feedforward torque and the feedback torque. A schematic diagram of the torque synthesis is shown below. Figure 4 As shown, the PI adjustment parameter of the closed-loop control of the feedback torque can be a pre-calibrated change or adaptively adjusted by the control algorithm. Its change can be related to the actual vehicle speed, the target vehicle speed, or the speed difference between the two.

[0033] Furthermore, in one embodiment, based on the determination of the current opening degree of the upper part of the brake pedal, the cruise speed is reduced or the vehicle braking is controlled, specifically including: Determine the current upper opening of the brake pedal: If the current upper opening of the brake pedal is greater than or equal to the set brake pedal opening, then vehicle braking control will be performed and the constant speed driving state will be exited, and the braking force will correspond to the upper opening of the brake pedal. If the current upper opening of the brake pedal is less than the set brake pedal opening, the cruise torque will be gradually reduced to control the cruise speed reduction. The upper part of the brake pedal is driven by the lower part of the brake pedal, and the upper part of the brake pedal opens when the opening of the lower part of the brake pedal is greater than the preset opening.

[0034] It should be noted that when driving at a constant speed, pressing the brake pedal or accelerator pedal will enter the override state, allowing for brake override control or acceleration override control.

[0035] Specifically, regarding brake override control, the brake pedal angle increment (lower part of the brake pedal) in this application has a stiffness much smaller than that of the original brake pedal. Therefore, during the process of pressing the brake pedal, the lower part of the brake pedal will first generate an incremental angle. When the incremental angle reaches its maximum, the secondary pedal (i.e., the upper part of the brake pedal) will then take effect.

[0036] Assuming the force acting on the brake pedal is small and the upper opening of the brake pedal is basically 0, the condition B ≥ the set brake pedal opening (which can be calibrated, but defaults to 0) is not met. In this state, Cruise_sta = 1, and the PDCU executes the chassis domain torque command Cruise_torq. However, due to the generation of the brake pedal incremental angle (i.e., the opening generated by the set brake pedal opening), Cruise_torq will gradually decrease based on the cruise torque in order to eliminate the driving torque and gradually decelerate the vehicle. As the braking force increases, B ≥ the set brake pedal opening. In this state, Cruise_sta = 0. The PDCU quickly switches between the chassis domain torque command Cruise_torq and the pedal calibration torque within 0.1s (calibrable). Then, it only executes the pedal calibration torque, thus exiting cruise control and completing brake override control. The braking force is based on the upper brake pedal opening, combined with the originally calibrated correspondence between brake pedal opening and braking force.

[0037] Furthermore, in one embodiment, the torque increment is obtained based on the current accelerator pedal opening, and cruise speed increase control is performed, specifically including: Determine the current accelerator pedal opening: If the current accelerator pedal opening is greater than or equal to the set accelerator pedal opening, the torque increment is obtained based on the current accelerator pedal opening, and the cruise speed is increased accordingly. If the current accelerator pedal opening is less than the set accelerator pedal opening, no action will be taken.

[0038] For acceleration overdrive control, specifically, in a constant speed driving state, when the accelerator pedal is pressed, if the accelerator pedal opening A is greater than or equal to the set accelerator pedal opening (which can be calibrated, and the default is close to 0), it indicates that the driver has the intention to accelerate. The previous moment is obtained, with Cruise_sta=1, and the PDCU executes the constant speed driving torque (cruising torque) Cruise_torq generated by the chassis domain torque.

[0039] It should be noted that if an acceleration intention is detected at the current moment, directly switching to the original PDCU-calibrated drive MAP command would cause a sudden drop in drive torque due to the accelerator pedal being close to zero opening and the drive torque being small. This would result in the vehicle decelerating, which contradicts the acceleration intention. Therefore, acceleration override control is set as follows: A ≥ set accelerator pedal opening, the state is determined to be acceleration override, and Cruis_sta remains equal to 1. However, the drive torque is no longer the "constant torque" used to maintain constant speed in the previous moment, nor is it the MAP torque corresponding to the previously calibrated accelerator pedal travel. Instead, a "torque increment" is added on top of the "constant torque" to ensure a smooth transition from constant speed to acceleration. The acceleration override control flowchart is as follows. Figure 5 As shown.

[0040] In this application, the torque increment is obtained based on the current accelerator pedal opening, and cruise speed increase control is performed, specifically including: S301: Obtain the cruise torque before the current accelerator pedal is pressed, and obtain the accelerator pedal travel corresponding to the cruise speed of the cruise torque. S302: Obtain the accelerator pedal travel corresponding to the current accelerator pedal opening, and add it to the accelerator pedal travel corresponding to the current accelerator pedal cruising torque to obtain the nominal accelerator pedal travel. S303: Based on the nominal accelerator pedal travel, the corresponding driving torque is obtained by looking up the original acceleration MAP, thereby realizing cruise speed increase control; The torque increment is the difference between the driving torque corresponding to the nominal accelerator pedal travel and the cruising torque before the current accelerator pedal is pressed.

[0041] Specifically, the generation of torque increment is explained as follows: First, the cruising torque at the moment before the accelerator pedal is depressed is obtained, which can be mapped to the accelerator pedal travel pedTravl0 at this cruising speed. After the accelerator pedal is depressed, its physical travel will gradually increase from 0 to 100%, denoted as pedTravl_inc. Then, the nominal accelerator pedal travel is equal to pedTravl0 + pedTravl_inc. The corresponding driving torque is then found in the original acceleration MAP using the nominal accelerator pedal travel, which serves as the new torque for the acceleration overdrive condition. The torque increment is the difference between the nominal accelerator pedal travel torque and the cruising torque.

[0042] Depending on the strategy, the nominal accelerator pedal travel can be generated in multiple ways. For example, if pedTravl0 = 20%, the remaining accelerator pedal travel is 80%. This remaining 80% of the theoretical accelerator pedal travel can correspond to the actual physical accelerator pedal travel from 0 to 100% in different ways: linear mapping, S-shaped acceleration followed by acceleration and then slowing down again, etc. Different mappings will result in different re-acceleration styles.

[0043] To address the issue that releasing the brake and accelerator pedals simultaneously often results in a decrease in vehicle speed, which contradicts the driver's intentions, and the problem that cruise control / adaptive cruise control requires manual speed setting, leading to a poor user experience and even potential safety hazards, this application replaces the original vehicle's cruise control function with incremental pedals and their control technology. By activating / deactivating the incremental pedal function with a single button, cruise control can be achieved using only foot operation.

[0044] For the common operating condition of constant speed acceleration, if the original vehicle's calibrated accelerator pedal MAP is directly applied at this time, the driving torque corresponding to the current pedal travel may be less than the driving torque of the previous constant speed, which may cause the vehicle to decelerate instantly, which is inconsistent with the driver's driving intention. This application avoids the problems of empty travel and slow acceleration in the re-acceleration process of traditional cruise control function by using the torque increment method.

[0045] For constant speed deceleration conditions, a certain driving torque is maintained in the previous moment. During the braking process, this driving torque needs to be reduced before the formal braking torque is applied to maintain a smooth transition from "driving" to "braking". This application improves the problem of unstable braking override transition during constant speed deceleration by designing an incremental pedal structure.

[0046] This application addresses the acceleration and deceleration operations of vehicles without requiring separate calibration of the acceleration and deceleration pedal MAPs. This facilitates the implementation of the function without incurring additional vehicle calibration workload. The method described in this application can be used for the rapid development and verification of incremental pedal functions during the R&D phase, and can also be used to improve and upgrade the cruise control function of existing mass-produced vehicles.

[0047] The vehicle cruise control method based on incremental pedals in this application embodiment can be completed using only the pedals, except for manual function activation. After fully releasing the brake and accelerator pedals, the vehicle can cruise at a constant speed. The entire process only requires manually turning the cruise function on and off, and the switching is natural and in line with driving habits. After releasing the brake and accelerator pedals, torque feedforward and feedback control are performed simultaneously to maintain a stable vehicle speed. Furthermore, the lower part of the brake pedal can realize acceleration and deceleration override control based on the cruise state, and the switching of drive and braking forces is smooth without causing abnormal deceleration effects. For the acceleration override part, the nominal accelerator pedal travel is directly mapped on the basis of constant speed using the drive torque corresponding to the theoretical accelerator pedal travel, and then acceleration is performed by combining a lookup table, avoiding the speed drop phenomenon during power switching. This application does not require recalibrating the original vehicle's acceleration and braking MAP, effectively reducing the workload of function development.

[0048] Secondly, embodiments of this application also provide a vehicle cruise control device based on incremental pedals.

[0049] In one embodiment, reference is made to Figure 6 , Figure 6 This is a schematic diagram of the functional modules of the vehicle cruise control device based on incremental pedals according to this application. Figure 6 As shown, the vehicle cruise control device based on incremental pedals includes: a judgment module, a first execution module, and a second execution module.

[0050] The judgment module is used to activate the constant speed driving state based on the judgment of preset preconditions, and output cruise torque accordingly to maintain the cruise speed. It also monitors the brake pedal and accelerator pedal in real time. If the brake pedal is activated, it drives the first execution module to work. If the accelerator pedal is activated, it drives the second execution module to work. The first execution module is used to reduce the cruise speed or control the vehicle braking based on the judgment of the current upper opening of the brake pedal. The second execution module is used to increase the cruise speed based on the torque increment obtained from the current accelerator pedal opening.

[0051] Thirdly, embodiments of this application provide a vehicle cruise control device based on an incremental pedal. The vehicle cruise control device based on an incremental pedal can be a device with data processing capabilities, such as a personal computer (PC), a laptop computer, or a server.

[0052] Reference Figure 7 , Figure 7 This is a schematic diagram of the hardware structure of a vehicle cruise control device based on an incremental pedal, as described in an embodiment of this application. In this embodiment, the vehicle cruise control device based on an incremental pedal may include a processor, a memory, a communication interface, and a communication bus.

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

[0054] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting internal components of the incremental pedal-based vehicle cruise control device, as well as interfaces for interconnecting the incremental pedal-based vehicle cruise control device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

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

[0056] The processor can be a general-purpose processor, which can call the vehicle cruise control program based on incremental pedals stored in memory and execute the vehicle cruise control method based on incremental pedals provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle cruise control program based on incremental pedals is called can be referred to in the various embodiments of the vehicle cruise control method based on incremental pedals in this application, and will not be repeated here.

[0057] Those skilled in the art will understand that Figure 7 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0058] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0059] The present application provides a computer-readable storage medium storing a vehicle cruise control program based on an incremental pedal, wherein when the vehicle cruise control program based on an incremental pedal is executed by a processor, it implements the steps of the vehicle cruise control method based on an incremental pedal as described above.

[0060] The method implemented when the vehicle cruise control program based on incremental pedals is executed can be referred to in various embodiments of the vehicle cruise control method based on incremental pedals in this application, and will not be repeated here.

[0061] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0062] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0063] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0064] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0065] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0066] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle cruise control method based on an incremental pedal, implemented using an incremental brake pedal, wherein the brake pedal comprises an upper brake pedal part and a lower brake pedal part that are hinged to each other and rotatable relative to each other, characterized in that, The vehicle cruise control method based on incremental pedals includes: Based on preset conditions, the system activates a constant speed driving state and outputs cruise torque to maintain the cruise speed, while also monitoring the brake and accelerator pedals in real time. If the brake pedal is activated, the cruise speed will be reduced or the vehicle will be braked based on the current opening of the upper part of the brake pedal. If the accelerator pedal is activated, the torque increment is obtained based on the current accelerator pedal opening, and the cruise speed is increased accordingly.

2. The vehicle cruise control method based on incremental pedals as described in claim 1, characterized in that: When the constant speed driving state is not activated, if the following conditions are met simultaneously: the gear is in forward gear, the accelerator pedal opening is less than the preset accelerator pedal opening, the brake pedal opening is less than the preset brake pedal opening, and the cruise control function button is in the activated state, then the constant speed driving state is determined to be activated. If the constant speed driving mode is activated but the gear is not in a forward gear or the cruise control function button is in the off state, then the constant speed driving mode is considered to have been discontinued.

3. The vehicle cruise control method based on incremental pedals as described in claim 2, characterized in that: Once the constant speed driving state is activated, the vehicle speed when both the brake pedal and accelerator pedal are released is taken as the cruising speed.

4. The vehicle cruise control method based on incremental pedals as described in claim 1, characterized in that: The cruise torque is the sum of the feedforward torque and the feedback torque; The feedforward torque is the compensation torque required to maintain the cruising speed, calculated based on the vehicle dynamics model. The feedback torque is the torque used for feedback control based on the feedforward torque to ensure that the actual vehicle speed is consistent with the cruise speed.

5. The vehicle cruise control method based on incremental pedals as described in claim 4, characterized in that, The process of determining the current opening degree of the upper part of the brake pedal to reduce the cruise speed or control the vehicle braking specifically includes: Determine the current upper opening of the brake pedal: If the current upper opening of the brake pedal is greater than or equal to the set brake pedal opening, then vehicle braking control will be performed and the constant speed driving state will be exited, and the braking force will correspond to the upper opening of the brake pedal. If the current upper opening of the brake pedal is less than the set brake pedal opening, the cruise torque will be gradually reduced to control the cruise speed reduction. The upper part of the brake pedal is driven by the lower part of the brake pedal, and the upper part of the brake pedal opens when the opening of the lower part of the brake pedal is greater than the preset opening.

6. The vehicle cruise control method based on incremental pedals as described in claim 4, characterized in that, The method of obtaining the torque increment based on the current accelerator pedal opening and controlling the increase in cruise speed specifically includes: Determine the current accelerator pedal opening: If the current accelerator pedal opening is greater than or equal to the set accelerator pedal opening, the torque increment is obtained based on the current accelerator pedal opening, and the cruise speed is increased accordingly. If the current accelerator pedal opening is less than the set accelerator pedal opening, no action will be taken.

7. The vehicle cruise control method based on incremental pedals as described in claim 6, characterized in that, The method of obtaining the torque increment based on the current accelerator pedal opening and controlling the increase in cruising speed specifically includes: Get the cruising torque before the current accelerator pedal is pressed, and get the accelerator pedal travel corresponding to the cruising speed corresponding to the cruising torque; Obtain the accelerator pedal travel corresponding to the current accelerator pedal opening, and add it to the accelerator pedal travel corresponding to the cruising torque before the current accelerator pedal is pressed to obtain the nominal accelerator pedal travel; Based on the nominal accelerator pedal travel, the corresponding driving torque is obtained by looking up the original acceleration MAP, thereby realizing the control of increasing cruise speed; The torque increment is the difference between the driving torque corresponding to the nominal accelerator pedal travel and the cruising torque before the current accelerator pedal is pressed.

8. A vehicle cruise control device based on incremental pedals, characterized in that, The incremental pedal-based vehicle cruise control device includes: The judgment module is used to activate the constant speed driving state based on the judgment of preset preconditions, and output cruise torque to maintain the cruise speed. It also monitors the brake pedal and accelerator pedal in real time. If the brake pedal is activated, it drives the first execution module to work. If the accelerator pedal is activated, it drives the second execution module to work. The first execution module is used to reduce the cruise speed or control the vehicle braking based on the current opening degree of the upper part of the brake pedal. The second execution module is used to obtain the torque increment based on the current accelerator pedal opening and control the increase of cruise speed.

9. A vehicle cruise control device based on incremental pedals, characterized in that, The incremental pedal-based vehicle cruise control device includes a processor, a memory, and an incremental pedal-based vehicle cruise control program stored in the memory and executable by the processor, wherein when the incremental pedal-based vehicle cruise control program is executed by the processor, it implements the steps of the incremental pedal-based vehicle cruise control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle cruise control program based on an incremental pedal, wherein when the vehicle cruise control program based on an incremental pedal is executed by a processor, it implements the steps of the vehicle cruise control method based on an incremental pedal as described in any one of claims 1 to 7.

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